Haptic Edge Detection Through Shear

Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals

Link-Prediction Enhanced Consensus Clustering for Complex Networks

Many real networks that are inferred or collected from data are incomplete due to missing edges. Missing edges can be inherent to the dataset (Facebook friend links will never be complete) or the result of sampling (one may only have access to a portion of the data). The consequence is that downstream analyses that consume the network will often yield less accurate results than if the edges were complete. Community detection algorithms, in particular, often suffer when critical intra-community edges are missing. We propose a novel consensus clustering algorithm to enhance community detection on incomplete networks. Our framework utilizes existing community detection algorithms that process networks imputed by our link prediction based algorithm. The framework then merges their multiple outputs into a final consensus output. On average our method boosts performance of existing algorithms by 7% on artificial data and 17% on ego networks collected from Facebook

Unsupervised edge map scoring: a statistical complexity approach

We propose a new Statistical Complexity Measure (SCM) to qualify edge maps without Ground Truth (GT) knowledge. The measure is the product of two indices, an \emph{Equilibrium} index $\mathcal{E}$ obtained by projecting the edge map into a family of edge patterns, and an \emph{Entropy} index $\mathcal{H}$, defined as a function of the Kolmogorov Smirnov (KS) statistic. This new measure can be used for performance characterization which includes: (i)~the specific evaluation of an algorithm (intra-technique process) in order to identify its best parameters, and (ii)~the comparison of different algorithms (inter-technique process) in order to classify them according to their quality. Results made over images of the South Florida and Berkeley databases show that our approach significantly improves over Pratt's Figure of Merit (PFoM) which is the objective reference-based edge map evaluation standard, as it takes into account more features in its evaluation