Sensing and visualizing spatial relations of mobile devices

Location information can be used to enhance interaction with mobile devices. While many location systems require instrumentation of the environment, we present a system that allows devices to measure their spatial relations in a true peer-to-peer fashion. The system is based on custom sensor hardware implemented as USB dongle, and computes spatial relations in real-time. In extension of this system we propose a set of spatialized widgets for incorporation of spatial relations in the user interface. The use of these widgets is illustrated in a number of applications, showing how spatial relations can be employed to support and streamline interaction with mobile devices

Emotional Biosensing: Exploring Critical Alternatives

Emotional biosensing is rising in daily life: Data and categories claim to know how people feel and suggest what they should do about it, while CSCW explores new biosensing possibilities. Prevalent approaches to emotional biosensing are too limited, focusing on the individual, optimization, and normative categorization. Conceptual shifts can help explore alternatives: toward materiality, from representation toward performativity, inter-action to intra-action, shifting biopolitics, and shifting affect/desire. We contribute (1) synthesizing wide-ranging conceptual lenses, providing analysis connecting them to emotional biosensing design, (2) analyzing selected design exemplars to apply these lenses to design research, and (3) offering our own recommendations for designers and design researchers. In particular we suggest humility in knowledge claims with emotional biosensing, prioritizing care and affirmation over self- improvement, and exploring alternative desires. We call for critically questioning and generatively re- imagining the role of data in configuring sensing, feeling, ‘the good life,’ and everyday experience

Enforcement and Spectrum Sharing: Case Studies of Federal-Commercial Sharing

To promote economic growth and unleash the potential of wireless broadband, there is a need to introduce more spectrally efficient technologies and spectrum management regimes. That led to an environment where commercial wireless broadband need to share spectrum with the federal and non-federal operations. Implementing sharing regimes on a non-opportunistic basis means that sharing agreements must be implemented. To have meaning, those agreements must be enforceable.\ud \ud With the significant exception of license-free wireless systems, commercial wireless services are based on exclusive use. With the policy change facilitating spectrum sharing, it becomes necessary to consider how sharing might take place in practice. Beyond the technical aspects of sharing, that must be resolved lie questions about how usage rights are appropriately determined and enforced. This paper is reasoning about enforcement in a particular spectrum bands (1695-1710 MHz and 3.5 GHz) that are currently being proposed for sharing between commercial services and incumbent spectrum users in the US. We examine three enforcement approaches, exclusion zones, protection zones and pure ex post and consider their implications in terms of cost elements, opportunity cost, and their adaptability

Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed multi-robot collision avoidance systems exist, they often require extracting agent-level features to plan a local collision-free action, which can be computationally prohibitive and not robust. More importantly, in practice the performance of these methods are much lower than their centralized counterparts. We present a decentralized sensor-level collision avoidance policy for multi-robot systems, which directly maps raw sensor measurements to an agent's steering commands in terms of movement velocity. As a first step toward reducing the performance gap between decentralized and centralized methods, we present a multi-scenario multi-stage training framework to find an optimal policy which is trained over a large number of robots on rich, complex environments simultaneously using a policy gradient based reinforcement learning algorithm. We validate the learned sensor-level collision avoidance policy in a variety of simulated scenarios with thorough performance evaluations and show that the final learned policy is able to find time efficient, collision-free paths for a large-scale robot system. We also demonstrate that the learned policy can be well generalized to new scenarios that do not appear in the entire training period, including navigating a heterogeneous group of robots and a large-scale scenario with 100 robots. Videos are available at https://sites.google.com/view/drlmac