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Cosmic Explorer (CE) is a next-generation ground-based gravitational-wave observatory that is being designed in the 2020s and is envisioned to begin operations in the 2030s together with the Einstein Telescope in Europe. The CE concept currently consists of two widely separated L-shaped observatories in the United States, one with 40 km-long arms and the other with 20 km-long arms. This order of magnitude increase in scale with respect to the LIGO-Virgo-KAGRA observatories will, together with technological improvements, deliver an order of magnitude greater astronomical reach, allowing access to gravitational waves from remnants of the first stars and opening a wide discovery aperture to the novel and unknown. In addition to pushing the reach of gravitational-wave astronomy, CE endeavors to approach the lifecycle of large scientific facilities in a way that prioritizes mutually beneficial relationships with local and Indigenous communities. This article describes the (scientific, cost and access, and social) criteria that will be used to identify and evaluate locations that could potentially host the CE observatories., Comment: 12 pages, 1 figure

The ground-based gravitational wave (GW) detectors LIGO and Virgo have enabled the birth of multi-messenger GW astronomy via the detection of GWs from merging stellar-mass black holes (BHs) and neutron stars (NSs). GW170817, the first binary NS merger detected in GWs and all bands of the electromagnetic spectrum, is an outstanding example of the impact that GW discoveries can have on multi-messenger astronomy. Yet, GW170817 is only one of the many and varied multi-messenger sources that can be unveiled using ground-based GW detectors. In this contribution, we summarize key open questions in the astrophysics of stellar-mass BHs and NSs that can be answered using current and future-generation ground-based GW detectors, and highlight the potential for new multi-messenger discoveries ahead., Comment: Review submitted to the Frontiers Research Topic "The Dynamic Universe: Realizing the Potential of Time Domain and Multimessenger Astrophysics"

In many robotic systems, the holding state consumes power, limits operating time, and increases operating costs. Electrostatic clutches have the potential to improve robotic performance by generating holding torques with low power consumption. A key limitation of electrostatic clutches has been their low specific shear stresses which restrict generated holding torque, limiting many applications. Here we show how combining the Johnsen-Rahbek (JR) effect with the exponential tension scaling capstan effect can produce clutches with the highest specific shear stress in the literature. Our system generated 31.3 N/cm^2 sheer stress and a total holding torque of 7.1 Nm while consuming only 2.5 mW/cm^2 at 500 V. We demonstrate a theoretical model of an electrostatic adhesive capstan clutch and demonstrate how large angle (theta > 2pi) designs increase efficiency over planar or small angle (theta < pi) clutch designs. We also report the first unfilled polymeric material, polybenzimidazole (PBI), to exhibit the JR-effect.

Autocurricular training is an important sub-area of multi-agent reinforcement learning~(MARL) that allows multiple agents to learn emergent skills in an unsupervised co-evolving scheme. The robotics community has experimented autocurricular training with physically grounded problems, such as robust control and interactive manipulation tasks. However, the asymmetric nature of these tasks makes the generation of sophisticated policies challenging. Indeed, the asymmetry in the environment may implicitly or explicitly provide an advantage to a subset of agents which could, in turn, lead to a low-quality equilibrium. This paper proposes a novel game-theoretic algorithm, Stackelberg Multi-Agent Deep Deterministic Policy Gradient (ST-MADDPG), which formulates a two-player MARL problem as a Stackelberg game with one player as the `leader' and the other as the `follower' in a hierarchical interaction structure wherein the leader has an advantage. We first demonstrate that the leader's advantage from ST-MADDPG can be used to alleviate the inherent asymmetry in the environment. By exploiting the leader's advantage, ST-MADDPG improves the quality of a co-evolution process and results in more sophisticated and complex strategies that work well even against an unseen strong opponent.

This paper presents a complete closed-form analytical model for determining the per-cycle energy consumption of stepwise adiabatic drivers used for driving a capacitive load such as a power FET gate. The model takes into account the number of steps used, the stepwise driver tank capacitance, the load capacitance, and the stepwise driver switch resistance and on-time. Model accuracy is compared to that of simulation and models from previous work., Comment: 17 pages, 7 Figures

Annealing of amorphous optical coatings has been shown to generally reduce optical absorption, optical scattering, and mechanical loss, with higher temperature annealing giving better results. The achievable maximum temperatures are limited to the levels at which coating damage, such as crystallization, cracking, or bubbling will occur. Coating damage caused by heating is typically only observed statically, after annealing. An experimental method to dynamically observe how and over what temperature range such damage occurs during annealing is desirable as its results could inform manufacturing and annealing processes to ultimately achieve better coating performance. We developed a new instrument that features an industrial annealing oven with holes cut into its sides for viewports to illuminate optical samples and observe their coating scatter and eventual damage mechanisms in-situ and in real-time during annealing. We present results that demonstrate in-situ observation of changes to titania-doped tantala coatings on fused silica substrates. We obtain a spatial image (mapping) of the evolution of these changes during annealing, an advantage over x-ray diffraction, electron beam, or Raman methods. We infer, based on other experiments in the literature, these changes to be due to crystallization. We further discuss the utility of this apparatus for observing other forms of coating damage such as cracking and blisters., Comment: 11 pages, 6 figures, accepted by Applied Optics, typo corrections and new sentences added. arXiv admin note: text overlap with arXiv:2202.12393

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom robot arms that link the head to the end-effectors. We present a novel framework combining pre-touch sensing and deep learning to more accurately estimate pose in an efficient manner. The use of pre-touch sensing allows our method to localize the object directly with respect to the robot's end effector, thereby avoiding error caused by miscalibration of the arms. Instead of requiring the robot to scan the entire object with its pre-touch sensor, we use a deep neural network to detect object regions that contain distinctive geometric features. By focusing pre-touch sensing on these regions, the robot can more efficiently gather the information necessary to adjust its original pose estimate. Our region detection network was trained using a new dataset containing objects of widely varying geometries and has been labeled in a scalable fashion that is free from human bias. This dataset is applicable to any task that involves a pre-touch sensor gathering geometric information, and has been made publicly available. We evaluate our framework by having the robot re-estimate the pose of a number of objects of varying geometries. Compared to two simpler region proposal methods, we find that our deep neural network performs significantly better. In addition, we find that after a sequence of scans, objects can typically be localized to within 0.5 cm of their true position. We also observe that the original pose estimate can often be significantly improved after collecting a single quick scan., Comment: 8 pages, 6 figures

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to detect discriminative geometric object features, but previous sensing modalities are unable to make such measurements robustly. The robot's fingers can occlude the view of environment- or robot-mounted image sensors, and tactile sensors can only measure at the local areas of contact. Motivated by fingertip-embedded proximity sensors' robustness to occlusion and ability to measure beyond the local areas of contact, we present the first evaluation of proximity sensor based pose estimation for in-hand manipulation. We develop a novel two-fingered hand with fingertip-embedded optical time-of-flight proximity sensors as a testbed for pose estimation during planar in-hand manipulation. Here, the in-hand manipulation task consists of the robot moving a cylindrical object from one end of its workspace to the other. We demonstrate, with statistical significance, that proximity-sensor based pose estimation via particle filtering during in-hand manipulation: a) exhibits 50% lower average pose error than a tactile-sensor based baseline; b) empowers a model predictive controller to achieve 30% lower final positioning error compared to when using tactile-sensor based pose estimates., Comment: 8 pages, 6 figures

Air annealing generally reduces absorption, scattering, and mechanical loss in amorphous coatings up to temperatures where damage occurs. Our instrument uses an industrial oven with viewports to observe coating scatter and damage during annealing., Comment: Submission for Optica Conference: Optical Interference Coatings 2022

Benchmarks for robot manipulation are crucial to measuring progress in the field, yet there are few benchmarks that demonstrate critical manipulation skills, possess standardized metrics, and can be attempted by a wide array of robot platforms. To address a lack of such benchmarks, we propose Rubik's cube manipulation as a benchmark to measure simultaneous performance of precise manipulation and sequential manipulation. The sub-structure of the Rubik's cube demands precise positioning of the robot's end effectors, while its highly reconfigurable nature enables tasks that require the robot to manage pose uncertainty throughout long sequences of actions. We present a protocol for quantitatively measuring both the accuracy and speed of Rubik's cube manipulation. This protocol can be attempted by any general-purpose manipulator, and only requires a standard 3x3 Rubik's cube and a flat surface upon which the Rubik's cube initially rests (e.g. a table). We demonstrate this protocol for two distinct baseline approaches on a PR2 robot. The first baseline provides a fundamental approach for pose-based Rubik's cube manipulation. The second baseline demonstrates the benchmark's ability to quantify improved performance by the system, particularly that resulting from the integration of pre-touch sensing. To demonstrate the benchmark's applicability to other robot platforms and algorithmic approaches, we present the functional blocks required to enable the HERB robot to manipulate the Rubik's cube via push-grasping., Comment: IEEE RAL

This project aims to motivate research in competitive human-robot interaction by creating a robot competitor that can challenge human users in certain scenarios such as physical exercise and games. With this goal in mind, we introduce the Fencing Game, a human-robot competition used to evaluate both the capabilities of the robot competitor and user experience. We develop the robot competitor through iterative multi-agent reinforcement learning and show that it can perform well against human competitors. Our user study additionally found that our system was able to continuously create challenging and enjoyable interactions that significantly increased human subjects' heart rates. The majority of human subjects considered the system to be entertaining and desirable for improving the quality of their exercise., Comment: Conference on Robot Learning. PMLR, 2022

The workshop Dawn VI: Next Generation Observatories took place online over three days, 5-7 October, 2021. More than 200 physicists and astronomers attended to contribute to, and learn from, a discussion of next-generation ground-based gravitational-wave detectors. The program was centered on the next generation of ground-based gravitational-wave observatories and their synergy with the greater landscape of scientific observatories of the 2030s. Cosmic Explorer (CE), a concept developed with US National Science Foundation support, was a particular focus; Einstein Telescope (ET), the European next generation concept, is an important complement and partner in forming a network. The concluding summary of the meeting expressed the sentiment that the observational science accessible to CE and ET, also in combination with data from other non-GW observatories, will stimulate a very broad community of analysts and yield insights which are exciting given the access to GWs from the entire universe. The need, and desire, for closer collaboration between ET and CE was expressed; a three-detector network is optimal for delivering much of the science. The science opportunities afforded by CE and ET are broad and compelling, impacting a wide range of disciplines in physics and high energy astrophysics. There was a consensus that CE is a concept that can deliver the promised science. A strong endorsement of Cosmic Explorer, as described in the CE Horizon Study, is a primary outcome of DAWN VI., Comment: Proceedings of the Dawn VI workshop

We present the design of a new passive wireless communication system that does not rely on ambient or generated RF sources. Instead, we exploit the Johnson (thermal) noise generated by a resistor to transmit information bits wirelessly. By switching the load connected to an antenna between a resistor and open circuit, we can achieve data rates of up to 26bps and distances of up to 7.3 meters. This communication method is orders of magnitude less power consuming than conventional communication schemes and presents the opportunity to enable wireless communication in areas with a complete lack of connectivity.

This Horizon Study describes a next-generation ground-based gravitational-wave observatory: Cosmic Explorer. With ten times the sensitivity of Advanced LIGO, Cosmic Explorer will push gravitational-wave astronomy towards the edge of the observable universe ($z \sim 100$). The goals of this Horizon Study are to describe and evaluate design concepts for Cosmic Explorer; to plan for the United States' leadership in gravitational-wave astronomy; and to envisage the role of Cosmic Explorer in the international effort to build a "Third-Generation" (3G) observatory network that will make discoveries transformative across astronomy, physics, and cosmology., Comment: 173 pages

Low power long-range networks like LoRa have become increasingly mainstream for Internet of Things deployments. Given the versatility of applications that these protocols enable, they support many data rates and bandwidths. Yet, for a given network that supports hundreds of devices over multiple miles, the network operator typically needs to specify the same configuration or among a small subset of configurations for all the client devices to communicate with the gateway. This one-size-fits-all approach is highly inefficient in large networks. We propose an alternative approach -- we allow network devices to transmit at any data rate they choose. The gateway uses the first few symbols in the preamble to classify the correct data rate, switches its configuration, and then decodes the data. Our design leverages the inherent asymmetry in outdoor IoT deployments where the clients are power-starved and resource-constrained, but the gateway is not. Our gateway design, Proteus, runs a neural network architecture and is backward compatible with existing LoRa protocols. Our experiments reveal that Proteus can identify the correct configuration with over 97% accuracy in both indoor and outdoor deployments. Our network architecture leads to a 3.8 to 11 times increase in throughput for our LoRa testbed.

Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey paper, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics. Here, proximity sensors are typically deployed in two scenarios: first, on the exterior of manipulator arms to support safety and interaction functionality, and second, on the inside of grippers or hands to support grasping and exploration. Starting from this observation, we propose a categorization for the approaches found in the literature. To provide a basis for understanding these approaches, we devote effort to present the technologies and different measuring principles that were developed over the years, also providing a summary in form of a table. Then, we show the diversity of applications that have been presented in the literature. Finally, we give an overview of the most important trends that will shape the future of this domain.

Small, highly absorbing points are randomly present on the surfaces of the main interferometer optics in Advanced LIGO. The resulting nano-meter scale thermo-elastic deformations and substrate lenses from these micron-scale absorbers significantly reduces the sensitivity of the interferometer directly though a reduction in the power-recycling gain and indirect interactions with the feedback control system. We review the expected surface deformation from point absorbers and provide a pedagogical description of the impact on power build-up in second generation gravitational wave detectors (dual-recycled Fabry-Perot Michelson interferometers). This analysis predicts that the power-dependent reduction in interferometer performance will significantly degrade maximum stored power by up to 50% and hence, limit GW sensitivity, but suggests system wide corrections that can be implemented in current and future GW detectors. This is particularly pressing given that future GW detectors call for an order of magnitude more stored power than currently used in Advanced LIGO in Observing Run 3. We briefly review strategies to mitigate the effects of point absorbers in current and future GW wave detectors to maximize the success of these enterprises., Comment: 49 pages, 16 figures. -V2: typographical errors in equations B9 and B10 were corrected (stray exponent of "h" was removed). Caption of Figure 9 was corrected to indicate that 40mW was used for absorption in the model, not 10mW as incorrectly indicated in V1

Cosmic Explorer (CE) is a next-generation ground-based gravitational-wave observatory concept, envisioned to begin operation in the 2030s, and expected to be capable of observing binary neutron star and black hole mergers back to the time of the first stars. Cosmic Explorer's sensitive band will extend below 10 Hz, where the design is predominantly limited by geophysical, thermal, and quantum noises. In this work, thermal, seismic, gravity-gradient, quantum, residual gas, scattered-light, and servo-control noises are analyzed in order to motivate facility and vacuum system design requirements, potential test mass suspensions, Newtonian noise reduction strategies, improved inertial sensors, and cryogenic control requirements. Our analysis shows that with improved technologies, Cosmic Explorer can deliver a strain sensitivity better than $10^{-23}/\mathrm{Hz}^{1/2}$ down to 5 Hz. Our work refines and extends previous analysis of the Cosmic Explorer concept and outlines the key research areas needed to make this observatory a reality., Comment: 24 pages, 19 figures; expanded discussion of residual gas and quantum noises, and updated scattered light estimates

To increase the transmission distance of Wireless Power Transfer (WPT) systems, we provide guidelines on choosing the optimal location of an Intermediate Coil with respect to size within a standard five-coil axially aligned experimental setup. From our results, for maximum magnitude of S21 at the resonant frequency we found the optimal location to exist where the coupling coefficient between the Transmitter and the Intermediate Coil and the coupling coefficient between the Receiver and the Intermediate Coil are identical. Additionally, the optimal outer diameter for the maximum magnitude of S21 at the resonant frequency of the Intermediate Coil in the given symmetric and asymmetric setup are found to be larger than both TX and RX.

Optical coatings formed from amorphous oxide thin films have many applications in precision measurements. The Advanced Laser Interferometer Gravitational-Wave Observatory (LIGO) and Advanced Virgo use coatings of SiO$_2$ (silica) and TiO$_2$:Ta$_2$O$_5$ (titania doped tantala) and post-deposition annealing to 500$^\circ$C to achieve low thermal noise and low optical absorption. Optical scattering by these coatings is a key limit to the detectors' sensitivity. This paper describes optical scattering measurements for single-layer ion-beam-sputtered thin films on fused silica substrates: two samples of Ta$_2$O$_5$ and two of TiO$_2$:Ta$_2$O$_5$. Using an imaging scatterometer at a fixed scattering angle of 12.8$^\circ$, in-situ changes in the optical scatter of each sample were assessed during post-deposition annealing to 500$^\circ$C in vacuum. The scatter of three of the four coated optics was observed to decrease during the annealing process, by 25-30$\%$ for tantala and up to 74$\%$ for titania-doped tantala, while scatter from the fourth sample held constant. Angle-resolved scatter measurements performed before and after vacuum annealing suggests some improvement in three of four samples. These results demonstrate that post-deposition high-temperature annealing of single-layer tantala and titania-doped tantala thin films in vacuum does not lead to an increase in scatter, and may actually improve their scatter., Comment: 12 pages, 7 figures, research paper

Reliable detection of human occupancy in indoor environments is critical for various energy efficiency, security, and safety applications. We consider this challenge of occupancy detection using extremely low-quality, privacy-preserving images from low power image sensors. We propose a combined few shot learning and clustering algorithm to address this challenge that has very low commissioning and maintenance cost. While the few shot learning concept enables us to commission our system with a few labeled examples, the clustering step serves the purpose of online adaptation to changing imaging environment over time. Apart from validating and comparing our algorithm on benchmark datasets, we also demonstrate performance of our algorithm on streaming images collected from real homes using our novel battery free camera hardware., Comment: 9 pages

Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually very limited. On the other hand, ultrasonic levitation devices have been shown to levitate a large range of small objects, from polystyrene balls to living organisms. By controlling the acoustic force fields, ultrasonic levitation devices can compensate for robot manipulator positioning uncertainty and control the grasping force exerted on the target object. The material agnostic nature of acoustic levitation devices and their ability to dexterously manipulate millimeter-scale objects make them appealing as a grasping mode for general purpose robots. In this work, we present an ultrasonic, contact-less manipulation device that can be attached to or picked up by any general purpose robotic arm, enabling millimeter-scale manipulation with little to no modification to the robot itself. This device is capable of performing the very first phase-controlled picking action on acoustically reflective surfaces. With the manipulator placed around the target object, the manipulator can grasp objects smaller in size than the robot's positioning uncertainty, trap the object to resist air currents during robot movement, and dexterously hold a small and fragile object, like a flower bud. Due to the contact-less nature of the ultrasound-based gripper, a camera positioned to look into the cylinder can inspect the object without occlusion, facilitating accurate visual feature extraction., Comment: 8 pages, 8 figures, submitted to the 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

We present MuSHR, the Multi-agent System for non-Holonomic Racing. MuSHR is a low-cost, open-source robotic racecar platform for education and research, developed by the Personal Robotics Lab in the Paul G. Allen School of Computer Science & Engineering at the University of Washington. MuSHR aspires to contribute towards democratizing the field of robotics as a low-cost platform that can be built and deployed by following detailed, open documentation and do-it-yourself tutorials. A set of demos and lab assignments developed for the Mobile Robots course at the University of Washington provide guided, hands-on experience with the platform, and milestones for further development. MuSHR is a valuable asset for academic research labs, robotics instructors, and robotics enthusiasts., Comment: Added Rosario Scalise to the author list

Light scattered by amorphous thin-film optical coatings limits the sensitivity of interferometric gravitational-wave detectors. We describe an imaging scatterometer to assess the role that crystal growth during annealing plays in this scatter., Comment: 3 page paper submission for Optical Society of America meeting on Optical Interference Coatings

We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sensor system consists of optical time-of-flight range measurement modules covered in a clear elastomer. Because the elastomer is clear, the sensor can detect and range nearby objects, as well as measure deformations caused by objects that are in contact with the sensor and thereby estimate the applied force. We examine how this sensor design can be improved with respect to invariance to object reflectivity, signal-to-noise ratio, and continuous operation when switching between the distance and force measurement regimes. By harnessing time-of-flight technology and optimizing the elastomer-air boundary to control the emitted light's path, we develop a sensor that is able to seamlessly transition between measuring distances of up to 50mm and contact forces of up to 10 newtons. Furthermore, we provide all hardware design files and software sources, and offer thorough instructions on how to manufacture the sensor from inexpensive, commercially available components.

The range to which the Laser Interferometer Gravitational-Wave Observatory (LIGO) can observe astrophysical systems varies over time, limited by noise in the instruments and their environments. Identifying and removing the sources of noise that limit LIGO's range enables higher signal-to-noise observations and increases the number of observations. The LIGO observatories are continuously monitored by hundreds of thousands of auxiliary channels that may contain information about these noise sources. This paper describes an algorithm that uses linear regression, namely lasso (least absolute shrinkage and selection operator) regression, to analyze all of these channels and identify a small subset of them that can be used to reconstruct variations in LIGO's astrophysical range. Exemplary results of the application of this method to three different periods of LIGO Livingston data are presented, along with computational performance and current limitations.

As the number of IoT devices continue to exponentially increase and saturate the wireless spectrum, there is a dire need for additional spectrum to support large networks of wireless devices. Over the past years, many promising solutions have been proposed but they all suffer from the drawback of new infrastructure costs, setup and maintenance, or are difficult to implement due to FCC regulations. In this paper, we propose a novel Wireless Quantization Index Modulation (QIM) technique which uses existing infrastructure to embed information into existing wireless signals to communicate with IoT devices with negligible impact on the original signal and zero spectrum overhead. We explore the design space for wireless QIM and evaluate the performance of embedding information in TV, FM and AM radio broadcast signals under different conditions. We demonstrate that we can embed messages at up to 8-200~kbps with negligible impact on the audio and video quality of the original FM, AM and TV signals respectively., Comment: 8 pages, IEEE RFID

Wireless video streaming has traditionally been considered an extremely power-hungry operation. Existing approaches optimize the camera and communication modules individually to minimize their power consumption. However, the joint redesign and optimization of wireless communication as well as the camera is what that provides more power saving. We present an ultra-low-power wireless video streaming camera. To achieve this, we present a novel "analog" video backscatter technique that feeds analog pixels from the photo-diodes directly to the backscatter hardware, thereby eliminating power consuming hardware components such as ADCs and amplifiers. We prototype our wireless camera using off-the-shelf hardware and show that our design can stream video at up to 13 FPS and can operate up to a distance of 150 feet from the access point. Our COTS prototype consumes 2.36mW. Finally, to demonstrate the potential of our design, we built two proof-of-concept applications: video streaming for micro-robots and security cameras for face detection., Comment: 9 pages, 11 figures

The vision of embedding connectivity into billions of everyday objects runs into the reality of existing communication technologies --- there is no existing wireless technology that can provide reliable and long-range communication at tens of microwatts of power as well as cost less than a dime. While backscatter is low-power and low-cost, it is known to be limited to short ranges. This paper overturns this conventional wisdom about backscatter and presents the first wide-area backscatter system. Our design can successfully backscatter from any location between an RF source and receiver, separated by 475 m, while being compatible with commodity LoRa hardware. Further, when our backscatter device is co-located with the RF source, the receiver can be as far as 2.8 km away. We deploy our system in a 4,800 $ft^{2}$ (446 $m^{2}$) house spread across three floors, a 13,024 $ft^{2}$ (1210 $m^{2}$) office area covering 41 rooms, as well as a one-acre (4046 $m^{2}$) vegetable farm and show that we can achieve reliable coverage, using only a single RF source and receiver. We also build a contact lens prototype as well as a flexible epidermal patch device attached to the human skin. We show that these devices can reliably backscatter data across a 3,328 $ft^{2}$ (309 $m^{2}$) room. Finally, we present a design sketch of a LoRa backscatter IC that shows that it costs less than a dime at scale and consumes only 9.25 $\mu$W of power, which is more than 1000x lower power than LoRa radio chipsets.

This paper enables connectivity on everyday objects by transforming them into FM radio stations. To do this, we show for the first time that ambient FM radio signals can be used as a signal source for backscatter communication. Our design creates backscatter transmissions that can be decoded on any FM receiver including those in cars and smartphones. This enables us to achieve a previously infeasible capability: backscattering information to cars and smartphones in outdoor environments. Our key innovation is a modulation technique that transforms backscatter, which is a multiplication operation on RF signals, into an addition operation on the audio signals output by FM receivers. This enables us to embed both digital data as well as arbitrary audio into ambient analog FM radio signals. We build prototype hardware of our design and successfully embed audio transmissions over ambient FM signals. Further, we achieve data rates of up to 3.2 kbps and ranges of 5-60 feet, while consuming as little as 11.07{\mu}W of power. To demonstrate the potential of our design, we also fabricate our prototype on a cotton t-shirt by machine sewing patterns of a conductive thread to create a smart fabric that can transmit data to a smartphone. We also embed FM antennas into posters and billboards and show that they can communicate with FM receivers in cars and smartphones., Comment: NSDI 2017