1. Heightened Proprioceptive Awareness and Safe Exploration Jackie Libby, PhD Student Tony Stentz, Faculty Advisor Robotics Institute, Carnegie Mellon University

2. Experimental Platform Microphone near front wheels Webcam aids in labeling data Vibration sensor on wheel axle Microphone near rear impact plate Inertial Measurement Unit Embedded computer for most of the data acquisition Laptop to interface with embedded computer Windows laptop for National Instruments interface National Instruments data acquisition board

3. Acoustic signal Short windows Feature vectors Binary SVM Multiclass classifier Acoustic Implementation Processing Pipeline:

4. Acoustic Classification Results Different Feature / Classifier Combinations Different Methods for Combining Front and Rear Microphones

5. Current/Future Work with Vibration Sensing 6 DOF MEMS inertial sensors 25 Hz low pass cutoff Crossbow IMU 440 Measurement Specialties 7100A Acoustic Vibration IMU PavementGravel Time  Piezoelectric vibration sensor up to 10,000 Hz Preliminary results with Vibration Data