arXiv subjects

Nathaniel Rose

Publications and source records attributed to Nathaniel Rose.

4 recordsLinked to original sources

arXiv2026

Threat Vectors and the State of the Art in Defense Methods for Security in Neurotechnology

Brain-computer interfaces (BCIs) are a class of diverse hardware modalities, associated software, and connected devices which are widely used in a variety of fields, including neurosurgery, biomedical data analysis, and neuroimaging. Recent years have seen rapid advancements in BCI technology, and neurotechnology more broadly, with the first devices now passing clinical trials, early examples of consumer hardware entering the market, and many variants of consumer and medical hardware with increasingly extensive capabilities being developed rapidly. However, research and development in security for BCIs--known as neurosecurity--lags significantly behind the capabilities of BCIs themselves. In an effort to address as many vulnerabilities as feasible immediately, in this paper we review the current state of the art in neurosecurity, thoroughly survey the breadth and complexity of both firmly established and highly probable security threats to BCI systems, and provide recommendations of existing methods from cybersecurity, hardware security, and machine learning which can immediately be applied to address some of these gaps in neurosecurity.

cs.CR↗

arXiv2025

MoistureMapper: An Autonomous Mobile Robot for High-Resolution Soil Moisture Mapping at Scale

Soil moisture is a quantity of interest in many application areas including agriculture and climate modeling. Existing methods are not suitable for scale applications due to large deployment costs in high-resolution sensing applications such as for variable irrigation. In this work, we design, build and field deploy an autonomous mobile robot, MoistureMapper, for soil moisture sensing. The robot is equipped with Time Domain Reflectometry (TDR) sensors and a direct push drill mechanism for deploying the sensor to measure volumetric water content in the soil. Additionally, we implement and evaluate multiple adaptive sampling strategies based on a Gaussian Process based modeling to build a spatial mapping of moisture distribution in the soil. We present results from large scale computational simulations and proof-of-concept deployment on the field. The adaptive sampling approach outperforms a greedy benchmark approach and results in up to 30\% reduction in travel distance and 5\% reduction in variance in the reconstructed moisture maps. Link to video showing field experiments: https://youtu.be/S4bJ4tRzObg

cs.RO↗

arXiv2025

Learning to Predict Mobile Robot Stability in Off-Road Environments

Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge of contact forces, terrain geometry, and the robot's precise center-of-mass that are difficult to measure accurately in real-world field conditions. In this work, we propose a learning-based approach to estimate robot platform stability directly from proprioceptive data using a lightweight neural network, IMUnet. Our method enables data-driven inference of robot stability without requiring an explicit terrain model or force sensing. We also develop a novel vision-based ArUco tracking method to compute a scalar score to quantify robot platform stability called C3 score. The score captures image-space perturbations over time as a proxy for physical instability and is used as a training signal for the neural network based model. As a pilot study, we evaluate our approach on data collected across multiple terrain types and speeds and demonstrate generalization to previously unseen conditions. These initial results highlight the potential of using IMU and robot velocity as inputs to estimate platform stability. The proposed method finds application in gating robot tasks such as precision actuation and sensing, especially for mobile manipulation tasks in agricultural and space applications. Our learning method also provides a supervision mechanism for perception based traversability estimation and planning.

cs.RO↗

arXiv2025

SARAL-Bot: Autonomous Robot for Strawberry Plant Care

Strawberry farming demands intensive labor for monitoring and maintaining plant health. To address this, Team SARAL develops an autonomous robot for the 2024 ASABE Student Robotics Challenge, capable of navigation, unhealthy leaf detection, and removal. The system addresses labor shortages, reduces costs, and supports sustainable farming through vision-based plant assessment. This work demonstrates the potential of robotics to modernize strawberry cultivation and enable scalable, intelligent agricultural solutions.

cs.RO↗