Recommending Pre-Trained Models for IoT Devices

The availability of pre-trained models (PTMs) has enabled faster deployment of machine learning across applications by reducing the need for extensive training. Techniques like quantization and distillation have further expanded PTM applicability to resource-constrained IoT hardware. Given the many PTM options for any given task, engineers often find it too costly to evaluate each model's suitability. Approaches such as LogME, LEEP, and ModelSpider help streamline model selection by estimating task relevance without exhaustive tuning. However, these methods largely leave hardware constraints as future work-a significant limitation in IoT settings. In this paper, we identify the limitations of current model recommendation approaches regarding hardware constraints and introduce a novel, hardware-aware method for PTM selection. We also propose a research agenda to guide the development of effective, hardware-conscious model recommendation systems for IoT applications.

Femtosecond laser fabricated nitinol living hinges for millimeter-sized robots

Nitinol is a smart material that can be used as an actuator, a sensor, or a structural element, and has the potential to significantly enhance the capabilities of microrobots. Femtosecond laser technology can be used to process nitinol while avoiding heat-affected zones (HAZ), thus retaining superelastic properties. In this work, we manufacture living hinges of arbitrary cross-sections from nitinol using a femtosecond laser micromachining process. We first determined the laser cutting parameters, 4.1 Jcm^-2 fluence with 5 passes for 5 um ablation, by varying laser power level and number of passes. Next, we modeled the hinges using an analytical model as well as creating an Abaqus finite element method, and showed the accuracy of the models by comparing them to the torque produced by eight different hinges, four with a rectangular cross-section and four with an arc cross-section. Finally, we manufactured three prototype miniature devices to illustrate the usefulness of these nitinol hinges: a sample spherical 5-bar mechanism, a sarrus linkage, and a piezoelectric actuated robotic wing mechanism.