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2025 IEEE International Conference on Consumer Electronics, ICCE 2025

作者： Garavagno, Andrea Mattia Ragusa, Edoardo Gastaldo, Paolo Frisoli, Antonio Loconsole, Claudio Department of Electrical Electronic Telecommunication Engineering and Naval Architecture DITEN University of Genoa Genoa16145 Italy Department of Excellence in Robotics & AI Scuola Superiore Sant'Anna Piazza Martiri della Libertà 33 Pisa56127 Italy Institute of Mechanical Intelligence Scuola Superiore Sant'Anna Ghezzano Pisa56010 Italy Faculty of Technological and Innovation Sciences Universitas Mercatorum Rome00186 Italy

ISBN: (纸本)9798331521165

This paper proposes a new approach to near-sensor computing, in which a lightweight Neural Architecture Search (NAS) is performed directly on the deployment device to find the best tiny neural architecture for analyzing the real-time data acquired through sensors. This new adaptation capability can be particularly useful in the case of human-machine interfaces for which the neural network analyzing the biometrical data can be re-designed each time the user changes, after a guided data collection procedure, fighting the typical data variations between individuals on a new level. To implement the proposed approach a new NAS has been designed and then validated on the Italian Sign Language dataset (ISL), a collection of surface electromyography (sEMG) signals of the signs of the Italian alphabet, using several embedded systems. Moreover, further validation on the Case Western Reserve University dataset (CWRU), a benchmark for intelligent fault diagnosis, is presented to suggest another possible application of the proposed approach. When run on a Raspberry Pi 4, the proposed NAS performs beyond the state of the art proposing a tiny neural architecture having 0.63 times less RAM occupancy and 5.96 percentage points of more accuracy in the case of the ISL dataset;and 0.44 times less RAM occupancy and 0.2 percentage points of more accuracy in the case of the CWRU dataset. © 2025 IEEE.

关键词： Embedded systems

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Quantitative ultrasound classification of healthy and chemically degraded ex-vivo cartilage

TechRxiv

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TechRxiv 2023年

作者： Sorriento, Angela Guachi-Guachi, Lorena Lenzi, Enrico Dolzani, Paolo Lisignoli, Gina Kerdegari, Sajedeh Valenza, Gaetano Canale, Claudio Cafarelli, Andrea Ricotti, Leonardo The BioRobotics Institute Scuola Superiore Sant’Anna Pisa56127 Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa56127 Italy IRCCS Istituto Ortopedico Rizzoli SC Laboratorio di Immunoreumatologia e Rigenerazione Tissutale Bologna40136 Italy Physics Department University of Genoa via Dodecaneso 33 Genoa16146 Italy Istituto Italiano di Tecnologia Via Enrico Melen 83 Edificio B Genova16152 Italy Bioengineerring and Robotics Research Centre E Piaggio University of Pisa Pisa56122 Italy Department of Information Engineering University of Pisa Pisa56123 Italy

In this study, we explored the potential of seventeen quantitative ultrasound parameters (radiofrequency-based) in assessing the progressive loss of collagen and proteoglycans (mimicking an osteoarthritis condition) in ex-vivo bovine cartilage samples. The majority of the analyzed metrics showed significant changes as the degradation progressed due to trypsin and collagenase treatment. For the first time, we employed a combination of these ultrasound parameters to create machine learning models for the automated detection of a model of healthy and degraded cartilage samples. A logistic regression model exhibited a remarkable capability of distinguishing between healthy and collagenase-treated cartilage, achieving accuracy and an area under the curve values of 93% and 90%, respectively. When comparing healthy and trypsin-treated cartilage, an ensemble model yielded accuracy and an area under the curve values of 83% and 75%, respectively. Histological and mechanical analyses further confirmed the ultrasound findings, as collagenase had more pronounced impact on both mechanical and histological properties compared to trypsin. These metrics were obtained using an ultrasound probe, with a transmission frequency of 15 MHz, typically used for the diagnosis of musculoskeletal diseases. As a perspective, the proposed quantitative ultrasound assessment could become a new standard for monitoring cartilage health, aiding in the early detection of cartilage pathologies and enabling prompt interventions. © 2023, CC BY.

关键词： Mammals

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Supervised stowing as enabling technology for the integration of impaired operators in the industry

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Procedia Manufacturing 2020年 51卷 171-178页

作者： Salvatore D’Avella Paolo Tripicchio Department of Excellence in Robotics and AI TeCIP Institute Scuola Superiore Sant’Anna

Nowadays, the number of jobs accessible to impaired people in industries is limited. However, minimum changes in the plant could allow the employment of such individuals. Technology is the way to assist such workers to perform at the best they could and to avoid disabilities to limit their potentialities. This work proposes a supervised stowing system that will allow impaired operators to perform the task of order-picking in cluttered environments, despite their disabilities. Pick and place is the most repetitive and common task in industrial manufacturing and warehouses, requiring complex cognitive skills for robots. In the proposed system, the task is physically executed by a robot, while the mental process of selecting the correct object to pick is demanded to the operator. This action is performed through an easy to use graphical user interface. An experimental campaign has been conducted to demonstrate the effectiveness of the proposed assistive robotic system.

关键词： Industrial robotics Robotic picking Universal Jamming Gripper Computer Vision ROS Enabling technology

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Optimal Memory Allocation and Scheduling for DMA Data Transfers under the LET Paradigm 21

Optimal Memory Allocation and Scheduling for DMA Data Transf...

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Proceedings of the 58th Annual ACM/IEEE Design Automation Conference

作者： Paolo Pazzaglia Daniel Casini Alessandro Biondi Marco Di Natale Saarland University Saarbrücken Germany TeCIP Institute Scuola Superiore Sant'Anna Pisa Italy and Department of Excellence in Robotics & AI Scuola Superiore Sant'Anna Pisa Italy TeCIP Institute Scuola Superiore Sant'Anna Pisa Italy

ISBN: (纸本)9781665432740

The Logical Execution Time (LET) paradigm is increasingly used to achieve predictable communications in modern multicore automotive applications. Direct Memory Access (DMA) engines can perform the data copies that are needed in a LET implementation on behalf of the cores with improved parallelism and reduced overheads. However, each DMA transfer operates on contiguous memory areas, and the performance is strongly dependent on the allocation in memory of the variables to be copied. This paper proposes a protocol to perform LET communications with a DMA and presents an optimal memory allocation scheme and scheduling using a mixed-integer linear programming formulation. Experimental results are reported to compare the performance of different communication approaches.

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Classification of patients with cardiac amyloidosis using machine learning models on Italian electronic clinical health records*

Classification of patients with cardiac amyloidosis using ma...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Sara Mazzucato Andrea Bandini Silvestro Micera Giuseppe Vergaro Stefano Dalmiani Michele Emdin Claudio Passino Sara Moccia The BioRobotics Institute and the Department of Excellence in Robotics and Artificial Intelligence Scuola Superiore Sant’Anna Pisa Italy KITE Research Institute - Toronto Rehabilitation Institute University Health Network Toronto ON Canada Health Science Interdisciplinary Center Scuola Superiore Sant’Anna Pisa Italy Bertarelli Foundation Chair in Translational Neural Engineering Center for Neuroprosthetics and Institute of Bioengineering Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Fondazione Toscana Gabriele Monasterio Pisa Italy

Amyloidosis refers to a range of medical conditions in which misshapen proteins accumulate in various organs and tissues, forming insoluble fibrils. Cardiac amyloidosis is frequently linked to the buildup of misfolded transthyretin (TTR) or immunoglobulin light chains (AL). Delayed diagnosis, due to lack of disease awareness, results in a poor prognosis, especially in patients with AL amyloidosis. Early identification is therefore a key factor to improve patient outcomes. This study investigates the use of supervised machine-learning algorithms to support clinicians in classifying amyloidosis and control subjects. The aim of this work is to foster model interpretability reporting the most important risk factors in predicting the presence of cardiac amyloidosis. We analyzed electronic health records (EHRs) of 418 participants acquired in a time window of 12 years as part of a case-control study conducted in Fondazione Toscana Gabriele Monasterio (Italy) clinical practice. This work paves the way for the creation of digital health solutions that can aid in amyloidosis screening. The effective handling, analysis, and interpretation of these solutions can have a transformative effect on modern healthcare, offering new opportunities for improved patient care.

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A preliminary study on self-care telemonitoring of dysarthria in spinal muscular atrophy

A preliminary study on self-care telemonitoring of dysarthri...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Lucia Migliorelli Sara Moccia Daniele Berardini Emanuele Frontoni Michela Coccia Laura Villani Andrea Bandini Department of Information Engineering Università Politecnica Delle Marche Italy AIDAPT S.r.l Italy Department of Excellence in Robotics and AI The BioRobotics Institute Scuola Superiore Sant’Anna Scuola Superiore Sant’Anna Italy Department of Political Sciences Communication and International Relations Università Degli Studi di Macerata Italy NeMO Lab.S.r.l Italy Centro Clinico NeuroMuscular Omnicentre (NeMO) Fondazione Serena Onlus Italy Department of Neuroscience Neurorehabilitation Clinic Azienda Ospedaliero–Universitaria Ospedali Riuniti di Ancona Italy KITE Research Institute –Toronto Rehabilitation Institute University Health Network Toronto ON Canada

Spinal muscular atrophy (SMA) is a rare neuromuscular disease which may cause impairments in oro-facial musculature. Most of the individuals with SMA present bulbar signs such as flaccid dysarthria which mines their abilities to speak and, as consequence, their psychic balance. To support clinicians, recent work has demonstrated the feasibility of video-based techniques for assessing the oro-facial functions in patients with neurological disorders such as amyotrophic lateral sclerosis. However, no work has so far focused on automatic and quantitative monitoring of dysarthria in SMA. To overcome limitations this work’s aim is to propose a cloud-based store-and-forward telemonitoring system for automatic and quantitative evaluation of oro-facial muscles in individuals with SMA. The system integrates a convolutional neural network (CNN) aimed at identifying the position of facial landmarks from video recordings acquired via a web application by an SMA *** relevance— The proposed work is in the preliminary stage, but it represents the first step towards a better understanding of the bulbar-functions’ evolution in patients with SMA.

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Rods coiling about a rigid constraint: Helices and perversions

arXiv

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arXiv 2021年

作者： Riccobelli, D. Noselli, G. Desimone, A. SISSA - International School for Advanced Studies Trieste34136 Italy BioRobotics Institute Department of Excellence in Robotics and A.I. Sant'Anna School of Advanced Studies Pisa56127 Italy

Mechanical instabilities can be exploited to design innovative structures, able to change their shape in the presence of external stimuli. In this work, we derive a mathematical model of an elastic beam subjected to an axial force and constrained to smoothly slide along a rigid support, where the distance between the rod midline and the constraint is fixed and finite. Using both theoretical and computational techniques, we characterize the bifurcations of such a mechanical system, in which the axial force and the natural curvature of the beam are used as control parameters. We show that, in the presence of a straight support, the rod can deform into shapes exhibiting helices and perversions, namely transition zones connecting together two helices with opposite chirality. The mathematical predictions of the proposed model are also compared with some experiments, showing a good quantitative agreement. In particular, we find that the buckled configurations may exhibit multiple perversions and we propose a possible explanation for this phenomenon based on the energy landscape of the mechanical system. Copyright © 2021, The Authors. All rights reserved.

关键词： Finite element method

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False perspectives on human language: why statistics needs linguistics

arXiv

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arXiv 2023年

作者： Greco, Matteo Cometa, Andrea Artoni, Fiorenzo Frank, Robert Moro, Andrea University School for Advanced Studies IUSS Pavia Pavia27100 Italy The Biorobotics Institute Department of Excellence in AI and Robotics Scuola Superiore Sant’Anna Pisa Italy Ecole Polytechnique Federale de Lausanne Bertarelli Foundation Chair in Translational NeuroEngineering Center for Neuroprosthetics School of Engineering Chemin des Mines 9 GenevaGE CH 1202 Switzerland Functional Brain Mapping Laboratory Department of Basic Neurosciences University of Geneva Chemin des Mines 9 GenevaGE CH 1202 Switzerland Department of Linguistics Yale University New Haven United States

A sharp tension exists about the nature of human language between two opposite parties: those who believe that statistical surface distributions, in particular using measures like surprisal, provide a better understanding of language processing, vs. those who believe that discrete hierarchical structures implementing linguistic information such as syntactic ones are a better tool. In this paper, we show that this dichotomy is a false one. Relying on the fact that statistical measures can be defined on the basis of either structural or non-structural models, we provide empirical evidence that only models of surprisal that reflect syntactic structure are able to account for language regularities. © 2023, CC BY-NC-ND.

关键词： Syntactics

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End-to-End Analysis of Event Chains under the QNX Adaptive Partitioning Scheduler

End-to-End Analysis of Event Chains under the QNX Adaptive P...

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IEEE Symposium on Real-Time and Embedded Technology and Applications

作者： Dakshina Dasari Matthias Becker Daniel Casini Tobias Blaß Robert Bosch GmbH Germany KTH Royal Institute of Technology Stockholm Sweden Department of Excellence in Robotics &#x0026 AI TeCIP Institute Scuola Superiore Sant&#x2019 Anna Pisa Italy Saarland Informatics Campus (SIC) Robert Bosch GmbH and Saarland University Germany

ISBN: (数字)9781665499989

ISBN: (纸本)9781665499996

Modern autonomous cars run classic AUTOSAR applications alongside advanced driving assistance systems on a single-vehicle computer. Ensuring safety and predictability in such a complex system is challenging and requires temporal isolation between the various components. A promising solution is the POSIX-compliant QNX operating system: it meets the automotive standards for functional safety at the highest level (ISO 26262 ASIL-D) and provides temporal isolation through the Adaptive Partitioning Scheduler (APS), a resource reservation algorithm that guarantees processor bandwidth to groups of threads. These guarantees make it an ideal platform for composing diverse and complex applications on centralized vehicle computers. However, so far, there is no precise description or analysis of the APS reservation mechanism in real-time literature. In this paper, we provide the first description of the behavior of the APS from a real-time point of view and validate the results by running experiments on a real QNX platform. Based on the derived scheduler rules, we develop a response-time analysis to bound the end-to-end latency of event chains under APS. Finally, we evaluate different design strategies on a case study based on a real autonomous construction vehicle.

关键词： Adaptation models Analytical models Operating systems Real-time systems Safety Behavioral sciences Partitioning algorithms

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Detecting adversarial examples by input transformations, defense perturbations, and voting

arXiv

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arXiv 2021年

作者： Nesti, Federico Biondi, Alessandro Buttazzo, Giorgio Department of Excellence in Robotics & AI Scuola Superiore Sant'Anna Pisa Italy Tecip Institute Scuola Superiore Sant'Anna Pisa Italy

Over the last few years, convolutional neural networks (CNNs) have proved to reach super-human performance in visual recognition tasks. However, CNNs can easily be fooled by adversarial examples, i.e., maliciously-crafted images that force the networks to predict an incorrect output while being extremely similar to those for which a correct output is predicted. Regular adversarial examples are not robust to input image transformations, which can then be used to detect whether an adversarial example is presented to the network. Nevertheless, it is still possible to generate adversarial examples that are robust to such transformations. This paper extensively explores the detection of adversarial examples via image transformations and proposes a novel methodology, called defense perturbation, to detect robust adversarial examples with the same input transformations the adversarial examples are robust to. Such a defense perturbation is shown to be an effective counter-measure to robust adversarial examples. Furthermore, multi-network adversarial examples are introduced. This kind of adversarial examples can be used to simultaneously fool multiple networks, which is critical in systems that use network redundancy, such as those based on architectures with majority voting over multiple CNNs. An extensive set of experiments based on state-of-the-art CNNs trained on the Imagenet dataset is finally reported. © 2021, CC BY-NC-SA.

关键词： Deep neural networks

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