An Optimized Architecture for CGA Operations and Its Application to a Simulated Robotic Arm

Conformal geometric algebra (CGA) is a new geometric computation tool that is attracting growing attention in many research fields, such as computer graphics, robotics, and computer vision. Regarding the robotic applications, new approaches based on CGA have been proposed to efficiently solve problems as the inverse kinematics and grasping of a robotic arm. The hardware acceleration of CGA operations is required to meet real-time performance requirements in embedded robotic platforms. In this paper, we present a novel embedded coprocessor for accelerating CGA operations in robotic tasks. Two robotic algorithms, namely, inverse kinematics and grasping of a human-arm-like kinematics chain, are used to prove the effectiveness of the proposed approach. The coprocessor natively supports the entire set of CGA operations including both basic operations (products, sums/differences, and unary operations) and complex operations as rigid body motion operations (reflections, rotations, translations, and dilations). The coprocessor prototype is implemented on the Xilinx ML510 development platform as a complete system-on-chip (SoC), integrating both a PowerPC processing core and a CGA coprocessing core on the same Xilinx Virtex-5 FPGA chip. Experimental results show speedups of 78x and 246x for inverse kinematics and grasping algorithms, respectively, with respect to the execution on the PowerPC processor

Implementation and evaluation of medical imaging techniques based on conformal geometric algebra

Medical imaging tasks, such as segmentation, 3D modeling, and registration of medical images, involve complex geometric problems, usually solved by standard linear algebra and matrix calculations. In the last few decades, conformal geometric algebra (CGA) has emerged as a new approach to geometric computing that offers a simple and efficient representation of geometric objects and transformations. However, the practical use of CGA-based methods for big data image processing in medical imaging requires fast and efficient implementations of CGA operations to meet both real-time processing constraints and accuracy requirements. The purpose of this study is to present a novel implementation of CGA-based medical imaging techniques that makes them effective and practically usable. The paper exploits a new simplified formulation of CGA operators that allows significantly reduced execution times while maintaining the needed result precision. We have exploited this novel CGA formulation to re-design a suite of medical imaging automatic methods, including image segmentation, 3D reconstruction and registration. Experimental tests show that the re-formulated CGA-based methods lead to both higher precision results and reduced computation times, which makes them suitable for big data image processing applications. The segmentation algorithm provides the Dice index, sensitivity and specificity values of 98.14%, 98.05% and 97.73%, respectively, while the order of magnitude of the errors measured for the registration methods is 10-5

A Yolo-Based Model for Breast Cancer Detection in Mammograms

This work aims to implement an automated data-driven model for breast cancer detection in mammograms to support physicians' decision process within a breast cancer screening or detection program. The public available CBIS-DDSM and the INbreast datasets were used as sources to implement the transfer learning technique on full-field digital mammography proprietary dataset. The proprietary dataset reflects a real heterogeneous case study, consisting of 190 masses, 46 asymmetries, and 71 distortions. Several Yolo architectures were compared, including YoloV3, YoloV5, and YoloV5-Transformer. In addition, Eigen-CAM was implemented for model introspection and outputs explanation by highlighting all the suspicious regions of interest within the mammogram. The small YoloV5 model resulted in the best developed solution obtaining an mAP of 0.621 on proprietary dataset. The saliency maps computed via Eigen-CAM have proven capable solution reporting all regions of interest also on incorrect prediction scenarios. In particular, Eigen-CAM produces a substantial reduction in the incidence of false negatives, although accompanied by an increase in false positives. Despite the presence of hard-to-recognize anomalies such as asymmetries and distortions on the proprietary dataset, the trained model showed encouraging detection capabilities. The combination of Yolo predictions and the generated saliency maps represent two complementary outputs for the reduction of false negatives. Nevertheless, it is imperative to regard these outputs as qualitative tools that invariably necessitate clinical radiologic evaluation. In this view, the model represents a trusted predictive system to support cognitive and decision-making, encouraging its integration into real clinical practice

A Multimodal Technique for an Embedded Fingerprint Recognizer in Mobile Payment Systems

The development and the diffusion of distributed systems, directly connected to recent communication technologies, move people towards the era of mobile and ubiquitous systems. Distributed systems make merchant-customer relationships closer and more flexible, using reliable e-commerce technologies. These systems and environments need many distributed access points, for the creation and management of secure identities and for the secure recognition of users. Traditionally, these access points can be made possible by a software system with a main central server. This work proposes the study and implementation of a multimodal technique, based on biometric information, for identity management and personal ubiquitous authentication. The multimodal technique uses both fingerprint micro features (minutiae) and fingerprint macro features (singularity points) for robust user authentication. To strengthen the security level of electronic payment systems, an embedded hardware prototype has been also created: acting as self-contained sensors, it performs the entire authentication process on the same device, so that all critical information (e.g. biometric data, account transactions and cryptographic keys), are managed and stored inside the sensor, without any data transmission. The sensor has been prototyped using the Celoxica RC203E board, achieving fast execution time, low working frequency, and good recognition performance

A Novel Technique for Fingerprint Classification based on Fuzzy C-Means and Naive Bayes Classifier

Fingerprint classification is a key issue in automatic fingerprint identification systems. One of the main goals is to reduce the item search time within the fingerprint database without affecting the accuracy rate. In this paper, a novel technique, based on topological information, for efficient fingerprint classification is described. The proposed system is composed of two independent modules: the former module, based on Fuzzy C-Means, extracts the best set of training images; the latter module, based on Fuzzy C-Means and Naive Bayes classifier, assigns a class to each processed fingerprint using only directional image information. The proposed approach does not require any image enhancement phase. Experimental trials, conducted on a subset of the free downloadable PolyU database, show a classification rate of 91% over a 100 images test database using only 12 training examples

A multimodal retina-iris biometric system using the levenshtein distance for spatial feature comparison

The recent developments of information technologies, and the consequent need for access to distributed services and resources, require robust and reliable authentication systems. Biometric systems can guarantee high levels of security and multimodal techniques, which combine two or more biometric traits, warranting constraints that are more stringent during the access phases. This work proposes a novel multimodal biometric system based on iris and retina combination in the spatial domain. The proposed solution follows the alignment and recognition approach commonly adopted in computational linguistics and bioinformatics; in particular, features are extracted separately for iris and retina, and the fusion is obtained relying upon the comparison score via the Levenshtein distance. We evaluated our approach by testing several combinations of publicly available biometric databases, namely one for retina images and three for iris images. To provide comprehensive results, detection error trade-off-based metrics, as well as statistical analyses for assessing the authentication performance, were considered. The best achieved False Acceptation Rate and False Rejection Rate indices were and 3.33%, respectively, for the multimodal retina-iris biometric approach that overall outperformed the unimodal systems. These results draw the potential of the proposed approach as a multimodal authentication framework using multiple static biometric traits

CT Radiomic Features and Clinical Biomarkers for Predicting Coronary Artery Disease

This study was aimed to investigate the predictive value of the radiomics features extracted from pericoronaric adipose tissue & mdash; around the anterior interventricular artery (IVA) & mdash; to assess the condition of coronary arteries compared with the use of clinical characteristics alone (i.e., risk factors). Clinical and radiomic data of 118 patients were retrospectively analyzed. In total, 93 radiomics features were extracted for each ROI around the IVA, and 13 clinical features were used to build different machine learning models finalized to predict the impairment (or otherwise) of coronary arteries. Pericoronaric radiomic features improved prediction above the use of risk factors alone. In fact, with the best model (Random Forest + Mutual Information) the AUROC reached 0.820 +/- 0.076 . As a matter of fact, the combined use of both types of features (i.e., radiomic and clinical) allows for improved performance regardless of the feature selection method used. Experimental findings demonstrated that the use of radiomic features alone achieves better performance than the use of clinical features alone, while the combined use of both clinical and radiomic biomarkers further improves the predictive ability of the models. The main contribution of this work concerns: (i) the implementation of multimodal predictive models, based on both clinical and radiomic features, and (ii) a trusted system to support clinical decision-making processes by means of explainable classifiers and interpretable features