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

Impact of Wavelet Kernels on Predictive Capability of Radiomic Features: A Case Study on COVID-19 Chest X-ray Images

Radiomic analysis allows for the detection of imaging biomarkers supporting decision-making processes in clinical environments, from diagnosis to prognosis. Frequently, the original set of radiomic features is augmented by considering high-level features, such as wavelet transforms. However, several wavelets families (so called kernels) are able to generate different multi-resolution representations of the original image, and which of them produces more salient images is not yet clear. In this study, an in-depth analysis is performed by comparing different wavelet kernels and by evaluating their impact on predictive capabilities of radiomic models. A dataset composed of 1589 chest X-ray images was used for COVID-19 prognosis prediction as a case study. Random forest, support vector machine, and XGBoost were trained (on a subset of 1103 images) after a rigorous feature selection strategy to build-up the predictive models. Next, to evaluate the models generalization capability on unseen data, a test phase was performed (on a subset of 486 images). The experimental findings showed that Bior1.5, Coif1, Haar, and Sym2 kernels guarantee better and similar performance for all three machine learning models considered. Support vector machine and random forest showed comparable performance, and they were better than XGBoost. Additionally, random forest proved to be the most stable model, ensuring an appropriate balance between sensitivity and specificity

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

STIMA DEL POTENZIALE ELETTRICO IN tDCS CON APPROCCIO MESHLESS INNOVATIVO

Transcranial DC stimulation (transcranial Direct Current Stimulation, tDCS) is a non-invasive technique aimed at modifying neuronal activity for the purpose therapeutic and / or for the improvement of mental performance. A continuous current of entity modest (below the threshold of perception) is injected into the brain via electrodes placed on the scalp surface to produce changes in long-term cortical activity. Despite the increasing use of this and other similar techniques, and the relevant ones applications - for example in the field of neuropsychological rehabilitation - their impact on neuronal activity is not yet fully known, mainly due to the difficulty of predict the spatial distribution of the current within the brain, and to determine the optimal position and size of the electrodes

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

Medical data processing and analysis for remote health and activities monitoring

Recent developments in sensor technology, wearable computing, Internet of Things (IoT), and wireless communication have given rise to research in ubiquitous healthcare and remote monitoring of human\u2019s health and activities. Health monitoring systems involve processing and analysis of data retrieved from smartphones, smart watches, smart bracelets, as well as various sensors and wearable devices. Such systems enable continuous monitoring of patients psychological and health conditions by sensing and transmitting measurements such as heart rate, electrocardiogram, body temperature, respiratory rate, chest sounds, or blood pressure. Pervasive healthcare, as a relevant application domain in this context, aims at revolutionizing the delivery of medical services through a medical assistive environment and facilitates the independent living of patients. In this chapter, we discuss (1) data collection, fusion, ownership and privacy issues; (2) models, technologies and solutions for medical data processing and analysis; (3) big medical data analytics for remote health monitoring; (4) research challenges and opportunities in medical data analytics; (5) examples of case studies and practical solutions