Zambella Grazia, et al. "Dynamic whole-body control of unstable wheeled humanoid robots." IEEE Robotics and Automation Letters 4.4 (2019): 3489-3496.

Control of two-wheeled humanoid robots poses several challenges due to the unstable dynamics of their mobile base and the coupling between the upper and lower body dynamics. The problem is often faced in the literature with methods based on the...

Mura, D., Knoop, E., Catalano, M. G., Grioli, G., Bächer, M., & Bicchi, A. (2020). On the role of stiffness and synchronization in human–robot handshaking. The International Journal of Robotics Research.

This article presents a system for soft human–robot handshaking, using a soft robot hand in conjunction with a lightweight and impedance-controlled robot arm. Using this system, we study how different factors influence the perceived naturalness, and...

L. Fiaschi, M. Cococcioni. Numerical Asymptotic Results in Game Theory Using Sergeyev’s Infinity Computing, International Journal of Unconventional Computing (IJUC), pp. 1-25(1) 2018.

ABSTRACT Prisoner's Dilemma (PD) is a widely studied game that plays an important role in Game Theory. This paper aims at extending PD Tournaments to the case of infinite, finite or infinitesimal payoffs using Sergeyev's Infinity Computing (IC). By...

L. Fiaschi, M. Cococcioni. Generalizing Pure and Impure Iterated Prisoner's Dilemmas to the Case of Infinite and Infinitesimal Quantities, In Numerical Computations: Theory and Algorithms, pages 370–377, Cham, 2020. Springer Intern. Publishing

ABSTRACT In this work we aim at generalizing Pure and Impure PD iterated games when using finite/infinite/infinitesimal payoffs and finite/infinitesimal probabilities, i.e., dealing with non-Archimedean quantities (realm so far investigated only on the...

M. Cococcioni, F. Rossi, E. Ruffaldi, and S. Saponara. "A fast approximation of the hyperbolic tangent when using posit numbers and its application to deep neural networks", (ApplePies’19), 2019.

D eep Neural Networks (DNNs) are being used in more and more fields. Among the others, automotive is a field where deep neural networks are being exploited the most. An important aspect to be considered is the real-time constraint that this kind of...

M. Cococcioni, F. Rossi, E. Ruffaldi, and S. Saponara. "Novel arithmetics to accelerate machine learning classifiers in autonomous driving applications", 26th IEEE International Conference on Electronics Circuits and Systems(ICECS’19), 2019.

Autonomous driving techniques frequently need the clustering and the classification of data coming from several input sensors, like cameras, radar and lidars. These sub-tasks need to be implemented in real-time in embedded on-board computing units. The...

Mura D., Della Santina C., Piazza C., Frizza I., Morandi C., Garabini M., Grioli G., & Catalano M. G. (2019). Exploiting Adaptability in Soft Feet for Sensing Contact Forces. IEEE Robotics & Automation Letters

The large majority of legged robots currently employ ball-feet or flat-feet. More recently soft feet have been introduced, to improve walking performance on uneven grounds. Nevertheless, their novel adaptability requires sensor systems beyond...

M.Basile, G.Dini: "A blockchain-based support to safeguarding the cultural heritage", In Proceedings of the 28th International Conference on Electronic Imaging & the Visual Arts (EVA), pp.64-71, Maggio 2019.

Public administrations need digital archives that are typically maintained as centralized repositories or databases. This solution constitutes a security and trust single-point-of-failure. We have faced with these issues in the case of digitalization...

F. Saggese, M. Moretti and A. Abrardo, "A quasi-optimal clustering algorithm for MIMO-NOMA downlink systems," in IEEE Wireless Communications Letters

Abstract: In this paper we consider a resource allocation problem for multi-user MIMO non orthogonal multiple access (MU-MIMO-NOMA) downlink transmissions. Under the NOMA paradigm, users are organized in clusters of strong/weak pair and our aim is to...

Decoration of Porous Silicon with Gold Nanoparticles via Layer-by-Layer Nanoassembly for Interferometric and Hybrid Photonic/Plasmonic (Bio)sensing

Abstract Gold nanoparticle layers (AuNPLs) enable the coupling of morphological, optical, and electrical properties of gold nanoparticles (AuNPs) with tailored and specific surface topography, making them exploitable in many bioapplications (e.g.,...

E. Vignali, E. Gasparotti, A. Mariotti, K. Capellini, D. Haxhiademi, G. Bianchi, B. M. Fanni, V. Positano, L. Landini, M. V. Salvetti and S. Celi. Development of a custom mock circulatory loop for in-vitro study of patient specific aortic.....

... branches. International Society for Mechanical Circulatory Support - 27th annual meeting 2019, October)

E. Vignali, E. Gasparotti, Z. Manigrasso: "A numerical and experimental approach for the design of a novel 3D printed bioinspired cardiac pneumatic pump", CAE Conference, October 2018

E. Vignali , K. Capellini, P. Losi, M. Murzi, P. Farneti, V. Positano, L. Landini, S. Celi : “A morphological and histo-mechanical study for ascending aorta aneurysms in BAV and TAV patients”, Proceedings of 23rd Congress of European Society of ...

... Biomechanics , Seville, July 2-5 2017

E. Vignali, K. Capellini, S. Celi, P. Losi, G. Vivoli, E. Cerone, V. Positano, L. Landini, M. Murzi, S. Berti: “A morphological and mechano-biological comparison between ascending thoracic aneu-rysms with bicuspid and tricuspid via in-vivo and ...

... and ex-vivo investigation ”, European Heart Journal 2017;38(Suppl. 1):825-826 (P3975). ( Awarded with the student travel grant at the ESC congress )

E. Vignali, N. Martini, P. Losi, K. Capellini, D. Della Latta, F. Di Bartolo, L. Landini, V. Positano, S. Celi: "Towards non-invasive assessment of human aortic tissue microstructure: Diffusion Tensor Imaging for collagen fiber detection", ....

.... , Proceedings of National Congress of Bioengineering GNB, May 2018

E. Vignali, E. Gasparotti, K. Capellini, P. Losi, M. Murzi, P. A. Farneti, L. Landini, V. Positano, S. Celi: "Ascending thoracic aortic FE simulation by integrating patient-specific data from imaging, mechanical properties and histological data"...

.... Proceedings of World Congress of Biomechanics , July 2018

E. Vignali, E. Gasparotti, M. Scatto, P. Losi, B. M. Fanni, K. Capellini, L. Landini, V. Positano, S. Celi: "3D Printing of an antibiotic-loaded heart valve ring prosthesis in thermoplastic polyurethane: fabrication, testing and simulation" IDBN 2018

E. Vignali, F. Di Bartolo, E. Gasparotti, A. Malacarne, V. Positano, L. Landini and S.Celi: "In-silico evaluation of a patient-specific ATAA case through experimental mechano-microstructural characterization", CAE Conference, October 2019

E. Vignali, F. Poli, F. Di Bartolo, E. Gasparotti, A. Malacarne, V. Positano, L. Landini and S.Celi: "Biaxial and optomechanical characterization of soft tissues: a novel setup and experimental tests", ESB-Ita 2019 (Awarded Best Oral Presentation)

E. Vignali, E. Gasparotti, B. M. Fanni, L. Ait-Ali, V. Positano, L. Landini, S. Celi, Development of a fully controllable real-time pump to reproduce left ventricle physiological flow, Atti del Congresso AIMETA 2019