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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Rizzoglio, Fabio; Giordano, Marco; Mussa-Ivaldi, Ferdinando A; Casadio, Maura;

    Body machine interfaces (BoMIs) enable individuals with paralysis to achieve a greater measure of independence in daily activities by assisting the control of devices such as robotic manipulators. The first BoMIs relied on Principal Component Analysis (PCA) to extract a lower dimensional control space from information in voluntary movement signals. Despite its widespread use, PCA might not be suited for controlling devices with a large number of degrees of freedom, as because of PCs' orthonormality the variance explained by successive components drops sharply after the first.Here, we propose an alternative BoMI based on non-linear autoencoder (AE) networks that mapped arm kinematic signals into joint angles of a 4D virtual robotic manipulator. First, we performed a validation procedure that aimed at selecting an AE structure that would allow to distribute the input variance uniformly across the dimensions of the control space. Then, we assessed the users' proficiency practicing a 3D reaching task by operating the robot with the validated AE.All participants managed to acquire an adequate level of skill when operating the 4D robot. Moreover, they retained the performance across two non-consecutive days of training.While providing users with a fully continuous control of the robot, the entirely unsupervised nature of our approach makes it ideal for applications in a clinical context since it can be tailored to each user's residual movements.We consider these findings as supporting a future implementation of our interface as an assistive tool for people with motor impairments.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ IEEE Transactions on...arrow_drop_down
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    IEEE Transactions on Biomedical Engineering
    Article . 2023 . Peer-reviewed
    License: CC BY NC ND
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ IEEE Transactions on...arrow_drop_down
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      IEEE Transactions on Biomedical Engineering
      Article . 2023 . Peer-reviewed
      License: CC BY NC ND
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Vizziello A.; Magarini M.; Savazzi P.; Galluccio L.;

    The Internet of Medical Things (IoMT) paradigm will enable next generation healthcare by enhancing human abilities, supporting continuous body monitoring and restoring lost physiological functions due to serious impairments. This paper presents intra-body communication solutions that interconnect implantable devices for application to the nervous system, challenging the specific features of the complex intra-body scenario. The presented approaches include both speculative and implementative methods, ranging from neural signal transmission to testbeds, to be applied to specific neural diseases therapies. Also future directions in this research area are considered to overcome the existing technical challenges mainly associated with miniaturization, power supply, and multi-scale communications. https://www.sciencedirect.com/science/article/pii/S1389128623001639

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Computer Networksarrow_drop_down
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    Computer Networks
    Article . 2023 . Peer-reviewed
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    arXiv.org e-Print Archive
    Other literature type . Preprint . 2023
    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    https://doi.org/10.48550/arxiv...
    Article . 2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Computer Networksarrow_drop_down
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      Computer Networks
      Article . 2023 . Peer-reviewed
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      arXiv.org e-Print Archive
      Other literature type . Preprint . 2023
      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
      https://doi.org/10.48550/arxiv...
      Article . 2023
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Davis, Kyle Frankel; Müller, Marc F; Rulli, Maria Cristina; Tatlhego, Mokganedi; +7 Authors

    Abstract Agricultural large-scale land acquisitions have been linked with enhanced deforestation and land use change. Yet the extent to which transnational agricultural large-scale land acquisitions (TALSLAs) contribute to—or merely correlate with—deforestation, and the expected biodiversity impacts of the intended land use changes across ecosystems, remains unclear. We examine 178 georeferenced TALSLA locations in 40 countries to address this gap. While forest cover within TALSLAs decreased by 17% between 2000 and 2018 and became more fragmented, the spatio-temporal patterns of deforestation varied substantially across regions. While deforestation rates within initially forested TALSLAs were 1.5 (Asia) to 2 times (Africa) higher than immediately surrounding areas, we detected no such difference in Europe and Latin America. Our findings suggest that, whereas TALSLAs may have accelerated forest loss in Asia, a different mechanism might emerge in Africa where TALSLAs target areas already experiencing elevated deforestation. Regarding biodiversity (here focused on vertebrate species), we find that nearly all (91%) studied deals will likely experience substantial losses in relative species richness (−14.1% on average within each deal)—with mixed outcomes for relative abundance—due to the intended land use transitions. We also find that 39% of TALSLAs fall at least partially within biodiversity hotspots, placing these areas at heightened risk of biodiversity loss. Taken together, these findings suggest distinct regional differences in the nature of the association between TALSLAs and forest loss and provide new evidence of TALSLAs as an emerging threat to biodiversity in the Global South.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ RE.PUBLIC@POLIMI Res...arrow_drop_down
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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    Environmental Research Letters
    Article . 2023
    Data sources: DOAJ
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    https://doi.org/10.48350/17851...
    Article . 2023
    License: CC BY
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    NARCIS
    Article . 2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ RE.PUBLIC@POLIMI Res...arrow_drop_down
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      Environmental Research Letters
      Article . 2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      https://doi.org/10.48350/17851...
      Article . 2023
      License: CC BY
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      Article . 2023
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Chamzas, Constantinos; Lippi, Martina; Welle, Michael C.; Varava, Anastasia; +2 Authors

    —Learning state representations enables robotic planning directly from raw observations such as images. Most methods learn state representations by utilizing losses based on the reconstruction of the raw observations from a lower dimensional latent space. The similarity between observations in the space of images is often assumed and used as a proxy for estimating similarity between the underlying states of the system. However, observations commonly contain task-irrelevant factors of variation which are nonetheless important for reconstruction, such as varying lighting and different camera viewpoints. In this work, we define relevant evaluation metrics and perform a thorough study of different loss functions for state representation learning. We show that models exploiting task priors, such as Siamese networks with a simple contrastive loss, outperform reconstruction-based representations in visual task planning. QC 20211109

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Digitala Vetenskapli...arrow_drop_down
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    arXiv.org e-Print Archive
    Other literature type . Preprint . 2021
    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    https://doi.org/10.1109/iros47...
    Conference object . 2022 . Peer-reviewed
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    https://doi.org/10.48550/arxiv...
    Article . 2021
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      arXiv.org e-Print Archive
      Other literature type . Preprint . 2021
      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
      https://doi.org/10.1109/iros47...
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      Article . 2021
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    Authors: Barbara Mazzolai; Alessio Mondini; Emanuela Del Dottore; Laura Margheri; +31 Authors

    Soft robotics aims at creating systems with improved performance of movement and adaptability in unknown, challenging, environments and with higher level of safety during interactions with humans. This Roadmap on Soft Robotics covers selected aspects for the design of soft robots significantly linked to the area of multifunctional materials, as these are considered a fundamental component in the design of soft robots for an improvement of their peculiar abilities, such as morphing, adaptivity and growth. The roadmap includes different approaches for components and systems design, bioinspired materials, methodologies for building soft robots, strategies for the implementation and control of their functionalities and behavior, and examples of soft-bodied systems showing abilities across different environments. For each covered topic, the author(s) describe the current status and research directions, current and future challenges, and perspective advances in science and technology to meet the challenges. Multifunctional Materials, 5 (3) ISSN:2399-7532

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    Research Collection
    Article . 2022
    License: CC BY
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    Article . 2022
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    Authors: Jacobson, Tess WP; Seager, Richard; Williams, A Park; Henderson, Naomi;

    Abstract Recent record-breaking wildfire seasons in California prompt an investigation into the climate patterns that typically precede anomalous summer burned forest area. Using burned-area data from the U.S. Forest Service’s Monitoring Trends in Burn Severity (MTBS) product and climate data from the fifth major global reanalysis produced by the European Centre for Medium-Range Weather Forecasts (ERA5) over 1984–2018, relationships between the interannual variability of antecedent climate anomalies and July California burned area are spatially and temporally characterized. Lag correlations show that antecedent high vapor pressure deficit (VPD), high temperatures, frequent extreme high temperature days, low precipitation, high subsidence, high geopotential height, low soil moisture, and low snowpack and snowmelt anomalies all correlate significantly with July California burned area as far back as the January before the fire season. Seasonal regression maps indicate that a global midlatitude atmospheric wave train in late winter is associated with anomalous July California burned area. July 2018, a year with especially high burned area, was to some extent consistent with the general patterns revealed by the regressions: low winter precipitation and high spring VPD preceded the extreme burned area. However, geopotential height anomaly patterns were distinct from those in the regressions. Extreme July heat likely contributed to the extent of the fires ignited that month, even though extreme July temperatures do not historically significantly correlate with July burned area. While the 2018 antecedent climate conditions were typical of a high-burned-area year, they were not extreme, demonstrating the likely limits of statistical prediction of extreme fire seasons and the need for individual case studies of extreme years. Significance Statement The purpose of this study is to identify the local and global climate patterns in the preceding seasons that influence how the burned summer forest area in California varies year-to-year. We find that a dry atmosphere, high temperatures, dry soils, less snowpack, low precipitation, subsiding air, and high pressure centered west of California all correlate significantly with large summer burned area as far back as the preceding January. These climate anomalies occur as part of a hemispheric scale pattern with weak connections to the tropical Pacific Ocean. We also describe the climate anomalies preceding the extreme and record-breaking burned-area year of 2018, and how these compared with the more general patterns found. These results give important insight into how well and how early it might be possible to predict the severity of an upcoming summer wildfire season in California.

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    https://doi.org/10.7916/02yd-e...
    Other literature type . 2022
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    Authors: Jucker, Tommaso; Fischer, Fabian Jörg; Chave, Jérôme; Coomes, David; +115 Authors

    Data capturing multiple axes of tree size and shape, such as a tree's stem diameter, height and crown size, underpin a wide range of ecological research-from developing and testing theory on forest structure and dynamics, to estimating forest carbon stocks and their uncertainties, and integrating remote sensing imagery into forest monitoring programmes. However, these data can be surprisingly hard to come by, particularly for certain regions of the world and for specific taxonomic groups, posing a real barrier to progress in these fields. To overcome this challenge, we developed the Tallo database, a collection of 498,838 georeferenced and taxonomically standardized records of individual trees for which stem diameter, height and/or crown radius have been measured. These data were collected at 61,856 globally distributed sites, spanning all major forested and non-forested biomes. The majority of trees in the database are identified to species (88%), and collectively Tallo includes data for 5163 species distributed across 1453 genera and 187 plant families. The database is publicly archived under a CC-BY 4.0 licence and can be access from: https://doi.org/10.5281/zenodo.6637599. To demonstrate its value, here we present three case studies that highlight how the Tallo database can be used to address a range of theoretical and applied questions in ecology-from testing the predictions of metabolic scaling theory, to exploring the limits of tree allometric plasticity along environmental gradients and modelling global variation in maximum attainable tree height. In doing so, we provide a key resource for field ecologists, remote sensing researchers and the modelling community working together to better understand the role that trees play in regulating the terrestrial carbon cycle. Funder: U.S. Department of Energy; Id: http://dx.doi.org/10.13039/100000015 Funder: CAPES; Id: http://dx.doi.org/10.13039/501100002322 Funder: Agua Salud Project

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    NARCIS; Research@WUR
    Article . 2022
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    Apollo
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    Apollo
    Article . 2022
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    Authors: Christensen, Dennis V.; Dittmann, Regina; Linares-Barranco, Bernabé; Sebastian, Abu; +63 Authors

    Abstract Modern computation based on von Neumann architecture is now a mature cutting-edge science. In the von Neumann architecture, processing and memory units are implemented as separate blocks interchanging data intensively and continuously. This data transfer is responsible for a large part of the power consumption. The next generation computer technology is expected to solve problems at the exascale with 1018 calculations each second. Even though these future computers will be incredibly powerful, if they are based on von Neumann type architectures, they will consume between 20 and 30 megawatts of power and will not have intrinsic physically built-in capabilities to learn or deal with complex data as our brain does. These needs can be addressed by neuromorphic computing systems which are inspired by the biological concepts of the human brain. This new generation of computers has the potential to be used for the storage and processing of large amounts of digital information with much lower power consumption than conventional processors. Among their potential future applications, an important niche is moving the control from data centers to edge devices. The aim of this roadmap is to present a snapshot of the present state of neuromorphic technology and provide an opinion on the challenges and opportunities that the future holds in the major areas of neuromorphic technology, namely materials, devices, neuromorphic circuits, neuromorphic algorithms, applications, and ethics. The roadmap is a collection of perspectives where leading researchers in the neuromorphic community provide their own view about the current state and the future challenges for each research area. We hope that this roadmap will be a useful resource by providing a concise yet comprehensive introduction to readers outside this field, for those who are just entering the field, as well as providing future perspectives for those who are well established in the neuromorphic computing community. Funder: National Institute on Deafness and Other Communication Disorders; doi: https://doi.org/10.13039/100000055 Funder: Collaborative Innovation Center of Advanced Microstructures; doi: https://doi.org/10.13039/501100016018 Funder: Centre National de la Recherche Scientifique; doi: https://doi.org/10.13039/501100004794 Funder: Bundesministerium für Bildung und Forschung; doi: https://doi.org/10.13039/501100002347 Funder: Defense Advanced Research Projects Agency; doi: https://doi.org/10.13039/100000185 Funder: Deutsche Forschungsgemeinschaft; doi: https://doi.org/10.13039/501100001659 Funder: ETH Zürich Foundation; doi: https://doi.org/10.13039/501100012652 Funder: Freistaat Sachsen; doi: https://doi.org/10.13039/501100014913

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    Neuromorphic Computing and Engineering
    Other literature type . Article . 2022 . Peer-reviewed
    License: CC BY
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    Apollo
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    arXiv.org e-Print Archive
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    https://doi.org/10.48550/arxiv...
    Article . 2021
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      Neuromorphic Computing and Engineering
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      https://doi.org/10.48550/arxiv...
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    Authors: Francesco Betti Sorbelli; Cristina M. Pinotti; Simone Silvestri; Sajal K. Das;

    Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles (UAVs) or drones offer a promising technology due to their flexibility. However, the distance measurements performed using a drone, an integral part of a localization procedure, incur several errors that affect the localization accuracy. In this paper, we provide analytical expressions for the impact of different kinds of measurement errors on the ground distance between the UAV and GDs. We review three range-based and three range-free localization algorithms, identify their source of errors, and analytically derive the error bounds resulting from aggregating multiple inaccurate measurements. We then extend the range-free algorithms for improved accuracy. We validate our theoretical analysis and compare the observed localization error of the algorithms after collecting data from a testbed using ten GDs and one drone, equipped with ultra wide band (UWB) antennas and operating in an open field. Results show that our analysis closely matches with experimental localization errors. Moreover, compared to their original counterparts, the extended range-free algorithms significantly improve the accuracy.

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    arXiv.org e-Print Archive
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    IEEE Transactions on Mobile Computing
    Article . 2022 . Peer-reviewed
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    https://doi.org/10.48550/arxiv...
    Article . 2020
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      IEEE Transactions on Mobile Computing
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    Authors: Hammoud B.; Olivieri L.; Righetti L.; Carpentier J.; +1 Authors
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Rizzoglio, Fabio; Giordano, Marco; Mussa-Ivaldi, Ferdinando A; Casadio, Maura;

    Body machine interfaces (BoMIs) enable individuals with paralysis to achieve a greater measure of independence in daily activities by assisting the control of devices such as robotic manipulators. The first BoMIs relied on Principal Component Analysis (PCA) to extract a lower dimensional control space from information in voluntary movement signals. Despite its widespread use, PCA might not be suited for controlling devices with a large number of degrees of freedom, as because of PCs' orthonormality the variance explained by successive components drops sharply after the first.Here, we propose an alternative BoMI based on non-linear autoencoder (AE) networks that mapped arm kinematic signals into joint angles of a 4D virtual robotic manipulator. First, we performed a validation procedure that aimed at selecting an AE structure that would allow to distribute the input variance uniformly across the dimensions of the control space. Then, we assessed the users' proficiency practicing a 3D reaching task by operating the robot with the validated AE.All participants managed to acquire an adequate level of skill when operating the 4D robot. Moreover, they retained the performance across two non-consecutive days of training.While providing users with a fully continuous control of the robot, the entirely unsupervised nature of our approach makes it ideal for applications in a clinical context since it can be tailored to each user's residual movements.We consider these findings as supporting a future implementation of our interface as an assistive tool for people with motor impairments.

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    IEEE Transactions on Biomedical Engineering
    Article . 2023 . Peer-reviewed
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      IEEE Transactions on Biomedical Engineering
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    Authors: Vizziello A.; Magarini M.; Savazzi P.; Galluccio L.;

    The Internet of Medical Things (IoMT) paradigm will enable next generation healthcare by enhancing human abilities, supporting continuous body monitoring and restoring lost physiological functions due to serious impairments. This paper presents intra-body communication solutions that interconnect implantable devices for application to the nervous system, challenging the specific features of the complex intra-body scenario. The presented approaches include both speculative and implementative methods, ranging from neural signal transmission to testbeds, to be applied to specific neural diseases therapies. Also future directions in this research area are considered to overcome the existing technical challenges mainly associated with miniaturization, power supply, and multi-scale communications. https://www.sciencedirect.com/science/article/pii/S1389128623001639

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    Computer Networks
    Article . 2023 . Peer-reviewed
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    arXiv.org e-Print Archive
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    https://doi.org/10.48550/arxiv...
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      Computer Networks
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      https://doi.org/10.48550/arxiv...
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    Authors: Davis, Kyle Frankel; Müller, Marc F; Rulli, Maria Cristina; Tatlhego, Mokganedi; +7 Authors

    Abstract Agricultural large-scale land acquisitions have been linked with enhanced deforestation and land use change. Yet the extent to which transnational agricultural large-scale land acquisitions (TALSLAs) contribute to—or merely correlate with—deforestation, and the expected biodiversity impacts of the intended land use changes across ecosystems, remains unclear. We examine 178 georeferenced TALSLA locations in 40 countries to address this gap. While forest cover within TALSLAs decreased by 17% between 2000 and 2018 and became more fragmented, the spatio-temporal patterns of deforestation varied substantially across regions. While deforestation rates within initially forested TALSLAs were 1.5 (Asia) to 2 times (Africa) higher than immediately surrounding areas, we detected no such difference in Europe and Latin America. Our findings suggest that, whereas TALSLAs may have accelerated forest loss in Asia, a different mechanism might emerge in Africa where TALSLAs target areas already experiencing elevated deforestation. Regarding biodiversity (here focused on vertebrate species), we find that nearly all (91%) studied deals will likely experience substantial losses in relative species richness (−14.1% on average within each deal)—with mixed outcomes for relative abundance—due to the intended land use transitions. We also find that 39% of TALSLAs fall at least partially within biodiversity hotspots, placing these areas at heightened risk of biodiversity loss. Taken together, these findings suggest distinct regional differences in the nature of the association between TALSLAs and forest loss and provide new evidence of TALSLAs as an emerging threat to biodiversity in the Global South.

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    Environmental Research Letters
    Article . 2023
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    https://doi.org/10.48350/17851...
    Article . 2023
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      https://doi.org/10.48350/17851...
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    Authors: Chamzas, Constantinos; Lippi, Martina; Welle, Michael C.; Varava, Anastasia; +2 Authors

    —Learning state representations enables robotic planning directly from raw observations such as images. Most methods learn state representations by utilizing losses based on the reconstruction of the raw observations from a lower dimensional latent space. The similarity between observations in the space of images is often assumed and used as a proxy for estimating similarity between the underlying states of the system. However, observations commonly contain task-irrelevant factors of variation which are nonetheless important for reconstruction, such as varying lighting and different camera viewpoints. In this work, we define relevant evaluation metrics and perform a thorough study of different loss functions for state representation learning. We show that models exploiting task priors, such as Siamese networks with a simple contrastive loss, outperform reconstruction-based representations in visual task planning. QC 20211109

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    arXiv.org e-Print Archive
    Other literature type . Preprint . 2021
    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    https://doi.org/10.1109/iros47...
    Conference object . 2022 . Peer-reviewed
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    Article . 2021
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      arXiv.org e-Print Archive
      Other literature type . Preprint . 2021
      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
      https://doi.org/10.1109/iros47...
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Barbara Mazzolai; Alessio Mondini; Emanuela Del Dottore; Laura Margheri; +31 Authors

    Soft robotics aims at creating systems with improved performance of movement and adaptability in unknown, challenging, environments and with higher level of safety during interactions with humans. This Roadmap on Soft Robotics covers selected aspects for the design of soft robots significantly linked to the area of multifunctional materials, as these are considered a fundamental component in the design of soft robots for an improvement of their peculiar abilities, such as morphing, adaptivity and growth. The roadmap includes different approaches for components and systems design, bioinspired materials, methodologies for building soft robots, strategies for the implementation and control of their functionalities and behavior, and examples of soft-bodied systems showing abilities across different environments. For each covered topic, the author(s) describe the current status and research directions, current and future challenges, and perspective advances in science and technology to meet the challenges. Multifunctional Materials, 5 (3) ISSN:2399-7532

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    Article . 2022
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    Authors: Jacobson, Tess WP; Seager, Richard; Williams, A Park; Henderson, Naomi;

    Abstract Recent record-breaking wildfire seasons in California prompt an investigation into the climate patterns that typically precede anomalous summer burned forest area. Using burned-area data from the U.S. Forest Service’s Monitoring Trends in Burn Severity (MTBS) product and climate data from the fifth major global reanalysis produced by the European Centre for Medium-Range Weather Forecasts (ERA5) over 1984–2018, relationships between the interannual variability of antecedent climate anomalies and July California burned area are spatially and temporally characterized. Lag correlations show that antecedent high vapor pressure deficit (VPD), high temperatures, frequent extreme high temperature days, low precipitation, high subsidence, high geopotential height, low soil moisture, and low snowpack and snowmelt anomalies all correlate significantly with July California burned area as far back as the January before the fire season. Seasonal regression maps indicate that a global midlatitude atmospheric wave train in late winter is associated with anomalous July California burned area. July 2018, a year with especially high burned area, was to some extent consistent with the general patterns revealed by the regressions: low winter precipitation and high spring VPD preceded the extreme burned area. However, geopotential height anomaly patterns were distinct from those in the regressions. Extreme July heat likely contributed to the extent of the fires ignited that month, even though extreme July temperatures do not historically significantly correlate with July burned area. While the 2018 antecedent climate conditions were typical of a high-burned-area year, they were not extreme, demonstrating the likely limits of statistical prediction of extreme fire seasons and the need for individual case studies of extreme years. Significance Statement The purpose of this study is to identify the local and global climate patterns in the preceding seasons that influence how the burned summer forest area in California varies year-to-year. We find that a dry atmosphere, high temperatures, dry soils, less snowpack, low precipitation, subsiding air, and high pressure centered west of California all correlate significantly with large summer burned area as far back as the preceding January. These climate anomalies occur as part of a hemispheric scale pattern with weak connections to the tropical Pacific Ocean. We also describe the climate anomalies preceding the extreme and record-breaking burned-area year of 2018, and how these compared with the more general patterns found. These results give important insight into how well and how early it might be possible to predict the severity of an upcoming summer wildfire season in California.

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    https://doi.org/10.7916/02yd-e...
    Other literature type . 2022
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      https://doi.org/10.7916/02yd-e...
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    Authors: Jucker, Tommaso; Fischer, Fabian Jörg; Chave, Jérôme; Coomes, David; +115 Authors

    Data capturing multiple axes of tree size and shape, such as a tree's stem diameter, height and crown size, underpin a wide range of ecological research-from developing and testing theory on forest structure and dynamics, to estimating forest carbon stocks and their uncertainties, and integrating remote sensing imagery into forest monitoring programmes. However, these data can be surprisingly hard to come by, particularly for certain regions of the world and for specific taxonomic groups, posing a real barrier to progress in these fields. To overcome this challenge, we developed the Tallo database, a collection of 498,838 georeferenced and taxonomically standardized records of individual trees for which stem diameter, height and/or crown radius have been measured. These data were collected at 61,856 globally distributed sites, spanning all major forested and non-forested biomes. The majority of trees in the database are identified to species (88%), and collectively Tallo includes data for 5163 species distributed across 1453 genera and 187 plant families. The database is publicly archived under a CC-BY 4.0 licence and can be access from: https://doi.org/10.5281/zenodo.6637599. To demonstrate its value, here we present three case studies that highlight how the Tallo database can be used to address a range of theoretical and applied questions in ecology-from testing the predictions of metabolic scaling theory, to exploring the limits of tree allometric plasticity along environmental gradients and modelling global variation in maximum attainable tree height. In doing so, we provide a key resource for field ecologists, remote sensing researchers and the modelling community working together to better understand the role that trees play in regulating the terrestrial carbon cycle. Funder: U.S. Department of Energy; Id: http://dx.doi.org/10.13039/100000015 Funder: CAPES; Id: http://dx.doi.org/10.13039/501100002322 Funder: Agua Salud Project

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    Article . 2022
    License: CC BY
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    License: rioxx All Rights Reserved
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    Authors: Christensen, Dennis V.; Dittmann, Regina; Linares-Barranco, Bernabé; Sebastian, Abu; +63 Authors

    Abstract Modern computation based on von Neumann architecture is now a mature cutting-edge science. In the von Neumann architecture, processing and memory units are implemented as separate blocks interchanging data intensively and continuously. This data transfer is responsible for a large part of the power consumption. The next generation computer technology is expected to solve problems at the exascale with 1018 calculations each second. Even though these future computers will be incredibly powerful, if they are based on von Neumann type architectures, they will consume between 20 and 30 megawatts of power and will not have intrinsic physically built-in capabilities to learn or deal with complex data as our brain does. These needs can be addressed by neuromorphic computing systems which are inspired by the biological concepts of the human brain. This new generation of computers has the potential to be used for the storage and processing of large amounts of digital information with much lower power consumption than conventional processors. Among their potential future applications, an important niche is moving the control from data centers to edge devices. The aim of this roadmap is to present a snapshot of the present state of neuromorphic technology and provide an opinion on the challenges and opportunities that the future holds in the major areas of neuromorphic technology, namely materials, devices, neuromorphic circuits, neuromorphic algorithms, applications, and ethics. The roadmap is a collection of perspectives where leading researchers in the neuromorphic community provide their own view about the current state and the future challenges for each research area. We hope that this roadmap will be a useful resource by providing a concise yet comprehensive introduction to readers outside this field, for those who are just entering the field, as well as providing future perspectives for those who are well established in the neuromorphic computing community. Funder: National Institute on Deafness and Other Communication Disorders; doi: https://doi.org/10.13039/100000055 Funder: Collaborative Innovation Center of Advanced Microstructures; doi: https://doi.org/10.13039/501100016018 Funder: Centre National de la Recherche Scientifique; doi: https://doi.org/10.13039/501100004794 Funder: Bundesministerium für Bildung und Forschung; doi: https://doi.org/10.13039/501100002347 Funder: Defense Advanced Research Projects Agency; doi: https://doi.org/10.13039/100000185 Funder: Deutsche Forschungsgemeinschaft; doi: https://doi.org/10.13039/501100001659 Funder: ETH Zürich Foundation; doi: https://doi.org/10.13039/501100012652 Funder: Freistaat Sachsen; doi: https://doi.org/10.13039/501100014913

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    Neuromorphic Computing and Engineering
    Other literature type . Article . 2022 . Peer-reviewed
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    arXiv.org e-Print Archive
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    https://doi.org/10.48550/arxiv...
    Article . 2021
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      Neuromorphic Computing and Engineering
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      https://doi.org/10.48550/arxiv...
      Article . 2021
      License: CC BY NC ND
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      Article . 2022
      Data sources: Datacite; Sygma
      Apollo
      Article . 2022
      Data sources: Datacite; Sygma
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    Authors: Francesco Betti Sorbelli; Cristina M. Pinotti; Simone Silvestri; Sajal K. Das;

    Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles (UAVs) or drones offer a promising technology due to their flexibility. However, the distance measurements performed using a drone, an integral part of a localization procedure, incur several errors that affect the localization accuracy. In this paper, we provide analytical expressions for the impact of different kinds of measurement errors on the ground distance between the UAV and GDs. We review three range-based and three range-free localization algorithms, identify their source of errors, and analytically derive the error bounds resulting from aggregating multiple inaccurate measurements. We then extend the range-free algorithms for improved accuracy. We validate our theoretical analysis and compare the observed localization error of the algorithms after collecting data from a testbed using ten GDs and one drone, equipped with ultra wide band (UWB) antennas and operating in an open field. Results show that our analysis closely matches with experimental localization errors. Moreover, compared to their original counterparts, the extended range-free algorithms significantly improve the accuracy.

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    arXiv.org e-Print Archive
    Other literature type . Preprint . 2020
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    IEEE Transactions on Mobile Computing
    Article . 2022 . Peer-reviewed
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    https://doi.org/10.48550/arxiv...
    Article . 2020
    License: CC BY
    Data sources: Datacite
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      IEEE Transactions on Mobile Computing
      Article . 2022 . Peer-reviewed
      License: IEEE Copyright
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      https://doi.org/10.48550/arxiv...
      Article . 2020
      License: CC BY
      Data sources: Datacite
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    Authors: Hammoud B.; Olivieri L.; Righetti L.; Carpentier J.; +1 Authors
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