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Accurate characterization of ferroelectric properties in polymer piezoelectrics is critical for optimizing the performance of flexible and wearable ultrasound transducers, such as screen-printed PVDF devices. Standard charge measurement techniques, like the Sawyer-Tower circuit, often fall short when applied to ferroelectric polymers due to low-frequency leakage. In this work, we present PEtra, an open-source and versatile piezoelectric loop tracer. PEtra employs a transimpedance amplifier (LMP7721, TI) to convert picoampere-level currents into measurable voltages, covering a frequency range of 0.1 Hz to 5 Hz for a gain setting of 10^7 V/A, and 0.1 Hz to 200 Hz for gain settings between 10^3 V/A to 10^6 V/A (10-fold increments). We demonstrate through simulations and experimental validations that PEtra achieves a sensitivity down to 2 pA, effectively addressing the limitations of traditional charge measurement methods. Compared to the Sawyer-Tower circuit, PEtra directly amplifies currents without the need for a reference capacitor. As a result, it is less susceptible to leakage and can operate at lower frequencies, improving measurement accuracy and reliability. PEtra's design is fully open source, offering researchers and engineers a versatile tool to drive advancements in flexible PVDF transducer technology.

We propose a seasonal AR model with time-varying parameter processes in both the regular and seasonal parameters. The model is parameterized to guarantee stability at every time point and can accommodate multiple seasonal periods. The time evolution is modeled by dynamic shrinkage processes to allow for long periods of essentially constant parameters, periods of rapid change as well as abrupt jumps. A Gibbs sampler is developed with a particle Gibbs update step for the AR parameter trajectories. The near-degeneracy of the model, caused by the dynamic shrinkage processes, is shown to pose a challenge for particle methods. To address this, a more robust, faster and accurate approximate sampler based on the extended Kalman filter is proposed. The model and the numerical effectiveness of the Gibbs sampler are investigated on simulated and real data. An application to more than a century of monthly US industrial production data shows interesting clear changes in seasonality over time, particularly during the Great Depression and the recent Covid-19 pandemic. Keywords: Bayesian inference; Extended Kalman filter; Locally stationary processes; Particle MCMC; Seasonality.

We propose a new data representation method based on Quantum Cognition Machine Learning and apply it to manifold learning, specifically to the estimation of intrinsic dimension of data sets. The idea is to learn a representation of each data point as a quantum state, encoding both local properties of the point as well as its relation with the entire data. Inspired by ideas from quantum geometry, we then construct from the quantum states a point cloud equipped with a quantum metric. The metric exhibits a spectral gap whose location corresponds to the intrinsic dimension of the data. The proposed estimator is based on the detection of this spectral gap. When tested on synthetic manifold benchmarks, our estimates are shown to be robust with respect to the introduction of point-wise Gaussian noise. This is in contrast to current state-of-the-art estimators, which tend to attribute artificial ``shadow dimensions'' to noise artifacts, leading to overestimates. This is a significant advantage when dealing with real data sets, which are inevitably affected by unknown levels of noise. We show the applicability and robustness of our method on real data, by testing it on the ISOMAP face database, MNIST, and the Wisconsin Breast Cancer Dataset.

In modern society, service robots are increasingly recognized for their wide range of practical applications. In large and crowded social spaces, such as museums and hospitals, these robots are required to safely move in the environment while exhibiting user-friendly behavior. Ensuring the safe and socially acceptable operation of robots in such settings presents several challenges. To enhance the social acceptance in the design process of service robots, we present a systematic analysis of requirements, categorized into functional and non-functional. These requirements are further classified into different categories, with a single requirement potentially belonging to multiple categories. Finally, considering the specific case of a receptionist robotic agent, we discuss the requirements it should possess to ensure social acceptance.

The damage detection problem in mechanical systems, using vibration measurements, is commonly called Structural Health Monitoring (SHM). Many tools are able to detect damages by changes in the vibration pattern, mainly, when damages induce nonlinear behavior. However, a more difficult problem is to detect structural variation associated with damage, when the mechanical system has nonlinear behavior even in the reference condition. In these cases, more sophisticated methods are required to detect if the changes in the response are based on some structural variation or changes in the vibration regime, because both can generate nonlinearities. Among the many ways to solve this problem, the use of the Volterra series has several favorable points, because they are a generalization of the linear convolution, allowing the separation of linear and nonlinear contributions by input filtering through the Volterra kernels. On the other hand, the presence of uncertainties in mechanical systems, due to noise, geometric imperfections, manufacturing irregularities, environmental conditions, and others, can also change the responses, becoming more difficult the damage detection procedure. An approach based on a stochastic version of Volterra series is proposed to be used in the detection of a breathing crack in a beam vibrating in a nonlinear regime of motion, even in reference condition (without crack). The system uncertainties are simulated by the variation imposed in the linear stiffness and damping coefficient. The results show, that the nonlinear analysis done, considering the high order Volterra kernels, allows the approach to detect the crack with a small propagation and probability confidence, even in the presence of uncertainties.

The damage detection problem becomes a more difficult task when the intrinsically nonlinear behavior of the structures and the natural data variation are considered in the analysis because both phenomena can be confused with damage if linear and deterministic approaches are implemented. Therefore, this work aims the experimental application of a stochastic version of the Volterra series combined with a novelty detection approach to detect damage in an initially nonlinear system taking into account the measured data variation, caused by the presence of uncertainties. The experimental setup is composed by a cantilever beam operating in a nonlinear regime of motion, even in the healthy condition, induced by the presence of a magnet near to the free extremity. The damage associated with mass changes in a bolted connection (nuts loosed) is detected based on the comparison between linear and nonlinear contributions of the stochastic Volterra kernels in the total response, estimated in the reference and damaged conditions. The experimental measurements were performed on different days to add natural variation to the data measured. The results obtained through the stochastic proposed approach are compared with those obtained by the deterministic version of the Volterra series, showing the advantage of the stochastic model use when we consider the experimental data variation with the capability to detect the presence of the damage with statistical confidence. Besides, the nonlinear metric used presented a higher sensitivity to the occurrence of the damage compared with the linear one, justifying the application of a nonlinear metric when the system exhibits intrinsically nonlinear behavior.

We prove that the Fisher information is monotone decreasing in time along solutions of the space-homogeneous Boltzmann equation for a large class of collision kernels covering all classical interactions derived from systems of particles. For general collision kernels, a sufficient condition for the monotonicity of the Fisher information along the flow is related to the best constant for an integro-differential inequality for functions on the sphere, which belongs in the family of the Log-Sobolev inequalities. As a consequence, we establish the existence of global smooth solutions to the space-homogeneous Boltzmann equation in the main situation of interest where this was not known, namely the regime of very soft potentials. This is opening the path to the completion of both the classical program of qualitative study of space-homogeneous Boltzmann equation, initiated by Carleman, and the program of using the Fisher information in the study of the Boltzmann equation, initiated by McKean. From the proofs and discussion emerges a strengthened picture of the links between kinetic theory, information theory and log-Sobolev inequalities., Comment: 35 pages

Data poisoning attacks on clustering algorithms have received limited attention, with existing methods struggling to scale efficiently as dataset sizes and feature counts increase. These attacks typically require re-clustering the entire dataset multiple times to generate predictions and assess the attacker's objectives, significantly hindering their scalability. This paper addresses these limitations by proposing Sonic, a novel genetic data poisoning attack that leverages incremental and scalable clustering algorithms, e.g., FISHDBC, as surrogates to accelerate poisoning attacks against graph-based and density-based clustering methods, such as HDBSCAN. We empirically demonstrate the effectiveness and efficiency of Sonic in poisoning the target clustering algorithms. We then conduct a comprehensive analysis of the factors affecting the scalability and transferability of poisoning attacks against clustering algorithms, and we conclude by examining the robustness of hyperparameters in our attack strategy Sonic., Comment: preprint paper

This paper studies the dynamics of a network of diffusively-coupled bistable systems. Under mild conditions and without requiring smoothness of the vector field, we analyze the network dynamics and show that the solutions converge globally to the set of equilibria for generic monotone (but not necessarily strictly monotone) regulatory functions. Sufficient conditions for global state synchronization are provided. Finally, by adopting a piecewise linear approximation of the vector field, we determine the existence, location and stability of the equilibria as function of the coupling gain. The theoretical results are illustrated with numerical simulations.

Radio Frequency (RF) wireless power transfer is a promising technology that has the potential to constantly power small Internet of Things (IoT) devices, enabling even battery-less systems and reducing their maintenance requirements. However, to achieve this ambitious goal, carefully designed RF energy harvesting (EH) systems are needed to minimize the conversion losses and the conversion efficiency of the limited power. For intelligent internet of things sensors and devices, which often have non-constant power requirements, an additional power management stage with energy storage is needed to temporarily provide a higher power output than the power being harvested. This paper proposes an RF wireless power energy conversion system for miniaturized IoT composed of an impedance matching network, a rectifier, and power management with energy storage. The proposed sub-system has been experimentally validated and achieved an overall power conversion efficiency (PCE) of over 30 % for an input power of -10 dBm and a peak efficiency of 57 % at 3 dBm.

In this paper, we present an application of the optimal control theory to orbital transfer of Low Earth Orbit satellites. The optimal control problem is treated with Dynamic Programming techniques which require solving the Hamilton--Jacobi--Bellman equation on a suitable state space, with the reconstruction of the optimal controls made in the form of a static feedback. In order to validate the numerical scheme without the complexity of the full model, this first study sets the problem in planar form, thus working in a four-dimensional state space. We will study various techniques to speed up the computation, and assess the accuracy of the numerical solution. This project is born from the attempt of evaluating and applying direct method of optimal control techniques based on Dynamic Programming as a complementary approach to the well known indirect methods, as Pontryagin or Lawden. In particular, the final aim is to treat the case of low thrust engines from real use cases, in the full 3-D problem.

Strip and pixels sensors, fabricated on high resistivity silicon substrate, normally of p-type, are used in detectors for High Energy Physics (HEP) typically in a hybrid detector assembly. Furthermore, and owing to their inherent advantages over hybrid sensors, Monolithic Active Pixel Sensors (MAPS) fabricated in CMOS technology have been increasingly implemented in HEP experiments. In all cases, their use in higher radiation areas (HL-LHC and beyond) will require options to improve their radiation hardness and time resolution. These aspects demand a deep understanding of their radiation damage and reliable models to predict their behaviours at high fluences. As a first step, we fabricated several Schottky and n-on-p diodes, to allow a comparison of results and provide a backup solution for test devices, on 6 or 4-inch p-type silicon wafers with 50 {\mu}m epitaxial thickness and of doping concentration as they are normally used in HEP detectors and CMOS MAPS devices. In this paper, details of the design and fabrication process, along with test results of the fabricated devices before irradiation, will be provided. Additional test results on irradiated devices will be provided in subsequent publications.

We introduce a novel adaptive Gaussian Process Regression (GPR) methodology for efficient construction of surrogate models for Bayesian inverse problems with expensive forward model evaluations. An adaptive design strategy focuses on optimizing both the positioning and simulation accuracy of training data in order to reduce the computational cost of simulating training data without compromising the fidelity of the posterior distributions of parameters. The method interleaves a goal-oriented active learning algorithm selecting evaluation points and tolerances based on the expected impact on the Kullback-Leibler divergence of surrogated and true posterior with a Markov Chain Monte Carlo sampling of the posterior. The performance benefit of the adaptive approach is demonstrated for two simple test problems., Comment: 12 pages, 4 figures, presented at ALGORITMY 2024

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we present CoBT, a collaborative programming by demonstration framework for generating reactive and modular behavior trees. CoBT relies on a single demonstration and a combination of data-driven machine learning methods with logic-based declarative learning to learn a task, thus eliminating the need for programming expertise or long development times. The proposed framework is experimentally validated on 7 manipulation tasks and we show that CoBT achieves approx. 93% success rate overall with an average of 7.5s programming time. We conduct a pilot study with non-expert users to provide feedback regarding the usability of CoBT., Comment: Accepted for presentation at IEEE ICRA 2024

In the field of control engineering, the connection between Signal Temporal Logic (STL) and time-varying Control Barrier Functions (CBF) has attracted considerable attention. CBFs have demonstrated notable success in ensuring the safety of critical applications by imposing constraints on system states, while STL allows for precisely specifying spatio-temporal constraints on the behavior of robotic systems. Leveraging these methodologies, this paper addresses the safety-critical navigation problem, in Socially Responsible Navigation (SRN) context, presenting a CBF-based STL motion planning methodology. This methodology enables task completion at any time within a specified time interval considering a dynamic system subject to velocity constraints. The proposed approach involves real-time computation of a smooth CBF, with the computation of a dynamically adjusted parameter based on the available path space and the maximum allowable velocity. A simulation study is conducted to validate the methodology, ensuring safety in the presence of static and dynamic obstacles and demonstrating its compliance with spatio-temporal constraints under non-linear velocity constraints.

Over the past decade, a multitude of service robots have been developed to fulfill a wide range of practical purposes. Notably, roles such as reception and robotic guidance have garnered extensive popularity. In these positions, robots are progressively assuming the responsibilities traditionally held by human staff in assisting customers. Ensuring the safe and socially acceptable operation of robots in such environments poses a fundamental challenge within the context of Socially Responsible Navigation (SRN). This article presents an architecture for user identification and social navigation with a mobile robot that employs computer vision, machine learning, and artificial intelligence algorithms to identify and guide users in a social navigation context, thereby providing an intuitive and user-friendly experience with the robot.

A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval, considering a dynamic system subject to velocity constraints. In this work, we apply this approach into the context of Socially Responsible Navigation (SRN), introducing a rotation constraint. This constraint is designed to maintain the user within the robot's field of view (FOV), enhancing human-robot interaction with the concept of side-by-side human-robot companion. This angular constraint offers the possibility to customize social navigation to specific needs, thereby enabling safe SRN. Its validation is carried out through simulations demonstrating the system's effectiveness in adhering to spatio-temporal constraints, including those related to robot velocity, rotation, and the presence of static and dynamic obstacles.

Word Ladders is a free mobile application for Android and iOS, developed for collecting linguistic data, specifically lists of words related to each other through semantic relations of categorical inclusion, within the Abstraction project (ERC-2021-STG-101039777). We hereby provide an overview of Word Ladders, explaining its game logic, motivation and expected results and applications to nlp tasks as well as to the investigation of cognitive scientific open questions

The transformer neural network has significantly out-shined all other neural network architectures as the engine behind large language models. We provide a theoretical analysis of the expressivity of the transformer architecture through the lens of topos theory. From this viewpoint, we show that many common neural network architectures, such as the convolutional, recurrent and graph convolutional networks, can be embedded in a pretopos of piecewise-linear functions, but that the transformer necessarily lives in its topos completion. In particular, this suggests that the two network families instantiate different fragments of logic: the former are first order, whereas transformers are higher-order reasoners. Furthermore, we draw parallels with architecture search and gradient descent, integrating our analysis in the framework of cybernetic agents., Comment: Requires major revision

Analogue test structures were fabricated using the Tower Partners Semiconductor Co. CMOS 65 nm ISC process. The purpose was to characterise and qualify this process and to optimise the sensor for the next generation of Monolithic Active Pixels Sensors for high-energy physics. The technology was explored in several variants which differed by: doping levels, pixel geometries and pixel pitches (10-25 $\mu$m). These variants have been tested following exposure to varying levels of irradiation up to 3 MGy and $10^{16}$ 1 MeV n$_\text{eq}$ cm$^{-2}$. Here the results from prototypes that feature direct analogue output of a 4$\times$4 pixel matrix are reported, allowing the systematic and detailed study of charge collection properties. Measurements were taken both using $^{55}$Fe X-ray sources and in beam tests using minimum ionizing particles. The results not only demonstrate the feasibility of using this technology for particle detection but also serve as a reference for future applications and optimisations.

A multi-output Gaussian process (GP) is introduced as a model for the joint posterior distribution of the local predictive ability of set of models and/or experts, conditional on a vector of covariates, from historical predictions in the form of log predictive scores. Following a power transformation of the log scores, a GP with Gaussian noise can be used, which allows faster computation by first using Hamiltonian Monte Carlo to sample the hyper-parameters of the GP from a model where the latent GP surface has been marginalized out, and then using these draws to generate draws of joint predictive ability conditional on a new vector of covariates. Linear pools based on learned joint local predictive ability are applied to predict daily bike usage in Washington DC., Comment: 22 pages, 7 figures. This paper was included in the first author's PhD thesis: Oelrich, O. (2022) 'Learning Local Predictive Accuracy for Expert Evaluation and Forecast Combination' which can be found at https://su.diva-portal.org/smash/record.jsf?pid=diva2:1708601 . arXiv admin note: text overlap with arXiv:2402.02068

A Gaussian process is proposed as a model for the posterior distribution of the local predictive ability of a model or expert, conditional on a vector of covariates, from historical predictions in the form of log predictive scores. Assuming Gaussian expert predictions and a Gaussian data generating process, a linear transformation of the predictive score follows a noncentral chi-squared distribution with one degree of freedom. Motivated by this we develop a noncentral chi-squared Gaussian process regression to flexibly model local predictive ability, with the posterior distribution of the latent GP function and kernel hyperparameters sampled by Hamiltonian Monte Carlo. We show that a cube-root transformation of the log scores is approximately Gaussian with homoscedastic variance, making it possible to estimate the model much faster by marginalizing the latent GP function analytically. A multi-output Gaussian process regression is also introduced to model the dependence in predictive ability between experts, both for inference and prediction purposes. Linear pools based on learned local predictive ability are applied to predict daily bike usage in Washington DC., Comment: 29 pages, 17 figures. All the material in this paper was included in the first author's PhD thesis: Oelrich, O. (2022) 'Learning Local Predictive Accuracy for Expert Evaluation and Forecast Combination' which can be found at https://urn.kb.se/resolve?urn=urn:nbn:se:su:diva-210919

Evaluating the adversarial robustness of deep networks to gradient-based attacks is challenging. While most attacks consider $\ell_2$- and $\ell_\infty$-norm constraints to craft input perturbations, only a few investigate sparse $\ell_1$- and $\ell_0$-norm attacks. In particular, $\ell_0$-norm attacks remain the least studied due to the inherent complexity of optimizing over a non-convex and non-differentiable constraint. However, evaluating adversarial robustness under these attacks could reveal weaknesses otherwise left untested with more conventional $\ell_2$- and $\ell_\infty$-norm attacks. In this work, we propose a novel $\ell_0$-norm attack, called $\sigma$-zero, which leverages a differentiable approximation of the $\ell_0$ norm to facilitate gradient-based optimization, and an adaptive projection operator to dynamically adjust the trade-off between loss minimization and perturbation sparsity. Extensive evaluations using MNIST, CIFAR10, and ImageNet datasets, involving robust and non-robust models, show that $\sigma$-zero finds minimum $\ell_0$-norm adversarial examples without requiring any time-consuming hyperparameter tuning, and that it outperforms all competing sparse attacks in terms of success rate, perturbation size, and efficiency., Comment: Code available at https://github.com/Cinofix/sigma-zero-adversarial-attack

In a recent paper, we have studied the Teukolsky equations for fermions with mass $m_e\neq 0$ and rotating black hole of mass $M$. There, we have studied two cases: $\tilde{m}_e=m_e\,M^{-1}\ll 1$ and $a\omega\ll 1$; $\tilde{m}_e\ll 1$ and $a\omega \gtrsim 1$. Here we study the two remaining case case in which $\tilde{m}_e\gtrsim 1$ and $a\omega\ll 1$ using a semi-analytical approach and $\tilde{m}_e\gtrsim 1$ and $a\omega\gtrsim 1$ using a numerical approach. This case could be of some interest for the study of the interactions of fermions with small black holes, such as those formed in the last stages of the the Hawking evaporation process., Comment: 7 pages, two tables. arXiv admin note: text overlap with arXiv:2310.13645