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A Relative Infrastructure-less Localization Algorithm for Decentralized and Autonomous Swarm Formation
(2023)2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Decentralized and autonomous control of Unmanned Aerial Vehicle (UAV) swarms is a key enabler for cooperative systems and infrastructure-less formation flights. However, UAVs often lack reliable heading angle measurements, especially in indoor scenarios, space, and GNSS-denied environments, posing an additional observability challenge on range-based relative localization. We tackle this problem by proposing a novel solution enhancing the ...Conference Paper -
LocalViT: Analyzing Locality in Vision Transformers
(2023)2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)The aim of this paper is to study the influence of locality mechanisms in vision transformers. Transformers originated from machine translation and are particularly good at modelling long-range dependencies within a long sequence. Although the global interaction between the token embeddings could be well modelled by the self-attention mechanism of transformers, what is lacking is a locality mechanism for information exchange within a local ...Conference Paper -
HexaMesh: Scaling to Hundreds of Chiplets with an Optimized Chiplet Arrangement
(2023)2023 60th ACM/IEEE Design Automation Conference (DAC)2.5D integration is an important technique to tackle the growing cost of manufacturing chips in advanced technology nodes. This poses the challenge of providing high-performance inter-chiplet interconnects (ICIs). As the number of chiplets grows to tens or hundreds, it becomes infeasible to hand-optimize their arrangement in a way that maximizes the ICI performance. In this paper, we propose HexaMesh, an arrangement of chiplets that ...Conference Paper -
Embedded neuromorphic attention model leveraging a novel low-power heterogeneous platform
(2023)2023 IEEE 5th International Conference on Artificial Intelligence Circuits and Systems (AICAS)Neuromorphic computing has been identified as an ideal candidate to exploit the potential of event-based cameras, a promising sensor for embedded computer vision. However, state-of-the-art neuromorphic models try to maximize the model performance on large platforms rather than a trade-off between memory requirements and performance. We present the first deployment of an embedded neuromorphic algorithm on Kraken, a low-power RISC-V-based ...Conference Paper -
Hand Gesture Recognition via Wearable Ultra-Low Power Ultrasound and Gradient-Boosted Tree Classifiers
(2023)2023 IEEE International Ultrasonics Symposium (IUS)Wearable ultrasound (US) is becoming more popular for complementing surface electromyography in the hand gesture recognition (HGR) task. In fact, US allows collecting data from deep musculoskeletal structures with high spatiotemporal resolutions and high signal-to-noise ratio. However, existing wearable US solutions for HGR are not sufficiently low-power for guaranteeing continuous, long-term operation, and they typically rely on data ...Conference Paper -
Complete Cardiorespiratory Monitoring via Wearable Ultra Low Power Ultrasound
(2023)2023 IEEE International Ultrasonics Symposium (IUS)The continuous monitoring of heart (HR) and respiration (RR) rates is crucial for long-term health assessment and physical activity tracking. HR can be extracted reliably by wearable sensors based on electrocardiography (ECG) and featuring multi-electrode setups. In turn, photoplethysmography (PPG) offers similar HR detection accuracy levels with minimal setups but is affected by motion artifacts. Furthermore, while PPG and ECG may also ...Conference Paper -
Sparse Hamming Graph: A Customizable Network-on-Chip Topology
(2023)2023 60th ACM/IEEE Design Automation Conference (DAC)Chips with hundreds to thousands of cores require scalable networks-on-chip (NoCs). Customization of the NoC topology is necessary to reach the diverse design goals of different chips. We introduce sparse Hamming graph, a novel NoC topology with an adjustable cost-performance trade-off that is based on four NoC topology design principles we identified. To efficiently customize this topology, we develop a toolchain that leverages approximate ...Conference Paper -
An Optimized Heart Rate Detection System Based onLow-Power Microcontroller Platforms forBiosignal Processing
(2023)Lecture Notes in Networks and Systems ~ Advances in System-Integrated IntelligenceThe real-time detection of the R peaks of the ECG signal is crucial to provide information on cardiac functionality, and several strategies have been presented in the past. In this work, we adapt the classical Pan and Tompkins (PT) algorithm for efficient execution on low-power microcontroller (MCU) platforms to design a full-fledged heart rate detection system. We target a commercial MCU based on ARM Cortex-M4 and an ultra-low-power ...Conference Paper -
Improving Data-Scarce Image Classification Through Multimodal Synthetic Data Pretraining
(2023)2023 IEEE Sensors Applications Symposium (SAS)Deep Learning algorithms and models greatly benefit from the release of large-scale datasets, also including synthetically generated data, when real-life data is scarce. Multimodal datasets feature more descriptive environmental information than single-sensor ones, but they are generally small and not widely accessible. In this paper, we construct a synthetically-generated image classification dataset consisting of grayscale camera images ...Conference Paper -
A 3 TOPS/W RISC-V Parallel Cluster for Inference of Fine-Grain Mixed-Precision Quantized Neural Networks
(2023)2023 IEEE Computer Society Annual Symposium on VLSI (ISVLSI)The emerging trend of deploying complex algorithms, such as Deep Neural networks (DNNs), increasingly poses strict memory and energy efficiency requirements on Internet-of-Things (IoT) end-nodes. Mixed-precision quantization has been proposed as a technique to minimize a DNN’s memory footprint and maximize its execution efficiency, with negligible end-to-end precision degradation. In this work, we present a novel hardware and software ...Conference Paper