This paper addresses the problem of bi-manual object handover with a humanoid robot, i.e. the tas... more This paper addresses the problem of bi-manual object handover with a humanoid robot, i.e. the task of passing objects from one hand to the other. Bi-manual coordination is fundamental for improving manipulation capabilities of humanoid robots. We propose a novel and effective pipeline that tackles the problem by using visual and tactile feedback to localize the object and maintain grasp stability during the task. Given the object in one of the robot hand (first hand), the object in-hand pose is estimated by a localization algorithm, which makes use of vision and tactile information. Then, the estimated pose is used to automatically choose a suitable pose for the second hand among a set of candidates, a-priori annotated on the object model. The selected pose is finally used to accomplish the handover task. The performance of our approach is assessed on a real robotic system, the iCub humanoid robot, on a set of objects from the YCB dataset. Experiments demonstrate that the proposed method allows performing proper and reliable handovers with different every-day objects.
2017 18th International Conference on Advanced Robotics (ICAR), 2017
In this paper we propose a novel method for in-hand object recognition. The method is composed of... more In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays an important role in recognizing objects. First, it prevents the object from slipping and facilitates the exploration of the object. Second, reaching a stable and repeatable position adds robustness to the learning algorithm and increases invariance with respect to the way in which the robot grasps the object. The stable poses are estimated using a Gaussian mixture model (GMM). We present experimental results showing that using our method the classifier can successfully distinguish 30 objects. We also compare our method with a benchmark experiment, in which the grasp stabilization is disabled. We show, with statistical significance, that our method outperforms the benchmark method.
The physical meaning of the EPR-chameleon experiment proposed in [1, 2], in which the EPR correla... more The physical meaning of the EPR-chameleon experiment proposed in [1, 2], in which the EPR correlations are reproduced by local, independent, deterministic choices is reexamined. In addition we extend the mathematical model of [1, 2] by showing that the dynamics considered there is effectively the reduced dynamics of a fully reversible evolution. We also propose a new protocol, more directly corresponding to real experiments, in which the local computers only send back to the central one the results of the evaluation of ±1-valued functions. The program to run the experiment is available from the WEB-page: http://volterra.mat.uniroma2.it.
Starting from the late 60’s many experiments have been performed to verify the violation Bell’s i... more Starting from the late 60’s many experiments have been performed to verify the violation Bell’s inequality by Einstein–Podolsky–Rosen (EPR) type correlations. The idea of these experiments being that: (i) Bell’s inequality is a consequence of locality, hence its experimental violation is an indication of non locality; (ii) this violation is a typical quantum phenomenon because any classical system making local choices (either deterministic or random) will produce correlations satisfying this inequality. Both statements (i) and (ii) have been criticized by quantum probability on theoretical grounds (not discussed in the present paper) and the experiment discussed below has been devised to support these theoretical arguments. We emphasize that the goal of our experiment is not to reproduce classically the EPR correlations but to prove that there exist perfectly local classical dynamical systems violating Bell’s inequality. The conclusions of the present experiment are: (I) no contradi...
We prove that the structure of the classical dynamical system, constructed in [AcImRe01] to repro... more We prove that the structure of the classical dynamical system, constructed in [AcImRe01] to reproduce the EPR correlations, is a natural consequence of the combination of the general theory of classical dynamical systems with the extension of von Neumann measurement theory, proposed in [Ac93] to include in it the requirements of locality and causality. We then prove some a priori estimates which guarantee the convergence of the simulation procedure.
This work follows the paper of the authors: Strongly asymmetric PKD cryptographic algorithms, whi... more This work follows the paper of the authors: Strongly asymmetric PKD cryptographic algorithms, which introduces a new family of algorithms for key exchange (the double - parametrization algorithm), and here we discuss possible configuration of a particular case (a model ) of this family. The present paper describes the implementation of a model based on matrices described in the following.. The approach will be discussed in the following. Moreover we will show the problems encountered and solved in the final implementation and the technical issues.
Adaptive dynamical systems and the EPR-chameleon experiment
We prove that the structure of the classical dynamical system, constructed in [AcImRe01] to repro... more We prove that the structure of the classical dynamical system, constructed in [AcImRe01] to reproduce the EPR correlations, is a natural consequence of the combination of the general theory of classical dynamical systems with the extension of von Neumann measurement theory, proposed in [Ac93] to include in it the requirements of locality and causality. We then prove some a priori estimates which guarantee the convergence of the simulation procedure. The program to run the experiment is available from the WEB-page: http://volterra.mat.uniroma2.it.
Strongly Asymmetric Public Key Agreement Algorithms
The present talk describes the result of joint researches in collaboration with Masanori Ohya, Ma... more The present talk describes the result of joint researches in collaboration with Masanori Ohya, Massimo Regoli, Satoshi Iriyama. Its goal is to discuss the main ideas, general construction and abstract scheme of a new class of cryptographic algorithms.\\ Using toy model realizations we will illustrate the above abstract scheme showing how some known PKA algorithms and variants of them can be recovered from the above mentioned construction. \\ Finally we discuss the resiliency of the above scheme to attacks (comparative breaking complexity).
This is a revised version with respect to the one submitted on Mon, 3 Jul 2000. By mistake an ear... more This is a revised version with respect to the one submitted on Mon, 3 Jul 2000. By mistake an earlier version and not the final one was submitted. We prove that the locality condition is irrelevant to Bell in equality. We check that the real origin of the Bell’s inequality is the assumption of applicability of classical (Kolmogorovian) probability theory to quantum mechanics. We describe the chameleon effect which allows to construct an experiment realizing a local, realistic, classical, deterministic and macroscopic violation of the Bell inequalities. Index: – Inequalities among numbers – The Bell inequality – Implications of the Bell’s inequalities for the singlet correlations – Bell on the meaning of Bell’s inequality – Critique of Bell’s “vital assumption” – The role of the counterfactual argument in Bell’s proof – Proofs of Bell’s inequality based on counting arguments
New Subclass Framework and Concrete Examples of Strongly Asymmetric Public Key Agreement
Applied Sciences, 2021
Strongly asymmetric public key agreement (SAPKA) is a class of key exchange between Alice and Bob... more Strongly asymmetric public key agreement (SAPKA) is a class of key exchange between Alice and Bob that was introduced in 2011. The greatest difference from the standard PKA algorithms is that Bob constructs multiple public keys and Alice uses one of these to calculate her public key and her secret shared key. Therefore, the number of public keys and calculation rules for each key differ for each user. Although algorithms with high security and computational efficiency exist in this class, the relation between the parameters of SAPKA and its security and computational efficiency has not yet been fully clarified. Therefore, our main objective in this study was to classify the SAPKA algorithms according to their properties. By attempting algorithm attacks, we found that certain parameters are more strongly related to the security. On this basis, we constructed concrete algorithms and a new subclass of SAPKA, in which the responsibility of maintaining security is significantly more asso...
A new public key agreement (PKA) algorithm, called the strongly-asymmetric algorithm (SAA-5), was... more A new public key agreement (PKA) algorithm, called the strongly-asymmetric algorithm (SAA-5), was introduced by Accardi et al. The main differences from the usual PKA algorithms are that Bob has some independent public keys and Alice produces her public key by using some part of the public keys from Bob. Then, the preparation and calculation processes are essentially asymmetric. This algorithms has several free parameters more than the usual symmetric PKA algorithms and the velocity of calculation is largely dependent on the parameters chosen; however, the performance of it has not yet been tested. The purpose of our study was to discuss efficient parameters to share the key with high speeds in SAA-5 and to optimize SAA-5 in terms of calculation speed. To find efficient parameters of SAA-5, we compared the calculation speed with Diffie–Hellman (D-H) while varying values of some parameters under the circumstance where the length of the secret shared key (SSK) was fixed. For optimizat...
A new class of public key agreement (PKA) algorithms called strongly-asymmetric algorithms (SAA) ... more A new class of public key agreement (PKA) algorithms called strongly-asymmetric algorithms (SAA) was introduced in a previous paper by some of the present authors. This class can be shown to include some of the best-known PKA algorithms, for example the Diffie–Hellman and several of its variants. In this paper, we construct a new version of the previous construction, called SAA-5, improving it in several points, as explained in the Introduction. In particular, the construction complexity is reduced, and at the same time, robustness is increased. Intuitively, the main difference between SAA-5 and the usual PKA consists of the fact that in the former class, B (Bob) has more than one public key and A (Alice) uses some of them to produce her public key and others to produce the secret shared key (SSK). This introduces an asymmetry between the sender of the message (B) and the receiver (A) and motivates the name for this class of algorithms. After describing the main steps of SAA-5, we d...
Bio—Cryptography: A Possible Coding Role for RNA Redundancy
AIP Conference Proceedings, 2009
ABSTRACT The RNA-Crypto System (shortly RCS) is a symmetric key algorithm to cipher data. The ide... more ABSTRACT The RNA-Crypto System (shortly RCS) is a symmetric key algorithm to cipher data. The idea for this new algorithm starts from the observation of nature. In particular from the observation of RNA behavior and some of its properties. The RNA sequences have some sections called Introns. Introns, derived from the term ``intragenic regions,'' are non-coding sections of precursor mRNA (pre-mRNA) or other RNAs, that are removed (spliced out of the RNA) before the mature RNA is formed. Once the introns have been spliced out of a pre-mRNA, the resulting mRNA sequence is ready to be translated into a protein. The corresponding parts of a gene are known as introns as well. The nature and the role of Introns in the pre-mRNA is not clear and it is under ponderous researches by biologists but, in our case, we will use the presence of Introns in the RNA-Crypto System output as a strong method to add chaotic non coding information and an unnecessary behavior in the access to the secret key to code the messages. In the RNA-Crypto System algorithm the introns are sections of the ciphered message with non-coding information as well as in the precursor mRNA.
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Papers by Massimo Regoli
introduces a new family of algorithms for key exchange (the double - parametrization algorithm), and here we discuss
possible configuration of a particular case (a model ) of this family. The present paper describes the implementation
of a model based on matrices described in the following.. The approach will be discussed in the following. Moreover
we will show the problems encountered and solved in the final implementation and the technical issues.