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Offerta Formativa
PROGRAMMAZIONE DIDATTICA COORTE A.A. 2025/2026
CORSO DI LAUREA MAGISTRALE in 11963 ROBOTICS ENGINEERING (classe LM-32 )

SCHEDA INFORMATIVA

Sede amministrativa:  GE
Classe delle lauree in: 

Classe delle lauree magistrali in INGEGNERIA INFORMATICA (classe LM-32)
Durata:  2 anni
Indirizzo web:  https://corsi.unige.it/corsi/11963
Dipartimento di riferimento:  SEZIONE INTERSCUOLA POLITECNICA DEL DIBRIS

PIANO DI STUDI

1° anno (coorte 2025/2026)

Codice Disciplina Settore CFU Tipologia/Ambito Obiettivi Formativi Propedeuticità
114455 ROBOTICS FUNDAMENTALS 11 This course is composed of two modules, each contributing to the development of core competencies in the modeling, analysis, and control of complex mechanical systems, with a particular focus on robotics. Overall, the course aims to provide students with a solid theoretical and practical foundation for the design, control, and analysis of manipulators and complex mechanisms in robotics contexts.

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  56846 - MODELING AND CONTROL OF MANIPULATORS ING-INF/04 6 6 CFU CARATTERIZZANTI Ingegneria Informatica
 		This course presents the fundamentals of the kinematics modeling and control techniques of serial manipulators. Topics include geometric modeling, task jacobian matrices, inverse kinematics, and closed loop kinematics control.

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  80514 - MECHANICS OF MECHANISMS AND MACHINES ING-IND/13 5 5 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		Fundamentals of theory of mechanisms and machines: synthesis, analysis, modelling, singularities. Kinematics and elements of dynamics. Serial and parallel architectures. Compliant mechanisms. Architectures for robotics. The Lie group of rigid body displacement. Screw theory.

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30 CFU tra i seguenti insegnamenti:
114461 ARTIFICIAL INTELLIGENCE FOR ROBOTICS ING-INF/05 10 The course consists of two modules, which together provide a comprehensive introduction to the principles and applications of AI techniques in autonomous robotic systems. Overall, the course aims to equip students with the theoretical understanding and practical tools needed to design and implement intelligent, autonomous robotic systems capable of operating in complex environments.

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  104731 - ARTIFICIAL INTELLIGENCE FOR ROBOTICS II ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		Artificial Intelligence for Robotics 2 is the logic follow-up of Artificial Intelligence for Robotics 1. In this course, the students will be introduced to concepts related to knowledge representation and reasoning (ontologies, description logics, OWL, subsumption, instance checking), planning for hybrid domains (with a particular focus on discrete/continuous domains), as well as AI-based robot motion algorithms (es., RRTs, probabilistic roadmaps, belief-space planning).

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  104734 - ARTIFICIAL INTELLIGENCE FOR ROBOTICS I ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		The goal of the course is to provide the foundations of knowledge-based intelligent autonomous agents.

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114465 MOBILE ROBOTICS AND ROBOT DYNAMICS ING-INF/04 10 The course is composed of two modules, each focusing on key aspects of robot dynamics, control, and mobile robot design. Overall, the course aims to provide students with a solid understanding of the dynamics, control, and planning techniques required to design and implement robotic systems, including mobile robots, in real-world applications.

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  86738 - ROBOT DYNAMICS AND CONTROL ING-INF/04 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		The course introduces the dynamic modelling of robot manipulators and the fundamentals of dynamic control of robots. These aspects are the key elements for the design of robot controllers and for the implementation of robot controlled operations involving interaction of the robot with objects (e.g. for their manipulation), the environoment (e.g. force control), humans (e.g. human robot collaborative tasks).

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  106956 - MOBILE ROBOTS ING-INF/04 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		The class first develops the kinematic modeling and motorization of mobile robots, illustrated by the full study of the differential drive robot. Then localization based on the Extended Kalman Filter is addressed, is illustrated by a lab which uses real data and presents a tuning methodology. Observability issues are also addressed, with practical examples. Planning methods applicable to mobile robots are studied, in particular potential field methods and the Rapidly exploring Random Tree. Control then focuses on direct applications to mobile robots: static and dynamic feedback control and Lyapunov based control, illustrated on the case of the differential drive robot.

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114466 REAL TIME SYSTEMS 10 The course is composed of two modules, each focusing on key aspects of real-time applications and embedded systems. Overall, the course aims to provide students with the theoretical and practical knowledge needed to develop and manage real-time and embedded systems, particularly for control applications.

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  80169 - REAL-TIME OPERATING SYSTEMS ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		By attending the course, the student will learn how to deal with issues concerning real-time applications and real-time operative systems, real-time design and programming, embedded systems.

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  80190 - EMBEDDED SYSTEMS ING-INF/04 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		This course presents the fundamentals of embedded systems. After a brief review of the most relevant architectures, the course focuses on microcontroller programming for control applications, with a particular attention on peripheral configuration, real time and event-based programming techniques.

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114464 SOFTWARE AND COGNITIVE ARCHITECTURES FOR ROBOTS ING-INF/05 10 The course consists of two modules, each focusing on essential aspects of programming and cognitive systems for robotic applications. Overall, the course aims to equip students with both the software development skills and the understanding of cognitive architecture necessary for designing robots capable of complex interactions with their environments.

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  86736 - ADVANCED AND ROBOT PROGRAMMING ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		The goal of the course is to give the students the fundamentals of POSIX programming, concurrent programming, and inter-process communication (i.e., interrupts, signals, pipes, threads, semaphores, shared memory, sockets, publish/subscribe methods). The objective involves both theoretical knowledge and practical work (coding for multiprocess / distributed systems). State-of-the-art programming languages are used in coding, in particular C and rust.

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  86805 - COGNITIVE ARCHITECTURES FOR ROBOTICS ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		Robots are multi-purpose, multi-form and multi-function machines. Next-generation robots are expected to exhibit completely new and unique behaviors with respect to current machines, specifically in terms of what they are meant to do, how they are structured, and what they are capable to do. In order to cope with this diversity in form and function, cognitive architectures for robots must designed to allow robots to perceive their environments, make sense of it, employing various knowledge representation and reasoning models, and then act effectively on their environment. The course will address all relevant topics in a research-oriented way.

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114463 SYSTEM IDENTIFICATION AND CONTROL OF MULTI-VARIABLE SYSTEMS ING-INF/04 10 The course is composed of two modules, each focusing on critical aspects of system analysis, identification, and control in the context of multi-variable systems. Overall, the course provides students with the theoretical and practical skills necessary for the analysis, identification, and control of multi-variable systems, particularly in robotics and dynamic systems applications.

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  80181 - CONTROL OF MULTI-VARIABLE SYS. ING-INF/04 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		The objective of the module is that of presenting the basic methodologies for the analysis and control of multivariable systems with particular emphasis on linear time invariant ones. The module will start with a review of the basic concepts relevant to (linear) systems in state space form. Stability and structural properties of state space multivariable dynamic systems will be addressed with particular emphasis on the linear time invariant case. Matrix pseudo inversion methods will be discussed with reference to robot inverse kinematics and control allocation problems. The module will end with the treatment of some specific topics concerning multivariable control methods as applied in robotics scenarios (eg. linear state space observers used for robot navigation or control allocation used for robot control).

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  111106 - SYSTEM IDENTIFICATION ING-INF/04 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
 		The goal of the course is to provide methodologies and tools for designing systems’ models to be used for control, estimation, diagnosis, prediction, etc. Different identification methods are considered, both in a “black box” context (where the structure of the system is unknown), as well as in a “grey box” (uncertainty on parameters) one. Methods are provided for choosing the complexity of the models, for determining the values of their parameters, and to validate them. Moreover, state estimation problems are addressed and their connections with control and identification are considered.

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10 CFU tra i seguenti insegnamenti:
86735 COMPUTER VISION INF/01 5 5 CFU A SCELTA A Scelta dello Studente
 		The course aims at providing knowledge on theory and tools on the basics of Computer Vision, for the extraction of semantic and geometric information about a scene from an image or a sequence of images. Topics of interest include: camera models and image formation; camera calibration; connection between 2D images and 3D scene structures; image processing basics as image filtering, local features extraction (edge, corner, blob), including the use of multi-scale image representations; image matching, with reference to classification and retrieval problems; stereo vision and scene depth estimation; motion detection in image sequences, including change detection and optical flow estimation.

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80158 HUMAN COMPUTER INTERACTION ING-INF/05 5 5 CFU A SCELTA A Scelta dello Studente
 		The course provides the student with the methodology, the theory, and the techniques for the design of interactive products to support the way people communicate and interact in their everyday and working lives. This relies on the mastery of the development process for the understanding of the capabilities and desires of people and on the kinds of technology available to interaction designers, together with a knowledge of how to identify requirements and develop them into a suitable design. The course will cover standard techniques as well as an introduction to advanced topics, including sound and music computing (as a complementary component of visual and haptic interfaces), and emotional and social interfaces. A coursework devoted to the realization of the development process of a concrete interaction design project of an interactive product will be implemented during the whole semester, in a simulated working environment typical of Startups. Further, students will learn to design and manage motion capture sessions using the Qualisys industry standard motion capture system available at Casa Paganini-InfoMus. Finally, students will learn techniques to present their results, including elevator pitches and reporting to stakeholders.

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86928 MACHINE LEARNING FOR ROBOTICS I INF/01 5 5 CFU A SCELTA A Scelta dello Studente
 		The course introduces the basics of Machine Learning and Artificial Neural Networks, as well as other well-known techniques for solving supervised and unsupervised learning problems, with a specific emphasis on Robotics applications. Such learning systems can be applied to pattern recognition, function approximation, time-series prediction and clustering problems. Some mention will be made to the use of ANNs as static systems for information coding, and dynamical systems for optimization and identification.

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80183 MECHANICAL DESIGN METHODS IN ROBOTICS ING-IND/13 5 5 CFU A SCELTA A Scelta dello Studente
 		This course presents the overview of the design process-specification, conceptual design, product design. The students will learn basic principles of industrial robot design.

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105038 SIGNAL PROCESSING IN ROBOTICS ING-IND/31 5 5 CFU A SCELTA A Scelta dello Studente
 		The goal of the course is to provide the basic notions for the design of analog (both passive and active) and digital filters tailored for processing sensor measurements in robotic applications. The topics are proposed to students through both theoretical lessons and practical activities such as the simulation and the hardware realization of filters.

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104729 RESEARCH TRACK 1 2 2 CFU ALTRE ATTIVITA' Tirocini Formativi e di Orientamento
 		The course aims to equip students with the foundational skills for software programming in robotics. It covers essential development tools (Docker, GitHub, Linux), basic programming in Python and C++, and introduces the Robot Operating System (ROS and ROS2) for building and managing robotic applications.

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104730 RESEARCH TRACK 2 5 5 CFU ALTRE ATTIVITA' Tirocini Formativi e di Orientamento
 		The course aims to provide students with key skills related to the presentation of results and research methodology in the context of robotics. Specifically, it covers software documentation, data visualization techniques, the use of interactive notebooks, basic statistical analysis, and the fundamentals of research design.

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2 CFU tra i seguenti insegnamenti:
114460 ENGLISH LANGUAGE FOR ROBOTICS ENGINEERING 2 2 CFU ALTRE ATTIVITA' Tirocini Formativi e di Orientamento
 		The objectives of this course are to impart a mastery of technical terminology, foster an understanding of technical documentation, cultivate oral and written communication skills in professional contexts. Students will be encouraged to enhance intercultural skills to facilitate collaboration in global teams. In summary, the aim is to equip students with the linguistic and technical proficiency needed for success in the robotics industry, facilitating communication and collaboration in complex international settings.

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114459 ITALIAN AS A FOREIGN LANGUAGE_ROBOTICS ENGINEERING 2 2 CFU ALTRE ATTIVITA' Tirocini Formativi e di Orientamento
 		The course allows the student to achieve a sufficient oral and written comprehension of the local language, as well as an introduction to country culture.

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2° anno (coorte 2025/2026)

Codice Disciplina Settore CFU Tipologia/Ambito Obiettivi Formativi Propedeuticità

12 CFU tra i seguenti insegnamenti:
80188 AMBIENT INTELLIGENCE ING-INF/05 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
 		The goal of the course is to enable students to understand the Ambient Intelligence computing paradigm, which envisions a world where people (and possibly robots) are surrounded by intelligent sensors/actuators and interfaces embedded in the everyday objects around them.

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98457 COOPERATIVE ROBOTICS ING-INF/04 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
 		The goal of the course is to first introduce a modern task-priority based control of robotic systems such as dual arm robots, mobile manipulators, floating underwater vehicle-manipulator systems, which are all characterized by a high number of degrees of freedom. The framework is extended to the case where multiple robots need to work together, for example to manipulate and transport objects cooperatively.

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106723 EXPERIMENTAL ROBOTICS LABORATORY ING-INF/05 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
 		The course aims to provide students with practical and theoretical skills for developing advanced robotic applications. It covers robot modeling for simulation, the integration of computer vision and planning libraries with ROS and ROS2, the use of the ROS and ROS2 navigation stack, and the implementation of REST APIs for robotic systems.

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104855 MACHINE LEARNING FOR ROBOTICS II ING-INF/05 4 The course is composed of two modules, each focusing on advanced machine learning techniques and their application to robotics. Overall, the course aims to provide students with both the theoretical understanding and practical skills needed to apply machine learning techniques effectively in various robotics scenarios.

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  86798 - MACHINE LEARNING AND DEEP LEARNING ING-INF/05 3 3 CFU CARATTERIZZANTI Ingegneria Informatica
 		The course is designed to equip students with advanced knowledge and skills in the fields of machine learning and data analysis. Building upon foundational concepts, students delve into cutting-edge techniques and methodologies essential for tackling real-world problems in diverse domains. The course addresses a comprehensive review of fundamental machine learning algorithms, including supervised and unsupervised learning, and deep learning architectures. Through hands-on exercises and projects, students gain proficiency in implementing these algorithms using popular libraries.

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  104856 - ROBOTICS USE CASES ING-INF/05 1 1 CFU CARATTERIZZANTI Ingegneria Informatica
 		In this module, students will focus on the study of use cases specifically related to Robotics, on the basis of methodologies and insights discussed in the accompanying main module.

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94866 SOCIAL ROBOTICS ING-INF/05 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
 		The objective of the course is to make students aware about the most relevant issues in the fields of social robotics, including: verbal and nonverbal human-robot interaction; cultural factors in the design of social robots; anthropomorphic and zoomorphic robots and robot behaviours; sensors for human-robot interaction; methodology and constraints in making experiments with robots and human participants; application scenarios. The student will face these problems both from a theoretical perspective and through practical assignments, by exploring in depth one of the topics above on real robots for social interaction.

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108857 TRUSTWORTHY ARTIFICIAL INTELLIGENCE FOR ROBOTICS 4 The course is composed of two modules, each focusing on the security and reliability of AI systems in robotics. Overall, the course aims to provide students with both theoretical and practical expertise in ensuring the security, safety, and trustworthiness of AI systems used in robotics.

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  108606 - TRUSTWORTHY ARTIFICIAL INTELLIGENCE ING-INF/05 3 3 CFU CARATTERIZZANTI Ingegneria Informatica
 		The aim of this course is to provide students with fundamental and advanced concepts on the security of machine learning and trustworthy artificial intelligence.

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  108858 - TRUSTWORTHY AI ROBOTICS USE CASES ING-INF/05 1 1 CFU CARATTERIZZANTI Ingegneria Informatica
 		Specific use cases on the evaluation of the security of the object recognition  system of  the iCub robot will be addressed. Students will also get ability to answer open-ended questions with closed books, solve numerical exercises, use open-source libraries for the security evaluation of machine learning algorithms used by modern robots.

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104737 VIRTUAL REALITY FOR ROBOTICS ING-INF/05 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
 		Starting from the knowledge on the fundamentals of graphics, modeling and animation of 3D digital objects, the aim of the course is to get to the programming skills necessary to build applications and systems based on simulation in virtual / mixed / augmented / extended reality (VR / AR / MR / XR). The fundamental objectives of this course are to make students aware of the necessary interdisciplinarity of VR for Robotics: from mobile programming to biomechanics, sensory perception, humanoid robotics and video games, in order to manage complex interactions between simulated and / or physical objects and actors (both FPV first-person view and TPV third-person view).

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16 CFU tra i seguenti insegnamenti:
80188 AMBIENT INTELLIGENCE ING-INF/05 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		The goal of the course is to enable students to understand the Ambient Intelligence computing paradigm, which envisions a world where people (and possibly robots) are surrounded by intelligent sensors/actuators and interfaces embedded in the everyday objects around them.

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98454 BIOMEDICAL ROBOTICS ING-INF/06 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		The purpose of this course is to provide a perspective on robotic technologies applied to (and inspired by) themes of biomedical research and practice. The first part of the course is intended to offer a background on biological signals and their applications in human-machine interfaces. The second part is devoted to in-depth analysis of specific applications. These include basic research in sensory-motor systems, advanced surgical and diagnostic techniques, body and brain machine interfaces, robots for assistance and rehabilitation, prosthetics, biomimetic robotics

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98457 COOPERATIVE ROBOTICS ING-INF/04 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		The goal of the course is to first introduce a modern task-priority based control of robotic systems such as dual arm robots, mobile manipulators, floating underwater vehicle-manipulator systems, which are all characterized by a high number of degrees of freedom. The framework is extended to the case where multiple robots need to work together, for example to manipulate and transport objects cooperatively.

-

106723 EXPERIMENTAL ROBOTICS LABORATORY ING-INF/05 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		The course aims to provide students with practical and theoretical skills for developing advanced robotic applications. It covers robot modeling for simulation, the integration of computer vision and planning libraries with ROS and ROS2, the use of the ROS and ROS2 navigation stack, and the implementation of REST APIs for robotic systems.

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108861 INTRODUCTION TO QUANTUM INFORMATION AND COMPUTATION FOR ROBOTICS FIS/02 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		This course aims to introduce the key concepts and methods of Quantum Information and Computation. The first part will provide the operational elements of quantum mechanics and quantum information: superposition principle, quantum entanglement, the quantum bit (qubit) and quantum logical gates. The second part will introduce the basic quantum algorithms and applications to informatics such as quantum database search algorithm, quantum teleportation and superdense coding.The final part will deal with some possible applications to robotics. It will be shown as the above ideas and concepts can be introduced in software architecture for robots that exploit quantum-inspired perception, reasoning and action techniques.

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104855 MACHINE LEARNING FOR ROBOTICS II ING-INF/05 4 The course is composed of two modules, each focusing on advanced machine learning techniques and their application to robotics. Overall, the course aims to provide students with both the theoretical understanding and practical skills needed to apply machine learning techniques effectively in various robotics scenarios.

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  86798 - MACHINE LEARNING AND DEEP LEARNING ING-INF/05 3 3 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		The course is designed to equip students with advanced knowledge and skills in the fields of machine learning and data analysis. Building upon foundational concepts, students delve into cutting-edge techniques and methodologies essential for tackling real-world problems in diverse domains. The course addresses a comprehensive review of fundamental machine learning algorithms, including supervised and unsupervised learning, and deep learning architectures. Through hands-on exercises and projects, students gain proficiency in implementing these algorithms using popular libraries.

-

  104856 - ROBOTICS USE CASES ING-INF/05 1 1 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		In this module, students will focus on the study of use cases specifically related to Robotics, on the basis of methodologies and insights discussed in the accompanying main module.

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104749 PSYCHOLOGY OF PERCEPTION AND ACTION M-PSI/01 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		For a robot, perception and actions are fundamental, defining features of stereotyped or purposive behaviour. Especially when interacting with humans, robots must be capable of employing mental models of the human they are interacting with, perceiving the environment and their actions using common, shared categories, and act in a credible manner. This subject will provide advanced knowledge and theoretical insights about these matters.

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111072 SMART COUPLED SYSTEMS FOR SENSING AND ACTUATION ING-IND/12 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative

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94866 SOCIAL ROBOTICS ING-INF/05 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		The objective of the course is to make students aware about the most relevant issues in the fields of social robotics, including: verbal and nonverbal human-robot interaction; cultural factors in the design of social robots; anthropomorphic and zoomorphic robots and robot behaviours; sensors for human-robot interaction; methodology and constraints in making experiments with robots and human participants; application scenarios. The student will face these problems both from a theoretical perspective and through practical assignments, by exploring in depth one of the topics above on real robots for social interaction.

-

108857 TRUSTWORTHY ARTIFICIAL INTELLIGENCE FOR ROBOTICS 4 The course is composed of two modules, each focusing on the security and reliability of AI systems in robotics. Overall, the course aims to provide students with both theoretical and practical expertise in ensuring the security, safety, and trustworthiness of AI systems used in robotics.

-

  108606 - TRUSTWORTHY ARTIFICIAL INTELLIGENCE ING-INF/05 3 3 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		The aim of this course is to provide students with fundamental and advanced concepts on the security of machine learning and trustworthy artificial intelligence.

-

  108858 - TRUSTWORTHY AI ROBOTICS USE CASES ING-INF/05 1 1 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		Specific use cases on the evaluation of the security of the object recognition  system of  the iCub robot will be addressed. Students will also get ability to answer open-ended questions with closed books, solve numerical exercises, use open-source libraries for the security evaluation of machine learning algorithms used by modern robots.

-

104737 VIRTUAL REALITY FOR ROBOTICS ING-INF/05 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
 		Starting from the knowledge on the fundamentals of graphics, modeling and animation of 3D digital objects, the aim of the course is to get to the programming skills necessary to build applications and systems based on simulation in virtual / mixed / augmented / extended reality (VR / AR / MR / XR). The fundamental objectives of this course are to make students aware of the necessary interdisciplinarity of VR for Robotics: from mobile programming to biomechanics, sensory perception, humanoid robotics and video games, in order to manage complex interactions between simulated and / or physical objects and actors (both FPV first-person view and TPV third-person view).

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60452 MASTER THESIS 30 30 CFU PROVA FINALE Per la Prova Finale
 		The MSc thesis must be elaborated by the student in an original fashion and under the guidance of one or more supervisors. It will have to exhibit an appropriate understanding of fundamental principles, an adequate use of resources and bibliography, as well as rational and argumentation-related capabilities. It must be developed with a clear English language, be based on well-defined design and experimental practices, as well as on critical thinking.

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114467 RESEARCH METHODOLOGY 2 2 CFU ALTRE ATTIVITA' Tirocini Formativi e di Orientamento
 		This course is intended to provide the student with the necessary skills and tools to carry out and present a research topic. It presents the profession of university staff, researchers in research institutions, and in R&D departments in enterprises and how to apply for them. This course includes also the beginning of the bibliographical study and collect information part for the MSc thesis topic.

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