A5090961865- Robot Manipulation and Learning
- Advanced Control Systems Optimization
- Robotic Path Planning Algorithms
- Advanced Control Systems Design
- Robotic Mechanisms and Dynamics
- Fault Detection and Control Systems
- Iterative Learning Control Systems
- Teleoperation and Haptic Systems
- Dynamics and Control of Mechanical Systems
- Stability and Control of Uncertain Systems
- Photovoltaic System Optimization Techniques
- Robotics and Automated Systems
- Hydraulic and Pneumatic Systems
- Solar Thermal and Photovoltaic Systems
- Robotics and Sensor-Based Localization
- Soft Robotics and Applications
- Human-Automation Interaction and Safety
- Radiation Effects in Electronics
- Manufacturing Process and Optimization
- Prosthetics and Rehabilitation Robotics
- Reinforcement Learning in Robotics
- Analog and Mixed-Signal Circuit Design
- Network Time Synchronization Technologies
- Real-time simulation and control systems
- Low-power high-performance VLSI design
University of Brescia
2009-2024
National Research Council
2015-2024
Universidad de Sevilla
2024
Politecnico di Milano
2023
Italian Resuscitation Council
2022
Tecnologie Avanzate (Italy)
2018-2022
Institute of Intelligent Industrial Systems and Technologies for Advanced Manufacturing
2018-2021
Brescia University
2020-2021
National Institute of Industrial Technology
2016
National Academies of Sciences, Engineering, and Medicine
2015
Presented here is the design of Mechanical Ventilator Milano (MVM), a novel mechanical ventilator designed for rapid mass production in response to COVID-19 pandemic address urgent shortage intensive therapy ventilators many countries, and growing difficulty procuring these devices through normal supply chains across borders. This an electro-mechanical equivalent old reliable Manley Ventilator, able operate both pressure-controlled pressure-supported ventilation modes. MVM optimized...
The paper presents a fast online predictive method to solve the task-priority differential inverse kinematics of redundant manipulators under kinematic constraints. It implements task-scaling technique preserve desired geometrical task, when trajectory is infeasible for robot capabilities. Simulation results demonstrate effectiveness methodology.
In this paper, we present a novel methodology to design fractional-order proportional-integral-derivative controllers. Based on the description of controlled system by means family linear models parameterised with respect free variable that describes real process operating point, controller solving constrained min–max optimisation problem where maximum sensitivity has be minimised. Among imposed constraints, most important one is new generalised isodamping condition, defines invariancy phase...
This paper describes the results of dynamic tests performed to study robustness a dynamics model an industrial manipulator. The show that joint friction changes during robot operation. variation can be identified in double exponential law and thus predicted. is due heat generated by friction. A used estimate temperature related variation. Experimental data collected on two robots EFORT ER3A-C60 are presented discussed. Repetitive different days showed inertial parameters robustly estimated...
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions Although using information on human's state path phase could reduce future interference movements and make safety stops less frequent, such an approach widespread. This paper proposes a novel embedding human model planner. The method explicitly addresses problem of minimizing execution time, including...
The tuning of the parameters two types event-based proportional–integral (PI) controllers based on symmetric send-on-delta (deadband) sampling is investigated in this study. In particular, well-known rules devised for standard (continuous-time) PI are compared with properly these order to minimise step response settling time. Simulations and experiments show that a satisfactory performance, namely, performance similar corresponding time-driven controller, achieved by all considered because...
In this paper we present a new friction model for industrial robot manipulators that takes into account temperature effects. particular, after having shown might change very significantly during operations, two solutions based on polynomial description of the joint are proposed and compared. both cases models do not need measurement temperature, but just environmental so as to be easily applied in industry. Experimental results demonstrate effectiveness methodology.
Industry 4.0 is pushing forward the need for symbiotic interactions between physical and virtual entities of production environments to realize increasingly flexible customizable processes. This holds especially human–robot collaboration in manufacturing, which needs continuous interaction humans robots. The coexistence human autonomous robotic agents raises several methodological technological challenges design effective, safe, reliable control paradigms. work proposes integration novel...
In many real-world applications (e.g., human-robot collaboration), the environment changes rapidly, and intended path may become invalid due to moving obstacles. these situations, robot should quickly find a new reach goal, possibly without stopping. Planning from scratch or repairing current graph can be too expensive time-consuming. This paper proposes MARS, sampling-based Multi-pAth Replanning Strategy that enables move in dynamic environments with unpredictable The novelty of method is...
The problem addressed in this work is the arbitration of role between a robot and human during physical Human-Robot Interaction, sharing common task. system modeled as Cartesian impedance, with two separate external forces provided by robot. then reformulated Cooperative Differential Game, which possibly has multiple solutions on Pareto frontier. Finally, bargaining proposing solution depending interaction force, interpreted will to lead or follow. This defines law assigns leader follower...
Combining symbolic and geometric reasoning in multiagent systems is a challenging task that involves planning, scheduling, synchronization problems. Existing works overlooked the variability of duration feasibility intrinsic to these because interaction between agents environment. We propose combined motion planning approach optimize sequencing, assignment, execution tasks under temporal spatial variability. The framework relies on decoupling actions, where an action one possible realization...
This brief deals with the application of an event-based proportional-integral (PI) plus feedforward control strategy to a distributed solar collector field. In particular, symmetric send-on-delta is considered and action compensate for disturbance represented by changes in radiation added PI law. Furthermore, we propose simple strategy, based on describing function technique, estimate model parameters tuning controller. The obtained experimental results show that proposed permits obtain very...
Summary In this paper, a new model for joint dynamic friction of industrial robot manipulators is presented. particular, the effects temperature in joints are considered. A polynomial-based proposed and parameter estimation performed without need sensor. The use an observer then to compensate uncertainty initial value. large experimental campaign show that model, spite simplifying assumptions made, effective estimating therefore torque during operations, even values velocities have not been...
Human robot collaboration requires new planning strategies to guarantee an efficient and safe coexistence of robots humans in the workspace. We propose a framework based on model predictive control approach trajectory scaling inverse kinematics. The online modification velocity override slows down task ensure safety redundancy system is exploited maximize distance from operator. Experimental results 7-degree-of-freedom robotic prove effectiveness method.
In this paper, a new solution to improve the traditional control operation of raceway microalgae reactors is presented. The strategy based on an event-based method that can be easily coupled classical time-driven proportional-integral controller, simplifying design process approach. results standard Proportional-Integral (PI) as well two architectures, are presented in simulation and compared with each other On/Off control. It demonstrated PI controller—operating during whole day instead...