Risultati di ricerca
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A. Settimi, D. Caporale, P. Kryczka, M. Ferrati, L. Pallottino - Motion Primitive Based Random Planning for Loco-Manipulation Tasks
Several advanced control laws are available for complex robotic systems such as humanoid robots and mobile manipulators. Controls are usually developed for locomotion or for manipulation purposes. Resulting motions are usually exe- cuted sequentially...
https://phd.dii.unipi.it/pubblicazioni/item/1153-a-settimi,-d-caporale,-p-kryczka,-m-ferrati,-l-pallottino-motion-primitive-based-random-planning-for-loco-manipulation-tasks.html -
M. Ferrati, S. Nardi, A. Settimi, H. Marino, L. Pallottino - Multi–object handling for robotic manufacturing
The purpose of this work is to move a step toward the automation of industrial plants through full exploitation of autonomous robots. A planning algorithm is proposed to move different objects in desired configurations with heterogeneous robots such as...
https://phd.dii.unipi.it/pubblicazioni/item/1152-m-ferrati,-s-nardi,-a-settimi,-h-marino,-l-pallottino-multi–object-handling-for-robotic-manufacturing.html -
M. Ferrati, A. Settimi, L. Muratore, N. G. Tsagarakis, L. Natale and L. Pallottino - The Walk-Man Robot Software Architecture
A software and control architecture for a humanoid robot is a complex and large project, which involves a team of developers/researchers to be coordinated and requires many hard design choices. If such project has to be done in a very limited time,...
https://phd.dii.unipi.it/pubblicazioni/item/1151-m-ferrati,-a-settimi,-l-muratore,-n-g-tsagarakis,-l-natale-and-l-pallottino-the-walk-man-robot-software-architecture.html -
N. G. Tsagarakis, ... , A. Settimi, ... - WALK-MAN: A High Performance Humanoid Platform for Realistic Environments.
In this work we present WALK-MAN a humanoid platform which has been developed to operate in realistic unstructured environment and demonstrate new skills including powerful manipulation, robust balanced locomotion, high strength capabilities and...
https://phd.dii.unipi.it/pubblicazioni/item/1150-n-g-tsagarakis,-,-a-settimi,-walk-man-a-high-performance-humanoid-platform-for-realistic-environments.html -
H. Marino, M. Ferrati, A. Settimi, C. Rosales, and M. Gabiccini - On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach
Abstract - Moving objects with autonomous robots is a wide topic that includes single-arm pick-and-place tasks, object regrasping, object passing between two or more arms in the air or using support surfaces such as tables and similar. Each task has...
https://phd.dii.unipi.it/pubblicazioni/item/1149-h-marino,-m-ferrati,-a-settimi,-c-rosales,-and-m-gabiccini-on-the-problem-of-moving-objects-with-autonomous-robots-a-unifying-high-level-planning-approach.html -
L. Pilato, S. Saponara and L. Fanucci, "Performance of digital adder architectures in 180nm CMOS standard-cell technology," 2016 International Conference on Applied Electronics (AE), Pilsen, Czech Republic, 2016
Abstract: In this paper, we present and compare the design and the performances of ten different implementations for a 16-bit adder in a 180nm CMOS standard-cell technology. Ripple carry adder, increment adder, triangle adder, uniform and progressive...
https://phd.dii.unipi.it/pubblicazioni/item/1146-l-pilato,-s-saponara-and-l-fanucci,-performance-of-digital-adder-architectures-in-180nm-cmos-standard-cell-technology,-2016-international-conference-on-applied-electronics-ae-,-pilsen,-czech-republic,-2016.html -
S. Ciotti, E. Battaglia, I. Oikonomidis, A. Makris, A. Tsoli, A. Bicchi, A. A. Argyros, M. Bianchi: “Synergy-driven Performance Enhancement of Vision-based 3D Hand Pose Reconstruction”, MOBIHEALTH 2016, accepted
In this work we propose, for the rst time, to improve the performance of a hand pose reconstruction (HPR) technique from RGBD camera data, which is a ected by self-occlusions, leveraging upon postural synergy information, i.e., a priori information on...
https://phd.dii.unipi.it/pubblicazioni/item/1142-s-ciotti,-e-battaglia,-i-oikonomidis,-a-makris,-a-tsoli,-a-bicchi,-a-a-argyros,-m-bianchi-“syn-ergy-driven-performance-enhancement-of-vision-based-3d-hand-pose-reconstruction”,-mobihealth-2016,-accepted.html -
M. Bianchi, G. Valenza, A. Greco, M. Nardelli, E. Battaglia, A. Bicchi, E.P. Scilingo: " Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating Affective Physiology in Human-Robot Interaction”, RO-MAN 2016, August 2016
Haptic interfaces are special robots that interact with people to convey touch-related information. In addition to such a discriminative aspect, touch is also a highly emotionrelated sense. However, while a lot of effort has been spent to investigate...
https://phd.dii.unipi.it/pubblicazioni/item/1141-m-bianchi,-g-valenza,-a-greco,-m-nardelli,-e-battaglia,-a-bicchi,-e-p-scilingo-towards-a-novel-generation-of-haptic-and-robotic-interfaces-integrating-affective-physiology-in-human-robot-interaction”,-ro-man-2016,-august-2016.html -
M. Bianchi, E. Battaglia, M. Poggiani, S. Ciotti, A. Bicchi: “ A Wearable Fabric-based display for haptic multi-cue delivery “, 2016 IEEE Haptics Symposium (HAPTICS), April 2016, Best Paper Award
Softness represents one of the most informative haptic properties, which plays a fundamental role in both everyday tasks and more complex procedures. Thus, it is not surprising that a lot of effort has been devoted to designing haptic systems able to...
https://phd.dii.unipi.it/pubblicazioni/item/1140-m-bianchi,-e-battaglia,-m-poggiani,-s-ciotti,-a-bicchi-“-a-wearable-fabric-based-display-for-haptic-multi-cue-delivery-“,-2016-ieee-haptics-symposium-haptics-,-april-2016,-best-paper-award.html -
A. Ajoudani, E. Hocaoglu, A. Altobelli, M. Rossi, E. Battaglia, N. Tsagarakis, A. Bicchi: " Reflex control of the Pisa/IIT SoftHand during object slippage", 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016
In this work, to guarantee the Pisa/IIT SoftHand's grasp robustness against slippage, three reflex control modes, namely Current, Pose and Impedance, are implemented and experimentally evaluated. Towards this objective, ThimbleSense fingertip sensors...
https://phd.dii.unipi.it/pubblicazioni/item/1139-a-ajoudani,-e-hocaoglu,-a-altobelli,-m-rossi,-e-battaglia,-n-tsagarakis,-a-bicchi-reflex-con-trol-of-the-pisa-iit-softhand-during-object-slippage-,-2016-ieee-international-conference-on-robot-ics-and-automation-icra-,-may-2016.html -
M. L. D’Angelo, F. Cannella, M. Bianchi, M. D’Imperio, E. Battaglia at al.: " An Integrated Approach to Characterize the Behavior of a Human Finger-tip in Contact with a Silica Window ", IEEE Transactions on Haptics, in press
Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behaviour of human fingertip....
https://phd.dii.unipi.it/pubblicazioni/item/1138-m-l-d’angelo,-f-cannella,-m-bianchi,-m-d’imperio,-e-battaglia-at-al-an-integrated-approach-to-characterize-the-behavior-of-a-human-finger-tip-in-contact-with-a-silica-window-,-ieee-transactions-on-haptics,-in-press.html -
S. Ciotti, E. Battaglia, N. Carbonaro, A. Bicchi, A. Tognetti, M. Bianchi (2016): “A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition”, Sensors, 16(6), 811, June 2016
Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure....
https://phd.dii.unipi.it/pubblicazioni/item/1137-s-ciotti,-e-battaglia,-n-carbonaro,-a-bicchi,-a-tognetti,-m-bianchi-2016-“a-synergy-based-optimally-designed-sensing-glove-for-functional-grasp-recognition”,-sensors,-16-6-,-811,-june-2016.html -
Area and Power Consumption Trade-off for Σ-Δ Decimation Filter in Mixed Signal Wearable IC, Alessandro Palla, Gabriele Meoni, Luca Fanucci. NORCAS 2016, Copenaghen
Area and Power consumption are important design metrics in integrated circuit (IC), in particular in those targeted for wearable devices. Σ-Δ Analog to Digital Converter (ADC) are increasing in popularity in those devices thanks to the low bandwidth of...
https://phd.dii.unipi.it/pubblicazioni/item/1133-area-and-power-consumption-trade-off-for-σ-δ-decimation-filter-in-mixed-signal-wearable-ic,-alessandro-palla,-gabriele-meoni,-luca-fanucci-norcas-2016,-copenaghen.html -
Embedded Implementation of an Eye-in-Hand Visual Servoing Control for a Wheelchair Mounted Robotic Arm, Alessandro Palla, Luca Sarti, Alessandro Frigerio, Luca Fanucci, ICCSP 2016, Messina, Italy
Wheelchair Mounted Robotic Arms (WMRA) can be used by people with severe motor skill impairment, such as SMA (Spinal Muscular Atrophy), Cerebral Palsy etc..., in order to achieve daily life tasks. Many of those systems have been presented in literature...
https://phd.dii.unipi.it/pubblicazioni/item/1132-embedded-implementation-of-an-eye-in-hand-visual-servoing-control-for-a-wheelchair-mounted-robotic-arm,-alessandro-palla,-luca-sarti,-alessandro-frigerio,-luca-fanucci,-iccsp-2016,-messina,-italy.html -
Kalman-based approach to bladder volume estimation for people with neurogenic dysfunction of the urinary bladder, Alessandro Palla, Claudio Crema, Luca Fanucci, Paolo Bellagente, ICCHP 2016, Linz, Austria
People with neurogenic dysfunction of urinary bladder often require daily catheterism because of their impairment. This issue is particularly critical for those that have not the urinary stimulus, because they have not the ability to understand when the...
https://phd.dii.unipi.it/pubblicazioni/item/1131-kalman-based-approach-to-bladder-volume-estimation-for-people-with-neurogenic-dysfunction-of-the-urinary-bladder,-alessandro-palla,-claudio-crema,-luca-fanucci,-paolo-bellagente,-icchp-2016,-linz,-austria.html -
Bioimpedance based monitoring system for people with neurogenic dysfunction of the urinary bladder, Alessandro Palla, Stefano Rossi, Luca Fanucci, AAATE Conference 2015, Budapest
Patients with impaired bladder volume sensation have the necessity to monitor bladder level in order to avoid urinary tract infections and urinary reflux that can lead to renal failure. In this paper the the effectiveness of an embedded and wearable...
https://phd.dii.unipi.it/pubblicazioni/item/1130-bioimpedance-based-monitoring-system-for-people-with-neurogenic-dysfunction-of-the-urinary-bladder,-alessandro-palla,-stefano-rossi,-luca-fanucci,-aaate-conference-2015,-budapest.html -
R. Morello, F. Baronti, X. Tian, T. Chau, R. Di Rienzo, R. Roncella, B. Jeppesen, W. H. Lin, T. Ikushi-ma, R. Saletti: “Hardware-in-the-Loop Simulation of FPGA-based State Estimators for Electric Vehicle Batteries”, ISIE 2016, 8-10 June 2016
This paper describes a hardware-in-the-loop (HiL) simulation platform specifically designed to test state estimators for Li-ion batteries in electric vehicle applications. Two promising estimators, the Mix algorithm combined with the moving window least...
https://phd.dii.unipi.it/pubblicazioni/item/1127-r-morello,-f-baronti,-x-tian,-t-chau,-r-di-rienzo,-r-roncella,-b-jeppesen,-w-h-lin,-t-ikushi-ma,-r-saletti-“hardware-in-the-loop-simulation-of-fpga-based-state-estimators-for-electric-vehicle-batteries”,-isie-2016,-8-10-june-2016.html -
S. Del Cesta, P. Bruschi, A. N. Longhitano, R. Simmarano, M. Piotto - A CMOS compact differential band-gap voltage reference with programmable output
A modified band-gap circuit capable of producing programmable output differential reference voltage is described. Analysis of the effects of the amplifier noise and offset on the reference voltage is performed, obtaining a compact formula of general...
https://phd.dii.unipi.it/pubblicazioni/item/1126-a-cmos-compact-differential-band-gap-voltage-reference-with-programmable-output.html -
S. Del Cesta, L. Intaschi, P. Bruschi, M. Piotto - A chopper stabilized, low power capacitance to PWM converter for sensor interfacing
A low-power, low voltage capacitance to pulse duration converter with intrinsic low sensitivity to temperature and parasitic capacitances is presented. The circuit uses a dual clock chopper modulation, which significantly lowers the effects of device...
https://phd.dii.unipi.it/pubblicazioni/item/1125-a-chopper-stabilized,-low-power-capacitance-to-pwm-converter-for-sensor-interfacing.html -
PACMAN PROJECT: A NEW SOLUTION FOR THE HIGH-ACCURACY ALIGNMENT OF ACCELERATOR COMPONENTS
The beam alignment requirements for the next generation of lepton colliders have become increasingly challenging. As an example, the alignment requirements for the three major collider components of the CLIC linear collider are as follows. Before the...
https://phd.dii.unipi.it/pubblicazioni/item/1124-https-inspirehep-net-record-1469516.html
News
- Prof. Luca De Stefano, The Institute of Applied Sciences and Intelligent Systems “E. Caianiello”, CNR Napoli, "Optics and photonics: from basic to applications", 27-31 March 2023
- Ing. Alessio Conte, Ing. Paolo Panarese, Mathworks, "Machine Learning and Deep Learning with MATLAB", 14, 15, 21, 22 March 2023
- Prof. Daniele Fontanelli, Dept. of Industrial Engineering, University of Trento, Italy, "Introduction to Statistical Estimation Theory with Applications to Automation and Robotics", 6-9 March 2023
- Dr.ssa Loretta Latronico, European Space Agency, ESA-ESRIN, "Ethics of AI", 13-16 February 2023
- Modifica Date Corso - Prof. Michele Conti, Dept. of Civil Engineering and Architecture (DICAr), University of Pavia, Via Ferrata 3, 27100, Italy, "Computer Aided Engineering for (bio)industrial applications", 22-28 February 2023
