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Sensing Threads and Fabrics for Monitoring Body Kinematic and Vital Signs

TitleSensing Threads and Fabrics for Monitoring Body Kinematic and Vital Signs
Publication TypeConference Paper
Year of Publication2001
Conference NameFibres and Textiles for the Future
Pagination55-63
Date PublishedAugust
Publication Languageeng
AuthorsPacelli, M, Paradiso, R, Anerdi, G, Ceccarini, S, Ghignoli, M, Lorussi, F, Scilingo, EP, De Rossi, D, Gemignani, A, Ghelarducci, B
Conference LocationTampere, Finland
KeywordsSmart Textiles, Vital Signs

Mixed Integer Programming for Aircraft Conflict Resolution

TitleMixed Integer Programming for Aircraft Conflict Resolution
Publication TypeConference Paper
Year of Publication2001
Conference NameAIAA Guidance, Navigation and Control Conference and Exhibit
Publication Languageeng
AuthorsPallottino, L, Feron, E, Bicchi, A
KeywordsAir Traffic Management Systems, Autonomous Vehicles, Navigation and Planning
AbstractThis paper considers the problem of solving conflicts between several aircraft. Considering the case when only aircraft heading changes are allowed, we propose a formulation of the multi-aircraft conflict avoidance problem as a mixed-integer linear program, whose solution may be obtained within seconds with standard optimization software. While such a problem formulation and solution is still unsuitable for operational implementation, it may be used as part of a real or fast-time simulation.

Piezoresistive fabrics for monitoring body kinematics and gesture

TitlePiezoresistive fabrics for monitoring body kinematics and gesture
Publication TypeConference Paper
Year of Publication2001
Conference NameFirst International Symposium on Measurement, Analysis and Modeling of Human Functions
Pagination395-399
Date PublishedSeptember
Publication Languageeng
AuthorsAhluwalia, A, De Rossi, D, Lorussi, F, Mazzoldi, A, Orsini, P, Scilingo, EP
Conference LocationSapporo, Japan
KeywordsBiomechanics, Smart Textiles

Randomized parallel simulation of constrained multibody systems for VR/haptic applications

TitleRandomized parallel simulation of constrained multibody systems for VR/haptic applications
Publication TypeConference Paper
Year of Publication2001
Conference NameProc. IEEE Int. Conf. on Robotics and Automation
Edited Volume3
Pagination2319-2324
Publication Languageeng
AuthorsBicchi, A, Pallottino, L, Bray, M, Perdomi, P
KeywordsDynamics and Simulation for Virtual Reality, Haptics
AbstractIn this paper, we consider the problem of efficiently simulating large interconnected mechanical systems. For applications such as haptic rendering of large, complex virtual environments, dynamic simulation software and hardware is still too slow to afford accurate performance in real-time. In particular, mechanisms with closed kinematic chains necessitate solutions to a set of differential equation with algebraic constraints (DAE's), that are often too heavy and stiff to be computed in real-time by present-day single-processor machines. On the other hand, the structure of most state-of-the-art algorithms does not easily lend itself to parallelization. In this paper, we propose and experimentally verify a technique for DAE simulation that profitably uses a degree of randomization to achieve efficient parallelization.

Compliant design for intrinsic safety: general issues and preliminary design

TitleCompliant design for intrinsic safety: general issues and preliminary design
Publication TypeConference Paper
Year of Publication2001
Conference NameProc. IEEE Int. Symp. Intelligent Robots and Systems
Pagination1864-1869
Date PublishedOctober
Publication Languageeng
AuthorsBicchi, A, Rizzini, LS, Tonietti, G
Conference LocationMaui, Hawaii
KeywordsPhysical Human-Robot Interaction (pHRI), Robot Arms
AbstractIn this paper, we describe some initial results of a project aiming at development of a programmable-compliance, inherently safe robot arm for applications in anthropic environmnets. In order to obtain safety in spite of worst-case situations (such as unexpected delays in teleoperation, or even controller failure), we will consider achieving compliance by mechanical rather than by control design. We first describe some of the control problems that the presence of large, possibly unknown mechanical compliance typically introduces, and present a result that shows the possibility to cope with these uncertainties in an adaptive way. In the second part of the paper we describe the initial development of a new prototype arm under construction in our laboratory. The arm is designed to achieve arbitrary position tracking in 3D with controlled effective compliance at the joints.

Compliant robot arm design for intrinsic safety

TitleCompliant robot arm design for intrinsic safety
Publication TypeConference Paper
Year of Publication2001
Conference NameProc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments
Pagination100-106
Publication Languageeng
AuthorsBicchi, A, Rizzini, LS, Tonietti, G
EditorGiralt, G, Corke, P
KeywordsPhysical Human-Robot Interaction (pHRI), Robot Arms
AbstractIn this paper, we describe some initial results of a project aiming at development of a programmable-compliance, inherently safe robot arm for applications in anthropic environmnets. In order to obtain safety in spite of worst-case situations (such as unexpected delays in teleoperation, or even controller failure), we will consider achieving compliance by mechanical rather than by control design. We first describe some of the control problems that the presence of large, possibly unknown mechanical compliance typically introduces, and present a result that shows the possibility to cope with these uncertainties in an adaptive way. In the second part of the paper we describe the initial development of a new prototype arm under construction in our laboratory. The arm is designed to achieve arbitrary position tracking in 3D with controlled effective compliance at the joints.

Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle

TitleHybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle
Publication TypeBook Chapter
Year of Publication2001
AuthorsBalluchi, A, Souères, P, Bicchi, A
EditorDi Benedetto, MD, Sangiovanni-Vincentelli, AL
Book TitleHybrid Systems: Computation and Control
Series TitleLecture Notes in Computer Science
Volume2034
Pagination133-146
PublisherSpringer-Verlag
CityHeidelberg, Germany
KeywordsAutonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems