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Wearable Kinesthetic Systems and Emerging Technologies in Actuation for Upperlimb Neurorehabilitation

TitleWearable Kinesthetic Systems and Emerging Technologies in Actuation for Upperlimb Neurorehabilitation
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. of the IEEE EMBC 2009
Pagination6830–6833
Date Published02/09/ - 06/09/
AuthorsDe Rossi, D, Carpi, F, Lorussi, F, Scilingo, EP, Tognetti, A
URLhttp://dx.medra.org/10.1109/IEMBS.2009.5334481
DOI10.1109/IEMBS.2009.5334481

Event Related Biometrics: Towards an Unobtrusive Sensing Seat System for Continuous Human Authentication

TitleEvent Related Biometrics: Towards an Unobtrusive Sensing Seat System for Continuous Human Authentication
Publication TypeConference Paper
Year of Publication2009
Conference NameProceedings of the ISDA 2009 - 9th International Conference on Intelligent Systems Design and Applications
Pagination679–682
AuthorsFerro, M, Pioggia, G, Tognetti, A, Dalle Mura, G, De Rossi, D
URLhttp://dx.medra.org/10.1109/ISDA.2009.256
DOI10.1109/ISDA.2009.256

Melt-extruded guides for peripheral nerve regeneration. Part I: Poly(epsilon-caprolactone)

TitleMelt-extruded guides for peripheral nerve regeneration. Part I: Poly(epsilon-caprolactone)
Publication TypeJournal Article
Year of Publication2009
AuthorsChiono, V, Vozzi, G, Vozzi, F, Salvadori, C, Dini, F, Carlucci, F, ARISPICI, M, Burchielli, S, DI SCIPIO, F, GEUNA, S, FORNARO, M, TOS, P, Nicolino, S, Audisio, C, Perroteau, I, CHIARAVALLOTI, A, Domenici, C, Giusti, P, Ciardelli, G
JournalBIOMEDICAL MICRODEVICES
Pagination1037-1050
ISSN1387-2176
KeywordsBioengineering

A phase diagram for microfabrication of geometrically controlled hydrogel scaffolds

TitleA phase diagram for microfabrication of geometrically controlled hydrogel scaffolds
Publication TypeJournal Article
Year of Publication2009
AuthorsTirella, A, Orsini, A, Vozzi, G, Ahluwalia, A
JournalBiofabrication
Volume1
Pagination045002
ISSN1758-5090
KeywordsBioengineering
Abstract

Hydrogels are considered as excellent candidates for tissue substitutes by virtue of their high water content and biphasic nature. However, the fact that they are soft, wet and floppy renders them difficult to process and use as custom-designed scaffolds. To address this problem alginate hydrogels were modeled and characterized by measuring stress-strain and creep behavior as well as viscosity as a function of sodium alginate concentration, cross-linking time and calcium ion concentration. The gels were then microfabricated into scaffolds using the pressure-assisted microsyringe. The mechanical and viscous characteristics were used to generate a processing window in the form of a phase diagram which describes the fidelity of the scaffolds as a function of the material and machine parameters. The approach can be applied to a variety of microfabrication methods and biomaterials in order to design well-controlled custom scaffolds.

URLhttp://www.ncbi.nlm.nih.gov/pubmed/20811111
DOI10.1088/1758-5082/1/4/045002

Underwater vehicle technology in the European research project VENUS

TitleUnderwater vehicle technology in the European research project VENUS
Publication TypeJournal Article
Year of Publication2009
AuthorsConte, G, Gambella, L, Scaradozzi, D, Zanoli, SM, Caiti, A, Calabrò, V, Alcocer, A, Alves, J, Cardeira, B, Cunha, R, Curado, F, Oliveira, P, Oliveira, A, Pascoal, A, Rufino, M, Sebastião, L, Silvestre, C
JournalUNDERWATER TECHNOLOGY
Volume28
Pagination175–185
ISSN1756-0543
KeywordsRobotics
URLhttp://dx.medra.org/10.3723/ut.28.175
DOI10.3723/ut.28.175

Safety and Security in Networked Robotics Systems via Logical Consensus

TitleSafety and Security in Networked Robotics Systems via Logical Consensus
Publication TypeConference Paper
Year of Publication2009
Conference NameInternational Workshop on Networked embedded and control system technologies: European and Russian R&D cooperation (NESTER'09)
Date PublishedJuly, 2 - 5
Publication Languageeng
AuthorsMartini, S, Fagiolini, A, Dini, G, Bicchi, A
Conference LocationMilan, Italy
KeywordsEmbedded Control, Robotics
Refereed DesignationRefereed

A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge

TitleA Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. IEEE/RSJ International Conference on Intelligent RObots and Systems
Pagination3336-3342
Date PublishedOctober, 11 - 15
Publication Languageeng
AuthorsAlicino, S, Catalano, MG, Bonomo, F, Belo, FAW, Grioli, G, Schiavi, R, Fagiolini, A, Bicchi, A
Conference LocationSt. Louis MO USA
KeywordsRobotics
AbstractThis paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the challenge. The system eventually turned out to be very effective in negotiating 89% slopes of volcanic terrain on the challenge site, Mount Teide in Tenerife. To reduce the distance to be traveled on the difficult terrain and avoid risks in reaching the lowest parts of a crater, the vehicle was endowed with an innovative sample acquisition system, i.e. a casting manipulator. Casting manipulation is a technique in which the end-effector is thrown, the sample material is acquired, and the end-effector is retrieved using a light tether that acts as a

Shortest Paths for Non-holonomic Vehicles with Limited Field of View Camera

TitleShortest Paths for Non-holonomic Vehicles with Limited Field of View Camera
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. IEEE International Conference on Decision and Control
Pagination8434 - 8439
Date PublishedDecember, 16 - 1
Publication Languageeng
AuthorsPallottino, L, Salaris, P, Fontanelli, D, Bicchi, A
Conference LocationShangai, China
KeywordsEmbedded Control, Robotics
Abstract

This paper presents a complete characterization of shortest paths for unicycle-like nonholonomic mobile robots equipped with a pinhole camera rigidly fixed with limited Field-Of-View (FOV). We preliminarily provide an alphabet of optimal control words and then we demonstrate how to obtain the partition induced by shortest path in the vehicle plane. The word univocally associated to a region encodes the shortest path from any starting point in that region to the goal point of the mobile robot without violating the FOV constraints.

A Probabilistic Methodology for Predicting Injuries to Human Operators in Automated Production lines

TitleA Probabilistic Methodology for Predicting Injuries to Human Operators in Automated Production lines
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. IEEE Int. Conf. on Emerging Technologies and Factory Automation (ETFA)
Pagination1 - 8
Date Published22-26 September
Publication Languageeng
AuthorsAsaula, R, Fontanelli, D, Palopoli, L
Conference LocationMallorca, Spain
KeywordsRobotics

On the Security of Linear Consensus Networks

TitleOn the Security of Linear Consensus Networks
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. IEEE International Conference on Decision and Control
Pagination4894 - 4901
Date PublishedDecember, 16 - 1
Publication Languageeng
AuthorsPasqualetti, F, Bicchi, A, Bullo, F
Conference LocationShangai, China
KeywordsEmbedded Control, Robotics
Abstract

The task of performing trustworthy computation in a network of autonomous agents in the presence of misbehaving components is the subject of this work. A solution to this problem is relevant for several coordination, formation, and synchronization tasks. Relying only on the information flow of the control protocol, uncooperative behaviors are revealed using an unknown input observer technique. Necessary and sufficient conditions to detect and correctly identify misbehaving nodes are given, together with a study of the genericity of such conditions. It is shown that generically any node of the network can correctly estimate the state of the other agents, and therefore compute any function of the state, provided that the connectivity of the communication graph is strictly greater than the number of misbehaving nodes. An intrusion detection and identification algorithm is described, and its effectiveness is confirmed through a numerical study.

Notes

General Chairs Recognition Awards for Interactive Papers

A new softness display based on bi-elastic fabric

TitleA new softness display based on bi-elastic fabric
Publication TypeConference Paper
Year of Publication2009
Conference NameWorld Haptics
Pagination382 - 383
Date PublishedMarch, 18 - 20
Publication Languageeng
AuthorsBianchi, M, Serio, A, Scilingo, EP, Bicchi, A
Conference LocationSalt Lake City, USA
KeywordsHaptics, Robotics
Abstract

Haptic perception allows to explore and recognize an object by conveying several physical information to mechano-receptors and thermo-receptors lying into our skin throughout the body. The term

Notes

poster presentation

Designing Real-Time Embedded Controllers using the Anytime Computing Paradigm

TitleDesigning Real-Time Embedded Controllers using the Anytime Computing Paradigm
Publication TypeConference Paper
Year of Publication2009
Conference NameIEEE International Conference on Emerging Technology and Factory Automation
Pagination1 - 8
Date PublishedSeptember, 12 -
Publication Languageeng
AuthorsQuagli, A, Fontanelli, D, Greco, L, Palopoli, L, Bicchi, A
Conference LocationPalma de Mallorca, Spain
KeywordsEmbedded Control, Robotics
Abstract

In this paper we present a methodology for designing embedded controllers with a variable accuracy. The adopted paradigm is the so called any-time control, which derives from the computing paradigm known as "imprecise computation". The most relevant contributions of the paper are a procedure for designing an incremental control law, whose different pieces cater for increasingly aggressive control requirements, and a modelling technique for the execution platform that allows us to design provably correct switching policies for the controllers. The methodology is validated by both simulations and experimental results.

DOI10.1109/ETFA.2009.5347086