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47
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Introduction
Vehicles dynamics, autonomous vehicles, software programming , Control theory
Skills and Expertise
Current institution
Additional affiliations
June 2019 - present
Publications
Publications (47)
An integrated sensor for the measurement and monitoring of position and inclination, characterized by low cost, small size and low weight, has been designed, realized and calibrated at the Geomatics Lab of the University of Calabria. The design of the prototype, devoted to the monitoring of landslides and structures, was aiming at realizing a fully...
Improving the capabilities of online condition monitoring systems, able to detect arising of catastrophic wear on cutting tools, has been an important target to be pursued for the metal cutting industry. Currently, different systems have been proposed, moved by the rising need of part quality improvements and production cost control. Despite this,...
This paper conducts a thorough literature review and assessment of prevailing upper-limb rehabilitation devices, scrutinizing their strengths and limitations. The focus of this work is mainly on soft exosuit devicesbut some rigid and hybrid exoskeleton devices are also discussed as a comparative mean. Subsequently, this manuscript delineates explic...
Brain injuries resulting from spinal cord injuries, strokes, or cerebral palsy are among the traumas most capable of compromising the motor activities of human limbs, hence the necessity for the development of exoskeletons dedicated to the rehabilitation of these organs. This review examines the landscape of actuators essential for the design of cu...
Danieli G, Longo F, Calbi R, et al. Toward the Development of a Hybrid Active and Measuring Exoskeleton for Upper Limbs of Heavy-duty Harbor Workers. Int J Endovasc Treat Innov Tech. 2024;5(1):01-16. Abstract The paper presents the study of a novel exoskeleton designed for the upper limbs of heavy-duty port operators responsible for lashing contain...
Rubber bushing elements are largely used in different industrial sectors thanks to their ability to withstand large reversible deformations and attenuate vibrations. Nonetheless, they are complex mechanical components that present several nonlinearities with respect to the excitation amplitude, frequency and operational temperature. These character...
Developing reliable and sustainable robots with an emphasis on affordability supports the Sustainable Development Goal 9 (SDG9) set by the United Nations by making access to modern industrial technology more equitable. In this context, achieving and maintaining adequate levels of absolute accuracy is paramount for modern robotic applications and cr...
Driving simulators have achieved such a high level of fidelity in the reconstruction of reality that they have become a fundamental research tool to enable a clear understanding of the interactions among the driver, the vehicle and the road during laboratory Driver-in-the-Loop (DiL) tests. Thanks to the capabilities of modern motion platforms, dyna...
All machining processes involve vibrations generated by structural sources such as a machine’s moving parts or by the interaction between cutting tools and work-pieces. Relative vibrations between the work-pieces and the cutting tool are the most relevant from the point of view of the regenerative chatter phenomenon. In fact, these vibrations can l...
Assessing passenger cars’ dynamic performance is a critical aspect for car industries, due to its impact on the overall vehicle safety evaluation and the subjective nature of the involved handling and comfort metrics. Accordingly, ISO standards, such as ISO 4138 and ISO 3888, define several specific driving tests to assess vehicle dynamics performa...
Active safety systems play a fundamental role in improving stability and safety performance of modern passenger cars. Within this context, Torque vectoring (TV) represents one of the most promising technologies for the improvement of vehicle dynamics performance. This paper proposes a TV-based Direct Yaw Moment Control (DYC) strategy aimed at desig...
The paper describes the development of a hardware/software system for the space-time detection of the free surface of water, produced by the movement of waves, and of the relative mass transport. The first tests of the system were performed using the wave channel of the Laboratorio Grandi Modelli Idraulici of the Department of Civil Engineering of...
The vehicle dynamic behaviour analysis is a crucial step for the evaluation of performance in terms of stability and safety. Tires play an important role by generating the interaction forces at each road-tire contact patch. The longitudinal and lateral dynamics are analysed by using instrumented vehicles with expensive high precision sensors to get...
Evaluation of the dynamic performance is mandatory for vehicles to ensure passengers and driver safety. Several types of tests have been defined within specific ISO standards, such as ISO 4138, to reveal key information about vehicle behaviour. These tests are done with instrumented vehicles that allow measuring different physical parameters such a...
This article deals with a new robot for rehabilitation, DARTAGNAN, able to work in active or passive modes, on upper and lower human limbs. The presented robot has an hybrid serial/parallel structure with 6 degree of freedoms and a self-balanced mechanical structure. Although it is not an exoskeleton, DARTAGNAN behaves as such thanks to the customi...
This paper describes an innovative robotic system designed to perform transcatheter angioplasty, that can be used in a number of different applications. It is based on a very simple system, including both a measuring unit, called Master, that is the one on which the physician directs the operations, and an actuation device, called Slave, located ne...
This paper describes an innovative robotic system designed to perform transcatheter angioplasty, that can be used in a number of different applications. It is based on a very simple system, including both a measuring unit, called Master, that is the one on which the physician directs the operations, and an actuation device, called Slave, located ne...
This article deals with a new robot for rehabilitation, DARTAGNAN, able to work in active or passive modes, on upper and lower human limbs. The presented robot has an hybrid serial/parallel structure with 6 degree of freedoms and a self-balanced mechanical structure. Although it is not an exoskeleton, DARTAGNAN behaves as such thanks to the customi...
For the monitoring of large landslides, total stations equipped with an Electronic Distance Meter (EDM) are widely used. To obtain the atmospheric parameters, required along the line of sight of every measure, the data collected by a weather station close to the instrument are usually adopted. Even after these corrections, the results obtained in t...
The article deals with a new six degrees of freedom system for rehabilitation, able to work, in active or passive modes, on upper and lower, left and rights limbs. This robot has an hybrid serial parallel structure, mechanically self-balanced thanks to the particular joints configuration. Performing a simple manual operation it’s possible to change...
A new robotic system for single and multiple access laparoscopy is presented, using almost only traditional laparoscopic instrumentation, including very small diameter instruments for babies, based on an evolution of previous research by this research group. Main idea behind this system is to make simple its use, for instance instructing the optics...
Purpose of this study was to control the suitability of Navi-Robot, a robotic system developed by our research group, to guide percutaneous needle placement under computed tomography (CT) in order to achieve lower radiation exposure and a shorter procedure. The system consists of a high precision six-degrees-of-freedom self-balanced arm, able to mo...
The goal of this study was to validate the suitability of our robotic system, Navi-Robot, to guide percutaneous needle placement under computed tomography (CT) in order to achieve lower radiation exposure and a shorter procedure. The system consists of a six-degrees-of-freedom self-balanced arm, which allows the physician an accurate needle-inserti...
This work illustrates a complete design flow of an electronic system developed to support applications in which
there are the need to measure motion parameters and transmit them to a remote unit for real-time teleprocessing. In
order to be useful in many operative contexts, the system is flexible, compact, and lightweight. It integrates a tri-axial...
This work illustrates an educational project flow of an electronic system. This system is developed to support applications in which there are the need to measure motion parameters and transmit them to a remote unit for real-time teleprocessing. In order to be useful in many operative contexts, the system is flexible, compact, and lightweight. It i...
This paper describes the kinematic error model of Navi-Robot, a novel hybrid parallel/serial robotic system, designed to be used for several medical applications. This calibration technique allows modeling the stiffness of the structure taking into account the influence of non-perfect geometry of serial and parallel chains caused by manufacturing e...
In the framework of the activities aimed to acquire knowledge and to monitor landslides, an important role is played by geomatics. Topographic surveying is generally used to describe the external surface, to measure the displacements of selected points and to evaluate morphological evolutions. Monitoring is generally extended to the structures loca...
In the framework of the development of a web site devoted to the documentation and monitoring of the cultural heritage (above all monumental buildings), a semiautomatic method for anomalous change detection has been set up. The method uses the grouping of the image difference values, to detect both small and diffused changes. Three tests are descri...
This paper presents an algorithm to use an optical navigator and a single simulated fluoroscope in order to obtain a stereo representation of internal tissues which will allow, combined with a six DOF lockable kinematic chain bearing a suitable end effector, to guide precision biopsies. The method is based on the use of the principles of stereophot...
This paper presents an algorithm to use an optical navigator and a single simulated fluoroscope in order to obtain a stereo representation of internal tissues which will allow, combined with a six DOF lockable kinematic chain bearing a suitable end effector, to guide precision biopsies. The method is based on the use of the principles of stereophot...
This paper describes a three-dimensional structured light scanning system to generate a virtual model of a dental arch, from the patient's mouth, and the scheme of a 2 + 1 DOF (degree of freedom) parallel/serial Robot for implant positioning, both positioned on a platform held in a fixed position with respect to the patient's head. Presently, denta...
In this paper is given the presentation of the basic structure of Navi-Robot and on the history of the initial motivation for its development. Navi-Robot is a 3 arms, self-balancing 6 degrees of freedom (DOF) robotic system, whose central arm is capable to switch between navigation and robotic modes, while the lateral ones are only measuring arms,...
This paper deals with the development of a special 3+1 Degrees of Freedom (DOFs) end effector used to control the standard laparoscopic instrumentation's positioning and actuation during laparoscopic surgery. Nowadays, the robotic system da Vinci is the most used robot in the laparoscopic surgery field. The cost of this Robot is very high, which li...
This paper describes a three-dimensional structured light scanning system to generate a virtual model of a dental arch, from the patient's mouth, and the scheme of a 2 + 1 DOF (degree of freedom) parallel/serial Robot for implant positioning, both positioned on a platform held in a fixed position with respect to the patient's head. Presently, denta...
The paper presents the development of a novel type of drum brake capable of locking a joint exploiting the effect of self excitation characteristic of this type of brake. A theoretical analysis based on the Reye assumption on wear is first presented, were conditions for self excitement are determined. An initial version of the brake was designed an...
