International Conference Papers
Set-Based Inverse Kinematics control of an UVMS within the DexROV project
[2018] OCEANS ’18 – Charleston, South Carolina, USA.
This paper describes the algorithm developed for the motion control of an UVMS (Underwater Vehicle-Manipulator System) within DexROV, a funded EC Horizon 2020 project that proposes to enable the far distance teleoperation of an UVMS via satellite communication.
Vehicle adaptive control for underwater intervention including thruster dynamics
[2018] CCTA ’18 – 2nd IEEE Conference on Control Technology and Applications, Copenhagen, Denmark.
This paper investigates the effects of including the thruster dynamics within the full-dimensional adaptive control of an underwater vehicle. In particular, the intervention case, i.e., small movements around a steady reference trajectory and the presence of the ocean current, are of interest.
Assistive control framework for Remotely Operated Vehicles
[2018] MED ’18 – The 26th Mediterranean Conference on Control and Automation, Zadar, Croatia.
The paper presents a control framework aimed at supporting a human operator in the guidance adn in the coordination of an underwater Remotely Operated Vehicle (ROV). In particula, the framework was developed by considering real requirements that arose from interviews with professional ROV pilots from the french company Comex.
Satellite-based tele-operation of an underwater vehicle-manipulator system. Preliminary experimental results
[2018] ICRA ’18 – International Conference on Robotics and Automation, Brisbane, Australia.
This paper describes some preliminary experimental results achieved during the DexROV campaign of July 2017 in Marseille (France).
The effect of the ocean current in the thrusters closed-loop performance for underwater intervention
[2017] OCEANS ’17 Anchorage, AK, USA.
The effects of the ocean current in the thrusters closed-loop performance of an underwater vehicle aimed at the intervention case was investigated. In particular a PID and an adaptive controller were implemented in ideal conditions and then validated considering the thruster dynamics and the ocean current.
A Comparison of Damped Least Squares Algorithms for Inverse Kinematics of Robot Manipulators
[2017] IFAC 2017 World Congress, Toulouse, France.
A critical review of inverse kinematics algorithms for robots in presence of kinematic singularities was addressed in this paper. In particular, various approaches were tested in different scenarios on the Kinova Jaco2, 7 degrees-of-freedom.
Assistive robot operated via P300-based brain computer interface
[2017] ICRA ’17 – International Conference on Robotics and Automation, Singapore.
In this paper we presented an architecture for the operation of anassistive robot (in our case a Kinova Jaco2, 7 degrees-of-freedom) finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations.