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80 results on '"Mauri, Alessandro"'

5. Mechanical and control design of an industrial exoskeleton for advanced human empowering in heavy parts manipulation tasks

Author

Mauri, Alessandro, Lettori, Jacopo, Fusi, Giovanni, Fausti, Davide, Mor, Maurizio, Braghin, Francesco, Legnani, Giovanni, Roveda, Loris, Mauri, Alessandro, Lettori, Jacopo, Fusi, Giovanni, Fausti, Davide, Mor, Maurizio, Braghin, Francesco, Legnani, Giovanni, and Roveda, Loris

Abstract

Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparency, ergonomics, safety, etc.). However, the most of the investigated solutions involve high-cost hardware, complex design solutions and standard actuation. Moreover, state-of-the-art empowering controllers do not allow for online assistance regulation and do not embed advanced safety rules. In the presented work, an industrial exoskeleton with high payload ratio for lifting and transportation of heavy parts is proposed. A low-cost mechanical design solution is described, exploiting compliant actuation at the shoulder joint to increase safety in human-robot cooperation. A hierarchic model-based controller with embedded safety rules is then proposed (including the modeling of the compliant actuator) to actively assist the human while executing the task. An inner optimal controller is proposed for trajectory tracking, while an outer safety-based fuzzy logic controller is proposed to online deform the task trajectory on the basis of the human’s intention of motion. A gain scheduler is also designed to calculate the inner optimal control gains on the basis of the performed trajectory. Simulations have been performed in order to validate the performance of the proposed device, showing promising results. The prototype is under realization.

Published
2020

8. The ICARUS-SDC ASIC

Author

LABANTI, CLAUDIO, FUSCHINO, FABIO, MARISALDI, MARTINO, Mauri, Alessandro, and Rossi, Elio

Published
2006

12. AGILE PFM MCAL test requirements

Author

LABANTI, CLAUDIO, MARISALDI, MARTINO, BULGARELLI, ANDREA, FUSCHINO, FABIO, Galli, Marcello, GIANOTTI, FULVIO, Mauri, Alessandro, Rossi, Elio, and TRIFOGLIO, MASSIMO

Published
2005

19. MCAL characterization sequence

Author

LABANTI, CLAUDIO, Celesti, Enrico, BULGARELLI, ANDREA, GIANOTTI, FULVIO, Mauri, Alessandro, Rossi, Elio, and TRIFOGLIO, MASSIMO

Published
2003

27. PICsIT EM scientific calibration

Author

MALAGUTI, GIUSEPPE, DI COCCO, GUIDO, LABANTI, CLAUDIO, Pinazza, Ombretta, SCHIAVONE, FILOMENA, Ferro, Gianclaudio, GIANOTTI, FULVIO, Mauri, Alessandro, Rossi, Elio, STEPHEN, JOHN BUCHAN, TRIFOGLIO, MASSIMO, and Traci, Alessandro

Published
1999

32. MiniCalorimeter of the AGILE satellite

Author

Auricchio, Natalia, primary, Celesti, Enrico, additional, Di Cocco, Guido, additional, Galli, Marcello, additional, Gianotti, Fulvio, additional, Malaspina, Marco, additional, Labanti, Claudio, additional, Mauri, Alessandro, additional, Rossi, Elio, additional, Stephen, John B., additional, Traci, Alessandro, additional, and Trifoglio, Massimo, additional

Published
2002
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33. MiniCalorimeter of the AGILE satellite.

Author

Auricchio, Natalia, Celesti, Enrico, Di Cocco, Guido, Galli, Marcello, Gianotti, Fulvio, Malaspina, Marco, Labanti, Claudio, Mauri, Alessandro, Rossi, Elio, Stephen, John B., Traci, Alessandro, and Trifoglio, Massimo

Published
2002
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34. Test campaign of the mini-calorimeter for the AGILE satellite.

Author

Auricchio, Natalia, Celesti, Enrico, Di Cocco, Guido, Galli, Marcello, Gianotti, Fulvio, Labanti, Claudio, Mauri, Alessandro, Malaspina, Marco, Rossi, Elio, Stephen, John B., Traci, Alessandro, and Trifoglio, Massimo

Subjects
CALORIMETERS, GAMMA ray detectors
Abstract

The AGILE Mini-Calorimeter (MCAL, with total on-axis radiation length 1.5 X[SUBo]) comprises 2 orthogonal planes each consisting of 16 CsI(T1) bars. Its primary purpose is the energy determination of gamma-rays detected by the Gamma-Ray Imaging Detector (GRID) Tracker (energy range 30 MeV - 50 GeV). In addition, the MCAL is capable of independently triggering and detecting gamma-ray bursts and other impulsive events in the energy range 0.25-250 MeV. A MCAL prototype, comprising 8 CsI(T1) detector elements, was tested both with laboratory sources and with charged particles (p=l GeV/c) during an AGILE Beam Test carried out in November 2000 at the CERN Tll beamline (East Hall, CERN PS). The test setup included a prototype of the electronic chain. A prototype of the digital data acquisition chain, which will be the baseline of the payload Electronic Ground Support Equipment, was also built and tested. We present the preliminary results of this test campaign dedicated to characterizing the detector unit and electronics. [ABSTRACT FROM AUTHOR]

Published
2001

38. Silicon drift chamber with extended energy range

Author

Labanti, Claudio, primary, Dal Fiume, Daniele, additional, Fiorini, Carlo, additional, Longoni, Antonio, additional, Mauri, Alessandro, additional, Perotti, Francesco, additional, Rossi, Elio, additional, and Stephen, John B., additional

Published
2000
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39. Scientific performance evaluation of the PICsIT qualification model of the IBIS telescope

Author

Labanti, Claudio, primary, Stephen, John B., additional, Caroli, Ezio, additional, Di Cocco, Guido, additional, Ferro, Gianclaudio, additional, Gianotti, Fulvio, additional, Malaguti, Giuseppe, additional, Mauri, Alessandro, additional, Rossi, Elio, additional, Schiavone, Filomena, additional, Spizzichino, Aldo, additional, Traci, Alessandro, additional, and Trifoglio, Massimo, additional

Published
2000
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40. Test campaign of the minicalorimeter for the AGILE Satellite

Author

Rossi, Elio, primary, Auricchio, Natalia, additional, Celesti, Enrico, additional, Di Cocco, Guido, additional, Galli, Marcello, additional, Mauri, Alessandro, additional, Labanti, Claudio, additional, Schiavone, Filomena, additional, and Traci, Alessandro, additional

Published
2000
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