01a Articolo in rivista

Graphol: A Graphical Language for Ontology Modeling Equivalent to OWL 2.

In this paper we study Graphol, a fully graphical language inspired by standard formalisms for conceptual modeling, similar to the UML class diagram and the ER model, but equipped with formal semantics. We formally prove that Graphol is equivalent to OWL 2, i.e., it can capture every OWL 2 ontology...
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics

We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active and passive degrees of freedom. The generic iteration of...
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints

We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and...
Reduced-Order Observer Design for Robot Manipulators

This paper investigates the design of reduced-order observers for robot manipulators. Observer stability conditions are obtained based on a Lyapunov analysis. The proposed observer is enhanced with a hybrid scheme that may adjust the gains to cope with possible unbounded velocities of the robot...
Human-robot coexistence and interaction in open industrial cells

Recent research results on human-robot interaction and collaborative robotics are leaving behind the traditional paradigm of robots living in a separated space inside safety cages, allowing humans and robot to work together for completing an increasing number of complex industrial tasks. In this...
Task Priority Matrix at the Acceleration Level: Collision Avoidance Under Relaxed Constraints

We propose a new approach for executing the main Cartesian tasks assigned to a redundant robot while guaranteeing whole-body collision avoidance. The robot degrees of freedom are fully utilized by introducing relaxed constraints in the definition of operational and collision...
Linear-quadratic optimal boundary control of a one-link flexible arm

A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely the joint torque at the link base and a transverse force at the tip of the link. The problem is formulated and solved using...
Human-robot contactless collaboration with mixed reality interface

A control system based on multiple sensors is proposed for the safe collaboration of a robot with a human. New constrained and contactless human-robot coordinated motion tasks are defined to control the robot end-effector so as to maintain a desired relative position to the human head while...
A mixed finite differences scheme for gradient approximation

In this paper, we focus on the linear functionals defining an approximate version of the gradient of a function. These functionals are often used when dealing with optimization problems where the computation of the gradient of the objective function is costly or the objective function values are...
A derivative-free optimization approach for the autotuning of a Forex trading strategy

A trading strategy simply consists in a procedure which defines conditions for buying or selling a security on a financial market. These decisions rely on the values of some indicators that, in turn, affect the tuning of the strategy parameters. The choice of these parameters significantly affects...