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Your search keyword '"Di Vito, Daniele"' showing total 16 results
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16 results on '"Di Vito, Daniele"'

1. Assistive robot operated via P300-based Brain Computer Interface

Author

Arrichiello, Filippo, Di Lillo, Paolo, Di Vito, Daniele, Antonelli, Gianluca, and Chiaverini, Stefano

Subjects
Computer Science - Robotics
Abstract

In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based on a lightweight robot manipulator, receives high level commands from the user through a Brain-Computer Interface based on P300 paradigm. The motion of the manipulator is controlled relying on a closed loop inverse kinematic algorithm that simultaneously manages multiple set-based and equality-based tasks. The software architecture is developed relying on widely used frameworks to operate BCIs and robots (namely, BCI2000 for the operation of the BCI and ROS for the control of the manipulator) integrating control, perception and communication modules developed for the application at hand. Preliminary experiments have been conducted to show the potentialities of the developed architecture.

Published
2019
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6. Autonomous Manganese Fields Exploration with a UVMS: the ROBUST project

Author

Simetti, Enrico, Indiveri, Giovanni, Casalino, Giuseppe, Di Vito, Daniele, and Antonelli, Gianluca

Subjects
autonomous underwater vehicles, underwater mining, exploration
Abstract

This extended abstract presents the main results of the H2020 ROBUST project, whose goal was the development of an autonomous system to execute exploration and in-situ sampling of underwater mananganese nodule fields., https://youtu.be/wQU6n4Jh43E

Published
2020
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7. Planning and Control of Underwater Vehicle-Manipulator Systems

Author

DI VITO, Daniele

Subjects
task priority, reduced regressor, inverse kinematics, set-based, UVMS, motion planning, underwater robotics, adaptive control, Planning, path planning, motion planning, control, AUV, UVMS, ROV, underwater robotics, adaptive control, reduced regressor, inverse kinematics, task priority, set-based, thruster, Planning, Settore ING-INF/04 - Automatica, ROV, path planning, control, AUV, thruster
Published
2020

12. Experimental validation of the modeling and control of a multibody underwater vehicle manipulator system for sea mining exploration.

Author

Di Vito, Daniele, De Palma, Daniela, Simetti, Enrico, Indiveri, Giovanni, and Antonelli, Gianluca

Subjects
SUBMERSIBLES, PROSPECTING, MODEL validation, OCEAN mining, MINES & mineral resources, VEHICLE models
Abstract

This paper presents the modeling approach and the control framework developed for the ROBUST EU Horizon 2020 project. The goal of this project is to showcase technologies and methodologies for future autonomous mineral exploration missions in deep‐sea sites with an Underwater Vehicle‐Manipulator System. Within the aim to make the system reliable in performing autonomously the entire mission, specific modeling, navigation, and control solutions are proposed. In particular, the multihull vehicle hydrodynamic model is derived and experimentally validated, and then used in the implementation of the navigation filter which provides the necessary feedback for the control framework. The latter computes, using a task priority approach, the reference system velocity and control forces for enabling the system desired behaviors. The overall navigation‐control architecture has been validated through several sea trials, leading to the final experimental campaign held in Cagliari, Sardinia, Italy, in October 2019, where the overall ROBUST mission was demonstrated. The obtained results are reported to show the effectiveness of the developed framework. [ABSTRACT FROM AUTHOR]

Published
2021
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