text:
ModGrasp
A Wave Simulator and Active Heave Compensation Framework
JOpenShowVar, a communication interface to Kuka robots
Resume

### Research interests

My research interests are in the general areas of robotics and control. In particular, I have been working on modular robotic grasping, control theory, machine learning, artificial intelligence and software engineering applications.Â To know more about my research activity, have a look at my most recent projectsÂ or check out my publications below.

### Research Projects

Here you can find some information about my granted research projects and submitted research proposals. Additionally, a specific page is dedicated to my ongoing research projects.

## Granted Research Projects

I have been Involved in the following national and international projects.

##### Â

Control Strategies for Snake Robot Locomotion in Challenging Outdoor Environments (SNAKE), Norwegian Research Council. Postdoctoral Researcher.

##### Â

Integrated Marine Operation Simulator Facilities for Risk Assessment Including Human Factors, project in the business section-MAROFF, ES518684, Norway. Postdoctoral Researcher.

##### Â

Centre for Autonomous Marine Operations and Systems (AMOS), Research Council of Norway, Centres of Excellence funding scheme, project number 223254. PhD Candidate.

##### Â

A Flexible and Common Control Architecture for Rolls-royce Marine Cranes and Robotic Arms, Research Council of Norway, Innovation Programme for Maritime Activities and Offshore Operations, project number 217768. Technical head of the project.

##### Â

The Hand Embodied, within the FP7-ICT- 2009-4-2-1 program Cognitive Systems and Robotics and the Collaborative EU- Project Hands.dvi in the context of ECHORD (European Clearing House for Open Robotics Development). Researcher.

## Teaching

Teaching is amazing! I like teaching because I strongly believe that sharing enthusiasm for my research topics is important. I try every angle and every strategy to help students learn and succeed.

Lecturer for the course Real-time Computer Programming, BSc Program in Automation Engineering, Department of Engineering and Natural Sciences, Aalesund University College, Aalesund, Norway

Teaching Assistant for the course Mechatronics, Robots and Deck Machines, MSc Program in Product and System Design, Department of Marine Technology and Operations, Aalesund University College, Aalesund, Norway

Teaching Assistant for the course Mechatronics, Robots and Deck Machines, BSc Program in Product and System Design, Department of Marine Technology and Operations, Aalesund University College, Aalesund, Norway

Lecturer for the course System Simulation in Matlab/Simulink, best practice module of the MSc Program in Product and System Design, Department of Marine Technology and Operations, Aalesund University College, Aalesund, Norway

### Education, training and research experience

Here you can find some information about my education, my professional training as well as some highlights on my research experience.

## Education

##### PhD inÂ Engineering Cybernetics

Norwegian University of Science and Technology (NTNU) with Professor Kristin Ytterstad Pettersen (Department of Engineering Cybernetics, NTNU) as main supervisor and with co-supervisors Professor Domenico Prattichizzo (Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy) and Professor Houxiang Zhang (Department of Maritime Technology and Operations, Aalesund University College (AAUC), Aalesund, Norway).

Trial lecture title: Modelling and control of continuum manipulators

Relevant courses: Modelling and Analysis of Machinery Systems, Advanced Robotics, Mechatronics, System and Control Theory. Extracurricular courses: Advanced robot programming on the KR C controller Module from the Kuka Training Program, Kuka College, Gothenburg, Sweden.

##### Masterâ€™s degree in Computer Science Engineering

University of Siena, Italy.

Relevant courses: Robotics and Computer Vision, Optimisation Methods, Wireless Personal Communications, Embedded Systems, Decision Support Systems, Electronic Calculators, Artificial Intelligence, Real-Time Systems, Environmental Systems Modelling, Distributed and Mobile Systems, Database Management Systems, Discrete Event Dynamic Systems, Pattern Recognition and Cybersecurity. Throughout different student projects, the vulnerability of the WIFI protocols WEP and WPA has been deeply investigated with the development of practical techniques for effective attacks to these protocols.

##### Bachelorâ€™s degree in Computer Science Engineering

University of Catania, Italy. Thesis: Real World and Virtual World Architecture for Interconnecting First and Second Life.

Relevant courses: Operating Systems, Computer Networks, Information Systems, Software Engineering, Foundation of Computer Science, Computer Languages, Electronics, Elements of Automation Engineering, Foundations of Telecommunications, Electronics Measurements and Laboratory, Linear Algebra and Geometry, Mathematical Analysis, Physics and Chemistry.

### Scientific publications and presentations

Here you can find some information about my education, my professional training as well as some highlights on my research experience.Â This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

## Publications

##### Â
1. Filippo Sanfilippo, Lars Ivar Hatledal, Kristin Ytterstad Pettersen and Houxiang Zhang. A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface. IEEE Journal of Oceanic Engineering PP(99):1-16, March 2017. URL PDF, DOI BibTeX

@article{sanfilippo2017a-benchmarking-framework-for-control-methods-of-maritime-cranes-based-on-the-functional-mockup-interface,
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Pettersen, Kristin Ytterstad and Zhang, Houxiang",
title = "A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface",
journal = "IEEE Journal of Oceanic Engineering",
year = 2017,
month = "March",
volume = "PP",
number = 99,
pages = "1-16",
abstract = "A benchmark framework for advanced control methods of maritime cranes is presented based on the use of the functional mockup interface. The system integrates different manipulator models, all the corresponding hydraulic systems, various vessels, and the surrounding environment for visualization. Different control methods can be transparently implemented and tested. A set of routine tests, different cost functions, and metrics are providedâ€”taking into account several factors, including position accuracy, energy consumption, quality, and safety for both the cranes and the surrounding environment. The concept of operational profiles is introduced, allowing for definition of different standard transporting and lifting operations. By considering task-oriented routines, this benchmark suite allows the comparison of different control methods independently from the specific crane model to be controlled. Two alternative control methods for maritime cranes based on the use of artificial intelligence are extensively compared. The first method is based on the use of genetic algorithms, while the second method involves the use of particle swarm optimization. Simulation results are presented for both methods.",
url = "http://ieeexplore.ieee.org/document/7906482/",
keywords = "Benchmark testing;Cranes;Hydraulic systems;Manipulators;Standards;Visualization;Maritime cranes;artificial intelligence (AI);benchmark;control methods;functional mockup interface (FMI);machine learning",
doi = "10.1109/JOE.2017.2691920",
issn = "0364-9059",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-2017-a-benchmarking-framework-for-control-methods-of-maritime-cranes-based-on-the-functional-mockup-interface.pdf"
}

2. Filippo Sanfilippo, Jon Azpiazu, Giancarlo Marafioti, Aksel A Transeth, Ã˜yvind Stavdahl and PÃ¥l LiljebÃ¤ck. Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities. Applied Sciences 7(4)(336):1-22, March 2017. URL BibTeX

@article{sanfilippo2017perception-driven-obstacle-aided-locomotion-for-snake-robots,
author = {Sanfilippo, Filippo and Azpiazu, Jon and Marafioti, Giancarlo and Transeth, Aksel A. and Stavdahl, {\O}yvind and Liljeb{\"a}ck, P\r{a}l},
title = "Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities",
journal = "Applied Sciences",
year = 2017,
month = "March",
volume = "7(4)",
number = 336,
pages = "1-22",
abstract = "In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion) and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion) to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.",
url = "http://www.mdpi.com/2076-3417/7/4/336/"
}

3. Filippo Sanfilippo. A Multi-Sensor Fusion Framework for Improving Situational Awareness in Demanding Maritime Training. Reliability Engineering & System Safety 161:12-24, 2017. URL, DOI BibTeX

@article{sanfilippo2017a-multi-sensor-fusion-framework-for-improving-situational-awareness-in-demanding-maritime training,
author = "Sanfilippo, Filippo",
title = "A Multi-Sensor Fusion Framework for Improving Situational Awareness in Demanding Maritime Training",
journal = "Reliability Engineering & System Safety",
year = 2017,
volume = 161,
pages = "12-24",
abstract = "Abstract Real offshore operational scenarios can involve a considerable amount of risk. Sophisticated training programmes involving specially designed simulator environments constitute a promising approach for improving an individual's perception and assessment of dangerous situations in real applications. One of the world's most advanced providers of simulators for such demanding offshore operations is the Offshore Simulator Centre \{AS\} (OSC). However, even though the \{OSC\} provides powerful simulation tools, techniques for visualising operational procedures that can be used to further improve Situational awareness (SA), are still lacking. Providing the \{OSC\} with an integrated multi-sensor fusion framework is the goal of this work. The proposed framework is designed to improve planning, execution and assessment of demanding maritime operations by adopting newly-designed risk-evaluation tools. Different information from the simulator scene and from the real world can be collected, such as audio, video, bio-metric data from eye-trackers, other sensor data and annotations. This integration is the base for research on novel \{SA\} assessment methodologies. This will serve the industry for the purpose of improving operational effectiveness and safety through the use of simulators. In this work, a training methodology based on the concept of briefing/debriefing is adopted based on previous literature. By using this methodology borrowed from similarly demanding applications, the efficiency of the proposed framework is validated in a conceptual case study. In particular, the training procedure, which was previously performed by Statoil and partners, for the world's first sub-sea gas compression plant, in Aasgard, Norway, is considered and reviewed highlighting the potentials of the proposed framework.",
url = "http://www.sciencedirect.com/science/article/pii/S0951832016310298",
issn = "0951-8320",
doi = "10.1016/j.ress.2016.12.015"
}

##### Â
1. Filippo Sanfilippo, Ã˜yvind Stavdahl, Giancarlo Marafioti, Aksel A Transeth and PÃ¥l LiljebÃ¤ck. Virtual Functional Segmentation of Snake Robots for Perception-Driven Obstacle-Aided Locomotion. In Proceeding of the IEEE Conference on Robotics and Biomimetics (ROBIO), Qingdao, China. 2016, 1845â€“1851. PDF BibTeX

@inproceedings{sanfilippo-2016-virtual-functional-segmentation-of-snake-robots-for-perception-driven-obstacle-aided-locomotion,
title = "Virtual Functional Segmentation of Snake Robots for Perception-Driven Obstacle-Aided Locomotion",
author = {Sanfilippo, Filippo and Stavdahl, {\O}yvind and Marafioti, Giancarlo and Transeth, Aksel A. and Liljeb{\"a}ck, P\r{a}l},
booktitle = "Proceeding of the IEEE Conference on Robotics and Biomimetics (ROBIO), Qingdao, China",
pages = "1845--1851",
year = 2016,
organization = "IEEE",
abstract = "Snake robots equipped with sensors and tools could potentially contribute to applications such as fire-fighting, industrial inspection, search-and-rescue and more. Such capabilities would require that a snake robot has a high degree of awareness of its surroundings (i.e. perception-driven locomotion) and is able to exploit objects and irregularities in its environment to gain propulsion (i.e. obstacle-aided locomotion). In this work, a simplified snake robot model is proposed to deal with a lower-dimensional system that allows for establishing the foundation elements of perception-driven obstacle-aided locomotion. To achieve this, a virtual partitioning of the snake into parametrised virtual functional segments (VFS) is presented based on the concept of virtual constraints (VC). The snake robot body is approximated by using a chain of continuous curves with the fewest possible parameters. These parameters can be treated as degrees of freedom of a constrained system'' and consequently be subjected to modelling and control at a higher abstraction level. The main contribution of the proposed conceptual approach is that the robot joint space can be reduced into a lower-dimensional space for articulation. This concept replaces the analysis of the individual mechanical degrees of freedom of the snake by the analysis of the functional roles of the parametrised VFS. The VFS are defined in relation to task space coordinates, and the roles of the physical links and joints change according to a defined set of transition events as they move along the robot's path. This method is a preliminary step towards realising perception-driven obstacle-aided locomotion for snake robots.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-2016-virtual-functional-segmentation-of-snake-robots-for-perception-driven-obstacle-aided-locomotion.pdf"
}

2. Filippo Sanfilippo, Jon Azpiazu, Giancarlo Marafioti, Aksel A Transeth, Ã˜yvind Stavdahl and PÃ¥l LiljebÃ¤ck. A Review on Perception-driven Obstacle-aided Locomotion for Snake Robots. In Proceeding of the 14th IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand. 2016. PDF BibTeX

@inproceedings{sanfilippo-2016-perception-driven-obstacle-aided-locomotion,
title = "A Review on Perception-driven Obstacle-aided Locomotion for Snake Robots",
author = {Sanfilippo, Filippo and Azpiazu, Jon and Marafioti, Giancarlo and Transeth, Aksel A. and Stavdahl, {\O}yvind and Liljeb{\"a}ck, P\r{a}l},
booktitle = "Proceeding of the 14th IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand",
year = 2016,
organization = "IEEE",
abstract = "Biological snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and also transport tools to hazardous or confined areas that other robots and humans are unable to access. To carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e. perception-driven locomotion) and be capable of efficient obstacle exploitation (i.e. obstacle-aided locomotion) to gain propulsion. These aspects are important to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue and more. In this paper, an elaborate review and discussion of the state-of-the-art, challenges and possibilities of perception-driven obstacle-aided locomotion for snake robots is presented for the first time. Pertinent to snake robots, we focus on current strategies for obstacle avoidance, obstacle accommodation, and obstacle-aided locomotion. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. To this end, we present an overview of relevant key technologies and methods within environment perception, mapping and representation that constitute important aspects of perception-driven obstacle-aided locomotion.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-2016-perception-driven-obstacle-aided-locomotion.pdf"
}

3. Rafael Sanchez Souza, Filippo Sanfilippo, JosÃ© Reinaldo Silva and Arturo Forner-Cordero. Modular Exoskeleton Design: Requirement Engineering with KAOS. In Proceeding of the 6th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore. 2016, 978â€“983. URL PDF BibTeX

@inproceedings{sanfilippo-2016-modular-exoskeleton,
title = "Modular Exoskeleton Design: Requirement Engineering with KAOS",
author = "Sanchez Souza, Rafael and Sanfilippo, Filippo and Silva, Jos\'e Reinaldo and Forner-Cordero, Arturo",
booktitle = "Proceeding of the 6th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore",
pages = "978--983",
year = 2016,
organization = "IEEE RAS & EMBS",
abstract = "Wearable robots, such as exoskeletons, interact closely with the wearer. To this end, mechanical features are combined with control techniques to transparently follow human movements. Such expected behaviour depends on special project requirements, safety being the most critical one. According to the literature, the modular robot design approach provides flexible and yet robust solutions that meets stakeholder requirements. The semi-formal design approach has been exploited by the scientific community to specifically focus on requirements definition. In this perspective, Goal Oriented Requirement Engineering (GORE) has been used as a tool for different systems; however, it has been more widely adopted in software rather than in hardware engineering. In this paper, GORE is adopted, with the KAOS tool, to fully exploit the integrated design of a modular exoskeleton - an adaptive mechatronic system. The balance of requirements with user safety constraints are analysed to advance in the project initial steps. It is shown that, although requirement modelling requires of an initial effort from the designer regarding goals formulation, the proposed approach provides a more comprehensive system overview and documentation. Finally, the adoption of a semi-formal language justifies why a modular exoskeleton is a good choice when design at meeting stakeholder requirements and improving user experience.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/modular-exoskeleton-design-requirement-engineering-with-kaos.pdf",
url = "https://doi.org/10.1109/BIOROB.2016.7523756"
}

4. Filippo Sanfilippo. A Multi-Sensor System for Enhancing Situational Awareness in Offshore Training. In Proceeding of the IEEE International Conference On Cyber Situational Awareness, Data Analytics And Assessment (CyberSA), London, United Kingdom. 2016, 1â€“6. URL PDF BibTeX

@inproceedings{sanfilippo-2016-situational-awareness-offshore-training,
title = "A Multi-Sensor System for Enhancing Situational Awareness in Offshore Training",
author = "Sanfilippo, Filippo",
booktitle = "Proceeding of the IEEE International Conference On Cyber Situational Awareness, Data Analytics And Assessment (CyberSA), London, United Kingdom",
pages = "1--6",
year = 2016,
organization = "IEEE",
abstract = "Real offshore operational scenarios are particularly risky. Training programmes involving specifically designed simulators constitute a promising approach for improving human reliability and safety in real applications. One of the world's most advanced providers of simulators for such demanding offshore operations is the Offshore Simulator Centre AS (OSC). However, even though the OSC provides powerful simulation tools, techniques for visualising operational procedures that can be used to further improve situational awareness (SA), are still lacking. In this work, an integrated multi-sensor fusion system is integrated with the OSC. The proposed system is designed to improve planning, execution and assessment of demanding maritime operations by adopting newly-designed risk-evaluation tools. Different information from the simulator scene and from the real world can be collected, such as audio, video, bio-metric data from eye-trackers, other sensor data and annotations. This integration is the base for research on novel SA assessment methodologies. A training methodology based on the concept of briefing/debriefing is adopted. By using this methodology, the efficiency of the proposed system is validated in a conceptual case study that considers the training procedure performed by Statoil and partners for the world's first sub-sea gas compression plant, in Aasgard, Norway.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-a-multi-sensor-system-for-enhancing-situational-awareness-in-offshore-training.pdf",
url = "https://doi.org/10.1109/CyberSA.2016.7503280"
}

5. Tom Verplaetse, Filippo Sanfilippo, Adrian Rutle, Ottar Laurits Osen and Robin Trulssen Bye. On Usage of EEG Brain Control for Rehabilitation of Stroke Patients. In Proceeding of the 30th European Conference on Modelling and Simulation (ECMS), Regensburg, Germany. 2016, 544â€“553. URL PDF BibTeX

@inproceedings{sanfilippo-2016-stroke-rehabilitation,
title = "On Usage of EEG Brain Control for Rehabilitation of Stroke Patients",
author = "Verplaetse, Tom and Sanfilippo, Filippo and Rutle, Adrian and Osen, Ottar Laurits and Bye, Robin Trulssen",
booktitle = "Proceeding of the 30th European Conference on Modelling and Simulation (ECMS), Regensburg, Germany",
pages = "544--553",
year = 2016,
organization = "ECMS",
abstract = "This paper demonstrates rapid prototyping of a stroke rehabilitation system consisting of an interactive 3D virtual reality computer game environment interfaced with an EEG headset for control and interaction using brain waves. The system is intended for training and rehabilitation of partially monoplegic stroke patients and uses low- cost commercial-off-the-shelf products like the Emotiv EPOC EEG headset and the Unity 3D game engine. A number of rehabilitation methods exist that can improve motor control and function of the paretic upper limb in stroke survivors. Unfortunately, most of these methods are commonly characterised by a number of drawbacks that can limit intensive treatment, including being repetitive, uninspiring, and labour intensive; requiring one-on-one manual interaction and assistance from a therapist, often for several weeks; and involve equipment and systems that are complex and expensive and cannot be used at home but only in hospitals and institutions by trained personnel. Inspired by the principles of mirror therapy and game-stimulated rehabilitation, we have developed a first prototype of a game-like computer application that tries to avoid these drawbacks. For rehabilitation purposes, we deprive the patient of the view of the paretic hand while being challenged with controlling a virtual hand in a simulated 3D game environment only by means of EEG brain waves interfaced with the computer. Whilst our system is only a first prototype, we hypothesise that by iteratively improving its design through refinements and tuning based on input from domain experts and testing on real patients, the system can be tailored for being used together with a conventional rehabilitation programme to improve patients' ability to move the paretic limb much in the same vain as mirror therapy. Our proposed system has several advantages, including being game-based, customisable, adaptive, and extendable. In addition, when compared with conventional rehabilitation methods, our system is extremely low-cost and flexible, in particular because patients can use it in the comfort of their homes, with little or no need for professional human assistance. Preliminary tests are carried out to highlight the potential of the proposed rehabilitation system, however, in order to measure its efficiency in rehabilitation, the system must first be improved and then run through an extensive field test with a sufficiently large group of patients and compared with a control group.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/ECMS2016Stroke.pdf",
url = "http://www.scs-europe.net/dlib/2016/2016-0544.htm"
}

6. Rolf-Magnus HjÃ¸rungdal, Filippo Sanfilippo, Ottar Laurits Osen, Adrian Rutle and Robin Trulssen Bye. A Game-based Learning Framework for Controlling Brain-Actuated Wheelchairs. In Proceeding of the 30th European Conference on Modelling and Simulation (ECMS), Regensburg, Germany. 2016, 554â€“563. URL PDF BibTeX

@inproceedings{sanfilippo-2016-brain-actuated-wheelchairs,
title = "A Game-based Learning Framework for Controlling Brain-Actuated Wheelchairs",
author = "Hj{\o}rungdal, Rolf-Magnus and Sanfilippo, Filippo and Osen, Ottar Laurits and Rutle, Adrian and Bye, Robin Trulssen",
booktitle = "Proceeding of the 30th European Conference on Modelling and Simulation (ECMS), Regensburg, Germany",
pages = "554--563",
year = 2016,
organization = "ECMS",
abstract = "Paraplegia is a disability caused by impairment in motor or sensory functions of the lower limbs. Most paraplegic subjects use mechanical wheelchairs for their movement, however, patients with reduced upper limb functionality may benefit from the use of motorised, electric wheelchairs. Depending on the patient, learning how to control these wheelchairs can be hard (if at all possible), time-consuming, demotivating, and to some extent dangerous. This paper proposes a game-based learning framework for training these patients in a safe, virtual environment. Specifically, the framework utilises the Emotiv EPOC EEG headset to enable brain wave control of a virtual electric wheelchair in a realistic virtual world game environment created with the Unity 3D game engine.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/ECMS2016Wheelchair.pdf",
url = "http://www.scs-europe.net/dlib/2016/2016-0554.htm"
}

##### Â
1. Filippo Sanfilippo, Lars Ivar Hatledal, Houxiang Zhang, Massimiliano Fago and Kristin Ytterstad Pettersen. Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar. IEEE Robotics & Automation Magazine 22(4):96-109, December 2015. URL PDF BibTeX

@article{sanfilippo2015jopenshowvar,
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Zhang, Houxiang and Fago, Massimiliano and Pettersen, Kristin Ytterstad",
title = "Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar",
journal = "IEEE Robotics \& Automation Magazine",
year = 2015,
month = "Dec",
volume = 22,
number = 4,
pages = "96-109",
abstract = "JOpenShowVar is a Java open-source cross-platform communication interface to Kuka industrial robots. This novel interface allows for read-write use of the controlled manipulator variables and data structures. JOpenShowVar, which is compatible with all the Kuka industrial robots that use KUKA Robot Controller version 4 (KR C4) and KUKA Robot Controller version 2 (KR C2), runs as a client on a remote computer connected with the Kuka controller via TCP/IP. Even though only soft real-time applications can be implemented, JOpenShowVar opens up to a variety of possible applications, making the use of various input devices and sensors as well as the development of alternative control methods possible. Four case studies are presented to demonstrate the potential of JOpenShowVar. The first two case studies are open-loop applications, while the last two case studies describe the possibility of implementing closed-loop applications. In the first case study, the proposed interface is used to make it possible for an Android mobile device to control a Kuka KR 6 R900 SIXX (KR AGILUS) manipulator. In the second case study, the same Kuka robot is used to perform a two-dimensional (2-D) line-following task that can be used for applications, such as advanced welding operations. In the third case study, a closed-loop application is developed to control the same manipulator with a Leap Motion controller that supports hand and finger motions as input without requiring contact or touching. In the fourth case study, a bidirectional closed-loop coupling is established between a Force Dimension omega.7 haptic device and the same Kuka manipulator. Related experiments are carried out to validate the efficiency and flexibility of the proposed communication interface.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/controlling-kuka-industrial-robots-flexible-communication-interface-jopenshowvar.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7349325&contentType=Journals+%26+Magazines"
}

2. Filippo Sanfilippo and Kristin Ytterstad Pettersen. OpenMRH: a Modular Robotic Hand Generator Plugin for OpenRAVE. In Proceeding of the IEEE Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China. 2015, 1â€“6. PDF BibTeX

@inproceedings{sanfilippo2015openmrh,
title = "OpenMRH: a Modular Robotic Hand Generator Plugin for OpenRAVE",
author = "Sanfilippo, Filippo and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the IEEE Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China",
pages = "1--6",
year = 2015,
organization = "IEEE",
abstract = "In this work, the open-source plugin OpenMRH is presented for the Open Robotics Automation Virtual Environment (OpenRAVE), a simulation environment for testing, developing and deploying motion planning algorithms. The proposed plugin allows for a fast and automated generation of different modular hand models OpenMRH combines virtual-prototyping and modular concepts. Each modular model is generated by applying a dynamically generated code, which is consistent with the standard syntax expected by OpenRAVE for the simulated models. In this way, once the desired model is generated, an instance of OpenRAVE can be launched and the model can be visualised. Alternatively, the modular models can be generated from a user-defined input specified via a graphical user interface (GUI). The generated models can be used for testing, developing and deploying grasp or motion planning algorithms. Two case studies are considered to validate the efficiency of the proposed model generator. In the first case study, a modular robotic hand model is generated with OpenMRH by using user-defined input parameters. In the second case study, another hand model is generated with OpenMRH by using algorithmic defined input parameters.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/openmrh-a-modular-robotic-hand-generator-plugin-for-openrave.pdf"
}

3. Filippo Sanfilippo, Paul B T Weustink and Kristin Ytterstad Pettersen. A Coupling Library for the Force Dimension Haptic Devices and the 20-sim Modelling and Simulation Environment. In Proceeding of the 41st Annual Conference of the IEEE Industrial Electronics Society (IECON), Yokohama, Japan. 2015, 168â€“173. PDF BibTeX

@inproceedings{sanfilippo2015haptics,
title = "A Coupling Library for the Force Dimension Haptic Devices and the 20-sim Modelling and Simulation Environment",
author = "Sanfilippo, Filippo and Weustink, Paul B. T. and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the 41st Annual Conference of the IEEE Industrial Electronics Society (IECON), Yokohama, Japan",
pages = "168--173",
year = 2015,
organization = "IEEE",
abstract = "A haptic feedback device is a device that establishes a kinaesthetic link between a human operator and a computer-generated environment. This paper addresses the bidirectional coupling between a commercial off-the-shelf (COTS) haptic feedback device and a general-purpose modelling and simulation environment. In particular, an open-source library is developed to couple the Force Dimension omega.7 haptic device with the 20-sim modelling and simulation environment. The presented coupling interface is also compatible with all the different haptic devices produced by Force Dimension. The proposed integrated haptic interface makes it possible to track the userâ€™s motion, detect collisions between the user-controlled probe and virtual objects, compute reaction forces in response to motion or contacts and exert an intuitive force feedback on the user. A real-time one-to-one correspondence between reality and virtual reality can be transparently created. This allows for a variety of possible applications. Stability issues, performance issues, design and virtual prototyping challenges can be addressed and investigated for research purposes. In addition, design and virtual prototyping are also of interest to industry. Realistic training environments can be developed for the user considering different possible operations and stressing the importance of usability and user experience. Experiments based on using haptics technology in the field of education can also be easily performed. To demonstrate the potential of the proposed coupling, a case study is presented. Related simulations and experimental results are carried out.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-coupling-library-for-the-force-dimension-haptic-devices-and-the-20-sim-modelling-and-simulation-environment.pdf"
}

4. Filippo Sanfilippo and Kristin Ytterstad Pettersen. A Sensor Fusion Wearable Health-Monitoring System with Haptic Feedback. In Proceeding of the 11th IEEE International Conference on Innovations in Information Technology (IITâ€™15), Dubai, United Arab Emirates. 2015, 241â€“245. PDF BibTeX

@inproceedings{sanfilippo2015wearable,
title = "A Sensor Fusion Wearable Health-Monitoring System with Haptic Feedback",
author = "Sanfilippo, Filippo and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the 11th IEEE International Conference on Innovations in Information Technology (IITâ€™15), Dubai, United Arab Emirates",
pages = "241--245",
year = 2015,
organization = "IEEE",
abstract = "A wearable integrated health-monitoring system is presented in this paper. The system is based on a multi-sensor fusion approach. It consists of a chest-worn device that embeds a controller board, an electrocardiogram (ECG) sensor, a temperature sensor, an accelerometer, a vibration motor, a colour-changing light-emitting diode (LED) and a push-button. This multi-sensor device allows for performing biometric and medical monitoring applications. Distinctive haptic feedback patterns can be actuated by means of the embedded vibration motor according to the userâ€™s health state. The embedded colour-changing LED is employed to provide the wearer with an additional intuitive visual feedback of the current health state. The push-button provided can be pushed by the user to report a potential emergency condition. The collected biometric information can be used to monitor the health state of the person involved in real-time or to get sensitive data to be subsequently analysed for medical diagnosis. In this preliminary work, the system architecture is presented. As a possible application scenario, the health-monitoring of offshore operators is considered. Related initial simulations and experiments are carried out to validate the efficiency of the proposed technology. In particular, the system reduces risk, taking into consideration assessments based on the individual and on overall potentially-harmful situations.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-sensor-fusion-wearable-health-monitoring-system-with-haptic-feedback.pdf"
}

5. Filippo Sanfilippo, Lars Ivar Hatledal and Kristin Ytterstad Pettersen. A Fully-Immersive Hapto-Audio-Visual Framework for Remote Touch. In Proceeding of the 11th IEEE International Conference on Innovations in Information Technology (IITâ€™15), Dubai, United Arab Emirates. 2015. PDF BibTeX

@inproceedings{sanfilippo2015touch,
title = "A Fully-Immersive Hapto-Audio-Visual Framework for Remote Touch",
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the 11th IEEE International Conference on Innovations in Information Technology (IITâ€™15), Dubai, United Arab Emirates",
year = 2015,
organization = "IEEE",
abstract = "This paper presents the development of an open-source low-cost framework for a fully-immersive haptic, audio and visual experience. This framework is realised by exclusively adopting commercial off-the-shelf (COTS) components and tools. In particular, vibration actuators and open-source electronics are employed in the design of a pair of novel and inexpensive haptic gloves. These gloves allow for establishing a kinesthetic link between a human operator interacting with a computer-generated environment. Remote touch applications are possible. In the context of Smart Cities, this technology may be adopted to enhance the interface between nature and culture by stimulating the senses or as a complement to the landscape.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-fully-immersive-hapto-audio-visual-framework-for-remote-touch.pdf"
}

6. Filippo Sanfilippo. Alternative and Flexible Control Approaches for Robotic Manipulators: on the Challenge of Developing a Flexible Control Architecture that Allows for Controlling Different Manipulators. Ph.D. dissertation, Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics, Trondheim, June 2015. URL PDF BibTeX

@phdthesis{key:sanfilippophdthesis,
author = "Sanfilippo, Filippo",
title = "Alternative and Flexible Control Approaches for Robotic Manipulators: on the Challenge of Developing a Flexible Control Architecture that Allows for Controlling Different Manipulators",
school = "Ph.D. dissertation, Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics",
year = 2015,
month = "June",
abstract = "In this work, efficient design methods for robotic manipulators are initially investigated. Successively, the possibility of developing a flexible control architecture that allows for controlling different manipulators by using a universal input device is outlined. The main challenge of doing this consists of finding a flexible way to map the normally fixed DOFs of the input controller to the variable DOFs of the specific manipulator to be controlled. This process has to be realised regardless of the differences in size, kinematic structure, body morphology, constraints and affordances. Different alternative control algorithms are investigated including effective approaches that do not assume a priori knowledge for the Inverse Kinematic (IK) models. These algorithms derive the kinematic properties from biologically-inspired approaches, machine learning procedures or optimisation methods. In this way, the system is able to automatically learn the kinematic properties of different manipulators. Finally, a methodology for performing experimental activities in the area of maritime cranes and robotic arm control is outlined. By combining the rapid-prototyping approach with the concept of interchangeable interfaces, a simulation and benchmarking framework for advanced control methods of maritime cranes and robotic arms is presented.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-alternative-and-flexible-control-methods-for-robotic-manipulators.pdf",
url = "http://brage.bibsys.no/xmlui/handle/11250/2360280"
}

7. Filippo Sanfilippo, Lars Ivar Hatledal, Arne Styve, Houxiang Zhang and Kristin Ytterstad Pettersen. Integrated Flexible Maritime Crane Architecture for the Offshore Simulation Centre AS (OSC): A Flexible Framework for Alternative Maritime Crane Control Algorithms. IEEE Journal of Oceanic Engineering PP(99):1-12, 2015. URL BibTeX

@article{sanfilippo2015osc,
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Styve, Arne and Zhang, Houxiang and Pettersen, Kristin Ytterstad",
title = "Integrated Flexible Maritime Crane Architecture for the Offshore Simulation Centre AS (OSC): A Flexible Framework for Alternative Maritime Crane Control Algorithms",
journal = "IEEE Journal of Oceanic Engineering",
year = 2015,
month = "",
volume = "PP",
number = 99,
pages = "1-12",
abstract = "The Offshore Simulator Centre AS (OSC) is the world's most advanced provider of simulators for demanding offshore operations. However, even though the OSC provides very powerful simulation tools, it is mainly designed for training purposes and it does not inherently offer any flexible methods concerning the control methodology. In fact, each crane model is controlled with a dedicated control algorithm that cannot be modified, accessed, or replaced at runtime. As a result, it is not possible to dynamically switch between different control methods, nor is it possible to easily investigate alternative control approaches. To overcome these problems, a flexible and general control system architecture that allows for modeling flexible control algorithms of maritime cranes and more generally, robotic arms, was previously presented by our research group. However, in the previous work, a generic game engine was used to visualize the different models. In this work, the flexible and general control system architecture is integrated with a crane simulator developed by the OSC taking full advantage of the provided domain-consistent simulation tools. The Google Protocol Buffers protocol is adopted to realize the communication protocol. This integration establishes the base for the research of alternative control algorithms, which can be efficiently tested in a realistic maritime simulation environment. As a validating case study, an alternative control method based on particle swarm optimization (PSO) is also presented. Related simulations are carried out to validate the efficiency of the proposed integration.",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7156157&contentType=Early+Access+Articles"
}

8. Lars Ivar Hatledal, Filippo Sanfilippo, Yingguang Chu and Houxiang Zhang. A Voxel-Based Numerical Method for Computing and Visualising the Workspace of Offshore Cranes. In Proceeding of the 34th International Conference on Ocean, Offshore and Arctic Engineering (OMAE), St. Johnâ€™s, Newfoundland, Canada. 2015, 1â€“7. URL BibTeX

@inproceedings{sanfilippo2015voxel,
title = "A Voxel-Based Numerical Method for Computing and Visualising the Workspace of Offshore Cranes",
author = "Hatledal, Lars Ivar and Sanfilippo, Filippo and Chu, Yingguang and Zhang, Houxiang",
booktitle = "Proceeding of the 34th International Conference on Ocean, Offshore and Arctic Engineering (OMAE), St. Johnâ€™s, Newfoundland, Canada",
pages = "1--7",
year = 2015,
organization = "ASME",
abstract = "Workspace computation and visualisation is one of the most important criteria in offshore crane design in terms of geometry dimensioning, installation feasibility and operational performance evaluation. This paper presents a numerical method for the computation and visualisation of the workspace of offshore cranes. The Working Load Limit (WLL) and the Safe Working Load (SWL) can be automatically determined. A three-dimensional (3D) rectangular grid of voxels is used to describe the properties of the workspace. Firstly, a number of joint configurations are generated by using the Monte Carlo method, which are then mapped from joint to Cartesian space using forward kinematics (FK). The bounding box of the workspace is then derived from these points, and the voxels are distributed on planes inside the box. The method distinguishes voxels by whether they are reachable and if they are on the workspace boundary. The output of the method is an approximation of the workspace volume and point clouds depicting both the reachable space and the boundary of the workspace. Using a third-party software that can work with point clouds, such like MeshLab, a 3D mesh of the workspace can be obtained. A more in-depth description and the pseudo-code of the presented method are presented. As a case study, the workspace of a common type of offshore crane, with three rotational joints, is computed with the proposed method.",
url = "http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=2465407"
}

9. Filippo Sanfilippo and Kristin Ytterstad Pettersen. XBee Positioning System with Embedded Haptic Feedback for Dangerous Offshore Operations: a Preliminary Study. In Proceeding of the MTS/IEEE Oceans '15 Conference, Genova, Italy. 2015, 1â€“6. URL PDF BibTeX

@inproceedings{sanfilippo2015xbee,
title = "XBee Positioning System with Embedded Haptic Feedback for Dangerous Offshore Operations: a Preliminary Study",
author = "Sanfilippo, Filippo and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the MTS/IEEE Oceans '15 Conference, Genova, Italy",
pages = "1--6",
year = 2015,
organization = "MTS/IEEE",
abstract = "The problem of identification and isolation of dangerous zones in offshore installations is investigated in this preliminary work. A node positioning algorithm is implemented in order to track and identify the operational movements on board the vessel. This implementation is realised with an XBee network that uses a trilateration method, making it possible to actively monitor and dynamically identify several on board zones in different operational scenarios. The crew members can be given varying degrees of access permissions in accordance with their job duties. In this way, access to dangerous areas can be easily controlled in a modular fashion. Subsequently, the user's risk perception is considered. Traditionally, the responsibility of proper hazard identification is placed on the operators. For this reason, more attention is being given to the way that people think, feel and behave in response to risk. Risk is perceived differently by different people, and in this sense, the user's experience and therefore ability to perceive risk can be greatly improved with the use of haptics. Haptic feedback, also known as haptics, is the use of the sense of touch in a user interface designed in such a way as to provide the user (operator) with additional information. In this work, a vibration motor is embedded in the operator's helmet, thus providing intuitive haptic feedback. The operator perceives different types of risks according to the surrounding areas due to the integration of this technology with the XBee-based positioning algorithm and by using distinctive feedback patterns. Related experiments are carried out to validate the efficiency of the proposed technology. In particular, the presented approach demonstrates a great potential for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/xbee-positioning-system-with-embedded-haptic-feedback-for-dangerous-offshore-operations-a-preliminary-study.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7271241&contentType=Conference+Publications"
}

10. Yingguang Chu, Lars Ivar Hatledal, Filippo Sanfilippo, Hans Georg Schaathun, Vilmar Ã†sÃ¸y and Houxiang Zhang. Virtual Prototyping System for Maritime Crane Design and Operation Based on Functional Mock-up Interface. In Proceeding of the MTS/IEEE Oceans '15 Conference, Genova, Italy. 2015, 1â€“4. URL PDF BibTeX

@inproceedings{sanfilippo2015prototyping,
title = "Virtual Prototyping System for Maritime Crane Design and Operation Based on Functional Mock-up Interface",
author = "Chu, Yingguang and Hatledal, Lars Ivar and Sanfilippo, Filippo and Schaathun, Hans Georg and \AEs\oy, Vilmar and Zhang, Houxiang",
booktitle = "Proceeding of the MTS/IEEE Oceans '15 Conference, Genova, Italy",
pages = "1--4",
year = 2015,
organization = "MTS/IEEE",
abstract = "This paper presents the framework of a virtual prototyping system for the design and simulation of maritime crane operations. By combining the rapid-prototyping approach with the concept of interchangeable interfaces, different demanding operation scenarios can be simulated including models of the corresponding physical systems, the vessel and the surrounding environment. Multiple tradeoffs and alternative solutions can be evaluated during the design phase. This process can be achieved within a short time period, allowing for the reduction of lead-times as well as for the abatement of mistakes or system failures that may otherwise cause fatal accidents in real tests. In addition, the virtual simulator can also be used for training purposes allowing for a substantial improvement in working efficiency and operation safety. The software architecture of the proposed framework is based on the application of the Functional Mock-up Interface standard. This utilises the current available modelling tools and allows for the exchange of dynamic models and for co-simulation of different models according to the current designing needs. The development of the framework and involved modules of maritime crane systems are described. Preliminary simulations are presented to show the effectiveness and flexibility of the proposed framework.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/virtual-prototyping-system-for-maritime-crane-design-and-operation-based-on-functional-mock-up-interface.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7271342&contentType=Conference+Publications"
}

11. Filippo Sanfilippo, Lars Ivar Hatledal, Houxiang Zhang, WebjÃ¸rn Rekdalsbakken and Kristin Ytterstad Pettersen. A Wave Simulator and Active Heave Compensation Framework for Demanding Offshore Crane Operations. In Proceeding of the IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2015), Halifax, Canada. 2015, 1588â€“1593. URL PDF BibTeX

@inproceedings{sanfilippo2015wave,
title = "A Wave Simulator and Active Heave Compensation Framework for Demanding Offshore Crane Operations",
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Zhang, Houxiang and Rekdalsbakken, Webj{\o}rn and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2015), Halifax, Canada",
pages = "1588--1593",
year = 2015,
organization = "IEEE",
abstract = "In this work, a framework is presented that makes it possible to reproduce the challenging operational scenario of controlling offshore cranes via a laboratory setup. This framework can be used for testing different control methods and for training purposes. The system consists of an industrial robot, the \textit{Kuka} \textit{KR 6 R900 SIXX (KR AGILUS)} manipulator and a motion platform with three degrees of freedom. This work focuses on the system integration. The motion platform is used to simulate the wave effects, while the robotic arm is controlled by the user with a joystick. The wave contribution is monitored by means of an accelerometer mounted on the platform and it is used as a negative input to the manipulator's control algorithm so that active heave compensation methods can be achieved. Concerning the system architecture, the presented framework is built on open-source software and hardware. The control software is realised by applying strict multi-threading criteria to meet demanding real-time requirements. Related simulations and experimental results are carried out to validate the efficiency of the proposed framework. In particular, it can be certified that this approach allows for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-wave-simulator-and-active-heave-compensation-framework-for-demanding-offshore-crane-operations.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7129518&contentType=Conference+Publications"
}

12. Filippo Sanfilippo, Houxiang Zhang and Kristin Ytterstad Pettersen. The New Architecture of ModGrasp for Mind-Controlled Low-Cost Sensorised Modular Hands. In Proceeding of the IEEE International Conference on Industrial Technology (ICIT), Seville, Spain. 2015, 524â€“529. URL PDF BibTeX

@inproceedings{sanfilippo2015modgrasp,
title = "The New Architecture of ModGrasp for Mind-Controlled Low-Cost Sensorised Modular Hands",
author = "Sanfilippo, Filippo and Zhang, Houxiang and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the IEEE International Conference on Industrial Technology (ICIT), Seville, Spain",
pages = "524--529",
year = 2015,
organization = "IEEE",
abstract = "\textit{ModGrasp}, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands, was previously introduced by our research group. \textit{ModGrasp} combines the rapid-prototyping approach with the modular concept, making it possible to model different manipulator configurations. Virtual and physical prototypes can be linked in a real-time one-to-one correspondence. In this work, the \textit{ModGrasp} communication pattern is improved, becoming more modular, reliable and robust. In the previous version of the framework, each finger of the prototype was controlled by a separate controller board. In this work, each module, or finger link, is independent, being controlled by a self-reliant slave controller board. In addition, a newly redesigned multi-threading and multi-level software architecture with a hierarchical logical organisation is presented. In this regard, a new programming paradigm is delineated. The new architecture opens up to a variety of possible applications. As a case study, a mind-controlled, low-cost modular manipulator is presented. In detail, the user's levels of attention and meditation are monitored by using an electroencephalography (EEG) headset, the \textit{NeuroSky MindWave}. These levels are used as inputs to control the hand. Since the manipulator features 11 DOFs, a synergistic control approach is chosen to map inputs with outputs with such a different dimensionality. Related simulations and experimental results are carried out.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/the-new-architecture-of-modgraspfor-mind-controlled-low-cost-sensorised-modular-hand.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7125152&contentType=Conference+Publications"
}

##### Â
1. Filippo Sanfilippo, Houxiang Zhang, Kristin Ytterstad Pettersen, Gionata Salvietti and Domenico Prattichizzo. ModGrasp: an Open-Source Rapid-Prototyping Framework for Designing Low-Cost Sensorised Modular Hands. In Proceeding of the 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), SÃ£o Paulo, Brazil. 2014, 951â€“957. URL PDF BibTeX

@inproceedings{sanfilippo2014modgrasp,
title = "ModGrasp: an Open-Source Rapid-Prototyping Framework for Designing Low-Cost Sensorised Modular Hands",
author = "Sanfilippo, Filippo and Zhang, Houxiang and Pettersen, Kristin Ytterstad and Salvietti, Gionata and Prattichizzo, Domenico",
booktitle = "Proceeding of the 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), S\~ao Paulo, Brazil",
pages = "951--957",
year = 2014,
organization = "IEEE RAS & EMBS",
abstract = "This paper introduces ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands. By combining the rapid-prototyping approach with the modular concept, different manipulator configurations can be modelled. A real-time one-to-one correspondence between virtual and physical prototypes is established. Different control algorithms can be implemented for the models. By using a low-cost sensing approach, functions for torque sensing at the joint level, sensitive collision detection and joint compliant control are possible. A 3-D visualization environment provides the user with an intuitive visual feedback. As a case study, a three-fingered modular manipulator is presented. Related simulations are carried out to validate efficiency and flexibility of the proposed rapid-prototyping framework.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/modgrasp-an-open-source-rapid-prototyping-framework-for-designing-low-cost-sensorised-modular-hands.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6913903&contentType=Conference+Publications"
}

2. Yingguang Chu, Filippo Sanfilippo, Vilmar Ã†sÃ¸y and Houxiang Zhang. An Effective Heave Compensation and Anti-sway Control Approach for Offshore Hydraulic Crane Operations. In Proceeding of the IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China. 2014, 1282â€“1287. URL PDF BibTeX

@inproceedings{sanfilippo2014heave,
title = "An Effective Heave Compensation and Anti-sway Control Approach for Offshore Hydraulic Crane Operations",
author = "Chu, Yingguang and Sanfilippo, Filippo and \AEs\oy, Vilmar and Zhang, Houxiang",
booktitle = "Proceeding of the IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China",
pages = "1282--1287",
year = 2014,
organization = "IEEE",
abstract = "Offshore hydraulic cranes are difficult to operate safely, accurately and efficiently due to their heavy structure, large inertia, non-intuitive control interface and load sway issues that result from external disturbances. This paper presents an effective heave compensation and anti-sway control approach for offshore crane operations, which is based on robotic arm kinematics and energy dissipation principles. Unlike common operator-based joint-by-joint control procedures, this automated method is more flexible, allowing for more intuitive crane operations and more accurate positioning of the hoisted load. In particular, a unique feature of this approach is that the two control functions of heave compensation and anti-sway are transparently combined and simulated in an integrated modelling environment. The system architecture integrates the control model for crane operations, the hydraulic system model for hydraulics characteristic analysis, the 3D model of the crane to be controlled, the vessel and the environment for visualization. The proposed control algorithm and simulation model can be extended to any type of crane model regardless of its configuration or degree of freedom (DOF) without influencing the effectiveness of the method. The hydraulic model is built by using Bond Graph elements and integrated with the control model in the 20-sim simulation environment. The crane operation can be simulated and controlled by the operator using a 3-axis joystick, which provides a transparent user interface. Related simulations were carried out to validate the efficiency and flexibility of the system architecture. As a case study, a 3-joints knuckle boom crane was implemented and tested. The simulation results prove the presented control algorithm for heave compensation and anti-sway to be a valid and efficient solution.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/an-effective-heave-compensation-and-anti-sway-control-approach-for-offshore-hydraulic-crane-operations.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6885884&contentType=Conference+Publications"
}

3. Filippo Sanfilippo, Lars Ivar Hatledal, Houxiang Zhang and Kristin Ytterstad Pettersen. A Mapping Approach for Controlling Different Maritime Cranes and Robots Using ANN. In Proceeding of the IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China. 2014, 594â€“599. URL PDF BibTeX

@inproceedings{sanfilippo2014mapping,
title = "A Mapping Approach for Controlling Different Maritime Cranes and Robots Using ANN",
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Zhang, Houxiang and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China",
pages = "594--599",
year = 2014,
organization = "IEEE",
abstract = "A flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms was previously presented by our research group. Each manipulator can be controlled by using the same universal input device regardless of differences in size, kinematic structure, degrees of freedom (DOFs), body morphology, constraints and affordances. The architecture presented establishes the base for the research of a flexible mapping procedure between a universal input device and the manipulators to be controlled, which is the topic of this paper. Based on the same architecture, as a validating case study, a new method for implementing such a mapping algorithm is introduced in this paper. This method is based on the use of Artificial Neural Networks. Using this approach, the system is able to automatically learn the inverse kinematic properties of different models. Learning is done iteratively based only on observation of input-output relationship, unlike most other control schemes. Related simulations are carried out to validate the efficiency of the proposed mapping method.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-mapping-approach-for-controlling-different-maritime-cranes-and-robots-using-ann.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6885764&contentType=Conference+Publications"
}

4. Filippo Sanfilippo, Lars Ivar Hatledal, Houxiang Zhang, Massimiliano Fago and Kristin Ytterstad Pettersen. JOpenShowVar: an Open-Source Cross-Platform Communication Interface to Kuka Robots. In Proceeding of the IEEE International Conference on Information and Automation (ICIA), Hailar, China. 2014, 1154â€“1159. URL PDF BibTeX

@inproceedings{sanfilippo2014jopenshowvar,
title = "JOpenShowVar: an Open-Source Cross-Platform Communication Interface to Kuka Robots",
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Zhang, Houxiang and Fago, Massimiliano and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the IEEE International Conference on Information and Automation (ICIA), Hailar, China",
pages = "1154--1159",
year = 2014,
organization = "IEEE",
abstract = "This paper introduces JOpenShowVar, a Java open-source cross-platform communication interface to Kuka robots that allows for reading and writing variables and data structures of the controlled manipulators. This interface, which is compatible with all Kuka robots that use KR C4 and previous versions, runs as a client on a remote computer connected with the Kuka controller via TCP/IP. JOpenShowVar opens up to a variety of possible applications making it possible to use different input devices, sensors and to develop alternative control methods. To show the potential of the proposed interface, two case studies are presented. In the first one, JOpenShowVar is used to control a Kuka KR 6 R900 SIXX (KR AGILUS) robot with an Android mobile device. In the second case study, the same manipulator is controlled with a Leap Motion Controller that supports hand and finger motions as input without requiring contact or touching. Related simulations are carried out to validate efficiency and flexibility of the proposed communication interface.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/jopenshowvar-an-open-source-cross-platform-communication-interface-to-kuka-robots.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6932823&contentType=Conference+Publications"
}

5. Lars Ivar Hatledal, Filippo Sanfilippo and Houxiang Zhang. JIOP: a Java Intelligent Optimisation and Machine Learning Framework. In Proceedings of the 28th European Conference on Modelling and Simulation (ECMS), Brescia, Italy. 2014, 101â€“107. URL PDF BibTeX

@inproceedings{hatledal2014jiop,
title = "JIOP: a Java Intelligent Optimisation and Machine Learning Framework",
author = "Hatledal, Lars Ivar and Sanfilippo, Filippo and Zhang, Houxiang",
booktitle = "Proceedings of the 28th European Conference on Modelling and Simulation (ECMS), Brescia, Italy",
pages = "101--107",
year = 2014,
organization = "ECMS",
abstract = "This paper presents an open source, object-oriented machine learning framework, formally named Java Intelligent Optimisation (JIOP). While JIOP is still in the early stages of development, it already provides a wide variety of general learning algorithms that can be used. Initially designed as a collection of existing learning methods, JIOP aims to emphasise commonalities and dissimilarities of algorithms in order to identify their strengths and weaknesses, providing a simple, coherent and unified view. For this reason, JIOP is suitable for pedagogical purposes, such as for introducing bachelor and master degree students to the concepts of intelligent algorithms. The problems that JIOP aims to solve are initially discussed to demonstrate the need for such a framework. Later on, the design architecture and the current functions of the framework are outlined. As a validating case study, a real application where JIOP is used to minimise the cost function for solving the inverse kinematics (IK) of a KUKA industrial robotic arm with six degrees of freedom (DOF) is also presented. Related simulations are carried out to prove the effectiveness of the proposed framework.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/JIOP_a_Java_Intelligent_Optimisation_and_Machine_Learning_Framework.pdf",
url = "http://www.scs-europe.net/dlib/2014/2014-0101.htm"
}

6. Filippo Sanfilippo, Ottar Laurits Osen and Saleh Alaliyat. Recycling a Discarded Robotic Arm for Automation Engineering Education. In Proceedings of the 28th European Conference on Modelling and Simulation (ECMS), Brescia, Italy. 2014, 81â€“86. URL PDF BibTeX

@inproceedings{sanfilippo2014recycling,
title = "Recycling a Discarded Robotic Arm for Automation Engineering Education",
author = "Sanfilippo, Filippo and Osen, Ottar Laurits and Alaliyat, Saleh",
booktitle = "Proceedings of the 28th European Conference on Modelling and Simulation (ECMS), Brescia, Italy",
pages = "81--86",
year = 2014,
organization = "ECMS",
abstract = "Robotics and automation technology instruction is an important component of the industrial engineering education curriculum. Industrial engineering and automation departments must continuously develop and update their laboratory resources and pedagogical tools in order to provide their students with adequate and effective study plans. While acquiring stateof-the-art manufacturing equipment can be financially demanding, a great effort is made at Aalesund University College to provide the students with an improved hands-on automation integration experience without major capital investments. In particular, a strategy that consists of recycling electronic and robot disposals is adopted. Students are engaged in a real reverse engineering process and then challenged to find new possible applications and uses. By adopting a pedagogical prospective, this paper introduces the design and implementation of a robot control system on a hardware platform based on a Programmable Logic Controller (PLC). In particular, the controlled robot is a Sykerobot 600-5 manipulator with five degrees of freedom (DOFs) that was disposed of by the industry several years ago as electronic waste. Particular emphasis is placed on the pedagogical effectiveness of the proposed control architecture.",
url = "http://www.scs-europe.net/dlib/2014/2014-0081.htm"
}

7. WebjÃ¸rn Rekdalsbakken and Filippo Sanfilippo. Enhancing Undergraduate Research and Learning Methods on Real-Time Processes by Cooperating with Maritime Industries. In Proceedings of the 28th European Conference on Modelling and Simulation (ECMS), Brescia, Italy. 2014, 108â€“114. URL PDF BibTeX

@inproceedings{rekdalsbakken2014enhancing,
title = "Enhancing Undergraduate Research and Learning Methods on Real-Time Processes by Cooperating with Maritime Industries",
author = "Rekdalsbakken, Webj{\o}rn and Sanfilippo, Filippo",
booktitle = "Proceedings of the 28th European Conference on Modelling and Simulation (ECMS), Brescia, Italy",
pages = "108--114",
year = 2014,
organization = "ECMS",
abstract = "Building embedded real-time systems of guaranteed quality, in a cost-effective manner, raises challenging scientific and technological problems. For several years at Aalesund University College (AAUC), there has been ongoing activity in the development of embedded real time systems in close cooperation with private technology developers from the local industry. Much of this work is related to the design and development of systems for process control and camera surveillance of industrial processes, with an emphasis placed on operations on board ships. The main purpose is to maintain and improve safety and efficiency in industrial and ship operations. A very effective way to meet this goal consists of developing distributed embedded real time systems that independently monitor different dedicated tasks and are integrated in a common ubiquitous network. In this context, bachelor students at AAUC are involved in several research projects that give them the possibility of working in an industrial prospective scenario and under the supervision of both their professors and company-employed engineers. Most often, these activities are also part of an innovative educational and research loop, in which the projects evaluated as having the greatest innovative potential are followed up with new prototypes and research activities. By adopting a pedagogical prospective, this paper introduces an overview of the most promising student projects and methods for including bachelor students in real-time process control research activities is presented. The pedagogical and technological bases of this work are first discussed, and afterwards an analysis is done regarding the importance of COTS (Commercial Off-The-Shelf) products and system integration. Software and communication protocols are discussed from a system integration point of view. Finally, the results and conclusions of this approach are presented.",
url = "http://www.scs-europe.net/dlib/2014/2014-0108.htm"
}

8. Saleh Alaliyat, Harald Yndestad and Filippo Sanfilippo. Optimisation of Boids Swarm Model Based on Genetic Algorithm and Particle Swarm Optimisation Algorithm (Comparative Study). In Proceedings of the 28th European Conference on Modelling and Simulation (ECMS), Brescia, Italy. 2014, 643â€“650. URL PDF BibTeX

@inproceedings{alaliyat2014optimisation,
title = "Optimisation of Boids Swarm Model Based on Genetic Algorithm and Particle Swarm Optimisation Algorithm (Comparative Study)",
author = "Alaliyat, Saleh and Yndestad, Harald and Sanfilippo, Filippo",
booktitle = "Proceedings of the 28th European Conference on Modelling and Simulation (ECMS), Brescia, Italy",
pages = "643--650",
year = 2014,
organization = "ECMS",
abstract = "In this paper, we present two optimisation methods for a generic boids swarm model which is derived from the original Reynolds' boids model to simulate the aggregate moving of a fish school. The aggregate motion is the result of the interaction of the relatively simple behaviours of the individual simulated boids. The aggregate moving vector is a linear combination of every simple behaviour rule vector. The moving vector coefficients should be identified and optimised to have a realistic flocking moving behaviour. We proposed two methods to optimise these coefficients, by using genetic algorithm (GA) and particle swarm optimisation algorithm (PSO). Both GA and PSO are population based heuristic search techniques which can be used to solve the optimisation problems. The experimental results show that optimisation of boids model by using PSO is faster and gives better convergence than using GA.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/Optimisation_of_Boids_Swarm_Model_Based_on_Genetic_Algorithm_and_Particle_Swarm_Optimisation_Algorithm_Comparative_Study.pdf",
url = "http://www.scs-europe.net/dlib/2014/2014-0643.htm"
}

9. Filippo Sanfilippo. On the Design of High Quality Sensorised Modular Strollers. Final version 1, Department of Maritime Technology and Operations, Aalesund University College, Norway, March 2014. PDF BibTeX

@techreport{key:sanfilippotechreport,
author = "Sanfilippo, Filippo",
title = "On the Design of High Quality Sensorised Modular Strollers",
institution = "Department of Maritime Technology and Operations, Aalesund University College, Norway",
year = 2014,
type = "Final version",
number = 1,
month = "March",
note = "This is a proposal presented to Stokke for a virtual and physical rapid-prototyping framework that allows for the simulation and optimal design of high quality sensorised modular strollers.",
abstract = "A short summary of the publication.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/modgrasp-an-open-source-rapid-prototyping-framework-for-designing-low-cost-sensorised-modular-hands.pdf"
}

10. WebjÃ¸rn Rekdalsbakken and Filippo Sanfilippo. Including Bachelor Students in Research Activities in Real-Time Process Control. In Amdam JÃ¸rgen, Ã˜yvind Helgesen and Knut-Willy SÃ¦ther (eds.). Det Mangfaldige Kvalitetsomgrepet: Fjordantologi 2013. forlag1, January 2014, pages 279â€“297. PDF BibTeX

@incollection{sanfilippo2014research,
author = "Rekdalsbakken, Webj{\o}rn and Sanfilippo, Filippo",
title = "Including Bachelor Students in Research Activities in Real-Time Process Control",
booktitle = "Det Mangfaldige Kvalitetsomgrepet: Fjordantologi 2013",
publisher = "forlag1",
year = 2014,
editor = "J{\o}rgen, Amdam and Helgesen, {\O}yvind and S{\ae}ther, Knut-Willy",
type = "Final version",
pages = "279--297",
edition = "First",
month = "January",
abstract = "Kvalitet er det samlande omgrepet i denne antologien basert p{\aa} artiklar og posterar presentert p{\aa} Fjordkonferansen 2013. Kvalitet er eit mykje brukt omgrep og blir tolka og forst{\aa}tt p{\aa} ulike m{\aa}tar. Kvalitetsomgrepa nytta i artiklane er sterkt farga av faglege tradisjonar vi finn i forskings- og utdanningsmilj{\o}a p{\aa} Nordvestlandet. Sentralt st{\aa}r sp{\o}rsm{\aa}let Kva er kvalitet?'' og med s{\ae}rleg vekt p{\aa}: (1) Kvalitetsvurdering: For {\aa} vurdere om noko er bra eller d{\aa}rleg m{\aa} ein ha eit samanlikningsgrunnlag. (2) Kvalitetsstyring: For betring av kvalitet m{\aa} ein leie eller styre prosessar og tiltak med grunnlag i vurdering av kvalitet. Fjordkonferansen er samlingsstad for utveksling av kunnskap og erfaringar og skal bidra til nettverksbygging mellom fagmilj{\o}a i Sogn og Fjordane og M{\o}re og Romsdal.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/on-the design-of-high-quality-sensorised-modular-strollers.pdf"
}

##### Â
1. Filippo Sanfilippo, Lars Ivar Hatledal, Hans Georg Schaathun, Kristin Ytterstad Pettersen and Houxiang Zhang. A Universal Control Architecture for Maritime Cranes and Robots Using Genetic Algorithms as a Possible Mapping Approach. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China. 2013, 322â€“327. URL PDF BibTeX

@inproceedings{sanfilippo2013universal,
title = "A Universal Control Architecture for Maritime Cranes and Robots Using Genetic Algorithms as a Possible Mapping Approach",
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Schaathun, Hans Georg and Pettersen, Kristin Ytterstad and Zhang, Houxiang",
booktitle = "Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China",
pages = "322--327",
year = 2013,
organization = "IEEE",
abstract = "This paper introduces a flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms by using the same universal input device regardless of their differences in size, kinematic structure, degrees of freedom, body morphology, constraints and affordances. The manipulators that are to be controlled can be added to the system simply by defining the corresponding Denavit-Hartenberg table and their joint limits. The models can be simulated in a 3D visualisation environment, which provides the user with an intuitive visual feedback. The presented architecture represents the base for the research of a flexible mapping procedure between a universal input device and the manipulators to be controlled. As a case study, our first attempt of implementing such a mapping algorithm is also presented. This method is bio-inspired and it is based on the use of Genetic Algorithms (GA). Using this approach, the system is able to automatically learn the inverse kinematic properties of different models. Related simulations were carried out to validate the efficiency of proposed architecture and mapping method.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-robio2013.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6739479&contentType=Conference+Publications"
}

2. Filippo Sanfilippo, Hans Petter Hildre, Vilmar Ã†sÃ¸y, Houxiang Zhang and Eilif Pedersen. Flexible Modeling And Simulation Architecture For Haptic Control Of Maritime Cranes And Robotic Arms. In Proceedings of the 27th European Conference on Modelling and Simulation (ECMS), Aalesund, Norway. 2013, 235â€“242. URL PDF BibTeX

@inproceedings{sanfilippo2013flexible,
title = "Flexible Modeling And Simulation Architecture For Haptic Control Of Maritime Cranes And Robotic Arms",
author = "Sanfilippo, Filippo and Hildre, Hans Petter and {\AE}s{\o}y, Vilmar and Zhang, Houxiang and Pedersen, Eilif",
booktitle = "Proceedings of the 27th European Conference on Modelling and Simulation (ECMS), Aalesund, Norway",
pages = "235--242",
year = 2013,
organization = "ECMS",
abstract = "This paper introduces a modular prototyping system architecture that allows for the modeling, simulation and control of different maritime cranes or robotic arms with different kinematic structures and degrees of freedom using the Bond Graph Method. The resulting models are simulated in a virtual environment and controlled using the same input haptic device, which also provides the user with a valuable force feedback. The arm joint angles can be calculated at runtime according to the specific model of the robot to be controlled. The idea is to develop a library of crane beams, joints and actuator models that can be used as modules for simulating different cranes. The base module of this architecture is the crane beam model. Using different joint modules to connect several such models, different crane prototypes can be easily built. The library also includes a simplified model of a vessel to which the crane models can be connected in order to get a complete model. Related simulations were carried out using the so-called 20-sim simulator to validate efficiency and flexibility of the proposed architecture. In particular, a two-beam crane model connected to a simplified vessel model was implemented. To control the arm, an omega.7 from Force Dimension was used as an input haptic device.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-ecms2013.pdf",
url = "http://www.scs-europe.net/dlib/2013/2013-0235.htm"
}

##### Â
1. Filippo Sanfilippo, Gionata Salvietti, Houxiang Zhang, Hans Petter Hildre and Domenico Prattichizzo. Efficient modular grasping: An iterative approach. In Proceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy. 2012, 1281â€“1286. URL PDF BibTeX

@inproceedings{sanfilippo2012efficient,
title = "Efficient modular grasping: An iterative approach",
author = "Sanfilippo, Filippo and Salvietti, Gionata and Zhang, Houxiang and Hildre, Hans Petter and Prattichizzo, Domenico",
booktitle = "Proceedings of the 4th IEEE RAS \& EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy",
pages = "1281--1286",
year = 2012,
organization = "IEEE",
abstract = {This paper introduces a new modular approach to robotic grasping that allows for finding a trade off between a simple gripper and more complex human like manipulators. The modular approach to robotic grasping aims to understand human grasping behavior in order to replicate grasping and skilled in-hand movements with an artificial hand using simple, robust, and flexible modules. In this work, the design of modular grasping devices capable of adapting to different requirements and situations is investigated. A novel algorithm that determines effective modular configurations to get efficient grasps of given objects is presented. The resulting modular configurations are able to perform effective grasps that a human would consider "stable". Related simulations were carried out to validate the efficiency of the algorithm. Preliminary results show the versatility of the modular approach in designing grippers.},
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-biorob2012.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6290693&contentType=Conference+Publications"
}

2. Cong Liu, Filippo Sanfilippo, Houxiang Zhang, Hans Petter Hildre, Chang Liu and Shusheng Bi. Locomotion Analysis of a Modular Pentapedal Walking Robot. In Proceedings of the 26th European Conference on Modelling and Simulation (ECMS), Koblenz, Germany. 2012, 441â€“447. URL PDF BibTeX

@inproceedings{liu2012locomotion,
title = "Locomotion Analysis of a Modular Pentapedal Walking Robot",
author = "Liu, Cong and Sanfilippo, Filippo and Zhang, Houxiang and Hildre, Hans Petter and Liu, Chang and Bi, Shusheng",
booktitle = "Proceedings of the 26th European Conference on Modelling and Simulation (ECMS), Koblenz, Germany",
pages = "441--447",
year = 2012,
organization = "ECMS",
abstract = "In this paper, the configuration of a five-limbed modular robot is introduced. A specialised locomotion gait is designed to allow for omni-directional mobility. Due to the large diversity resulting from various gait sequences, a criteria for selecting the best gaits based on their stability characteristics is proposed. A series of simulations is then performed to evaluate the various gaits in different walking directions. A gait arrangement scheme toward omni-directional locomotion is finally derived. Lastly, Experiments are also carried out on our pentapedal robot prototype in order to validate the results of simulation. The experiments confirm the gait analysis and selection is highly accurate in the evaluation of gait stability.",
pdf = "http://www.scs-europe.net/conf/ecms2012/ecms2012%20accepted%20papers/mct_ECMS_0037.pdf",
url = "http://www.scs-europe.net/dlib/2012/2012-0441.htm"
}

##### Â
1. Filippo Sanfilippo. MastersThesis: On the Design of Effective Modular Reconfigurable Grippers: an Iterative Approach. Final version, University of Siena, Siena, Italy, 2011. PDF BibTeX

@mastersthesis{sanfilippo2011design,
author = "Sanfilippo, Filippo",
title = "MastersThesis: On the Design of Effective Modular Reconfigurable Grippers: an Iterative Approach",
school = "University of Siena",
year = 2011,
type = "Final version",
abstract = "We investigate the possibility of developing a modular robotic gripper that allows for easy adaptation to different requirements and situations. In other words, we deÞne the guidelines for creating a device capable of adapting its structure and functionality to the characteristics of an object or a set of objects to be grasped. An algorithm capable of determining efficient modular gripper configurations to get a stable grasp of given objects is developed.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-msc-thesis.pdf"
}

##### Â
1. Filippo Sanfilippo. BachelorsThesis: Real World and Virtual World Architecture for Interconnecting First and Second Life. Final version, University of Catania, Catania, Italy, 2009. PDF BibTeX

@mastersthesis{sanfilippo2009real,
author = "Sanfilippo, Filippo",
title = "BachelorsThesis: Real World and Virtual World Architecture for Interconnecting First and Second Life",
school = "University of Catania",
year = 2009,
type = "Final version",
abstract = "This thesis researches integrating the real world with virtual worlds where real world data is imported, manipulated and visualised in a virtual world. The overall objective is to create a generic architecture for interconnecting the real and virtual worlds with the end purpose of establishing real-time communications between them.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-bsc-thesis.pdf"
}

##### Â
1. MJ Callaghan, JG Harkin, G Scibilia, F Sanfilippo, Kerri McCusker and S Wilson. Experiential based learning in 3D Virtual Worlds: Visualization and data integration in Second Life. In Remote Engineering & Virtual Instrumentation, (REV 2008). 2008. URL PDF BibTeX

@inproceedings{callaghan2008experiential,
title = "Experiential based learning in 3D Virtual Worlds: Visualization and data integration in Second Life",
author = "Callaghan, MJ and Harkin, JG and Scibilia, G and Sanfilippo, F and McCusker, Kerri and Wilson, S",
booktitle = "Remote Engineering \& Virtual Instrumentation, (REV 2008)",
year = 2008,
organization = "REV",
abstract = "This paper investigates the use of the popular virtual world, Second Life, to create experiential based learning experiences in a 3D immersive world for teaching computer hardware and electronic systems. In particular, the paper presents a number of approaches to capturing, displaying and visualizing real world data in such 3D virtual environments.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-rev2008.pdf",
url = "http://eprints.ulster.ac.uk/8821/"
}

Filippo Sanfilippo


text:
# FFT followed by SVD leads to topography?

I am implementing the localizer method from this paper. One of the steps is not hard to understand and implement, but I don't understand why it is applied or what is the rationale behind it.

Each data epoch is a 60x500 array corresponding to 500 points on 60 channels sampled at 500 Hz. The paper states:

Fourier transform with 1 Hz resolution was applied to determine the frequency in 8–13 Hz band that had maximum power per Hz (frequency of maximum power (FMP)). Since the amplitude-modulated sound occurred in 40 Hz, the Fourier transform was applied to extract real and imaginary parts of 40 Hz as well as in FMP for each epoch.

8-13 Hz corresponds to the alpha band. The amplitude-modulated audio sound occuring in 40 Hz is called ASSR. My python implementation of this step:

for i, epoch in enumerate(epochs):
# epoch.shape = (60, 500)

# Util function to return the fq associated to each bin
fft_freq = np.fft.rfftfreq(epoch.shape[1], 1.0/fs) # 0 to 250, step 1
# FFT
fft_val = np.fft.rfft(epoch, axis=1) # (60, 251)

# Keep the FFT for alpha band and ASSR
alpha_band = np.where(np.logical_and(fft_freq>=8, fft_freq<=13))[0]
alpha_band_fft = fft_val[:, alpha_band] # (60, 6)

ASSR = np.where(fft_freq == 40)[0]
ASSR_fft = fft_val[:, ASSR] # (60, 1)

# Find FMP
psd = np.square(np.abs(alpha_band_fft)) # (60, 6), equivalent to a periodogram
FMP = 2 # FMP determine in 0,1,2,3,4,5 with 0 corresponding to 8 Hz and 5 to 13 Hz
FMP_fft = alpha_band_fft[:, [FMP]] # (60, 1), In this example, I selected 10 Hz

As I am not yet sure how the FMP is chosen, I simply took 2 (corresponding to 10 Hz) as an example here.

We applied SVD on real and imaginary parts on FMP and 40 Hz separately to calculate two different topographies of the brain in each epoch. The first column of u for 40 Hz is the topography of 40 Hz and the first column of u for FMP is the topography of FMP.

The relation between u and SVD is explicitly given in the paper, just in case. I used numpy for the implementation.

u, s, v = np.linalg.svd(ASSR_fft, full_matrices=False)
u, s, v = np.linalg.svd(FMP_fft, full_matrices=False)

With the parameter full_matrices set to True, the shapes returned are: u.shape = (60, 60), s.shape = (1, ), v.shape = (1, 1). However, since only the first column from u is interesting, I have set full_matrices to False to reduce computation and to return an array u of shape (60, 1).

Question: What is the information extracted here? Why is the first column of u the topography of a given frequency? I do not get what the SVD is achieving here.

format: plain


text:
# Dx/dy vs dy/dx

#### Borek

Mentor
I am reading an old paper and I have came to the passage shown in the picture:

k, CA, CB and V0 are all just some constants.

I think I know what they did - they differentiated the first equation calculating dpH/dV and then took reciprocals of both sides of the equation. Is it a valid approach?

I am not able to get the same result solving the first equation for V and calculating dV/dpH then.

Bear in mind I am mathemathically challenged and English is my second language, I can be missing something obvious.

Last edited:

#### D H

Staff Emeritus
Yes, this is a valid approach. Let $y=f(x)$. Obviously, $dy/dx = df/dx$. Differentiating $y=f(x)$ with respect to y yields

$$1 = \frac{df}{dx}\,\frac{dx}{dy}$$

Solving for $dx/dy$,

$$\frac{dx}{dy} = \frac 1 {df/dx} = \frac 1 {dy/dx}$$

#### Borek

Mentor
OK, thank you.

So going the other way (that is solving for V and differentiating), I should get the same result?

#### epenguin

Homework Helper
Gold Member
OK, thank you.

So going the other way (that is solving for V and differentiating), I should get the same result?
On the way there I think you slightly simplify and easier see the calculation if you combine terms inside the bracket of first eq. into a single fraction and then express that as

pH = k - log(CAV0 - CBV) + log(V0 + V)

#### Borek

Mentor
I have to solve for V, having two logs doesn't make it easier.

I tried both manually and with TI 89, but I can't get the same result as the one printed. Will try later again.

#### epenguin

Homework Helper
Gold Member
Borek, I'll put this up here instead of PM as hopefully someone can check it in case of mistakes er typos.

For the differentiation

$$pH = k - log(\frac{C_AV_0 - C_BV}{V_0 + V})$$

$$= k - log(C_AV_0 - C_BV) +log(V_0 + V)$$

$$= k + \ln 10 [-\ln(C_AV_0 - C_BV) + \ln(V_0 + V)]$$

Then differentiating

$$\frac{dpH}{dV} = [\frac{- C_B}{C_AV_0 - C_BV} + \frac{1}{V_0 + V}].\ln 10$$

From this you can already see that the point where the LHS is infinite (the pH against V graph is vertical, or V against pH horizontal) is where
$$V = \frac{V_0C_A}{C_B}$$.

The RHS fractions can be combined giving

$$[\frac{\ln10.(C_A - C_B)V_0}{(C_AV_0 - C_BV)(V_0 + V)}]$$

If you wanted to invert this into V = a function of $$\frac{dV}{dpH}$$, rearrange to

$$(C_AV_0 - C_BV)(V_0 + V) = (C_A - C_B)V_0.\ln 10.\frac{dV}{dpH}$$

call the RHS R, say, and then express V by solving the unlovely quadratic in V:

$$-V^2C_B + V V_0(C_A - C_B) + (C_A V_0^2 - R) = 0$$

You ought to get the same thing by inverting and differentiating but I think it is more tedious.

You said you want to invert the first equation anyway. I question whether you do - if it is for plotting it suffices to switch around axes when you plot rather than invert algebraically.

For inverting algebraically work with H rather than pH; and instead of k (which is probably a p something) I define k = - log M, (M = 10-k)

Then the first equation becomes

$$H = M + \frac{C_AV_0 - C_BV}{V_0 + V}$$

which eventually transforms to

$$V = [\frac{C_A - C_B}{C_B + H - M} + 1]V_0$$

or in terms of pH and k

$$V = [\frac{C_A - C_B}{C_B + 10^{-H} - 10^{-k}} + 1]V_0$$

Last edited:

#### Borek

Mentor
From this you can already see that the point where the LHS is infinite (the pH against V graph is vertical, or V against pH horizontal) is where
$$V = \frac{V_0C_A}{C_B}$$.
Hardly surprising - that's the equivalence point

You said you want to invert the first equation anyway.
Whatever I was doing was just to make sure I understand what is going on. And today I had a time to try again - everything is OK.

call the RHS R, say, and then express V by solving the unlovely quadratic in V:

$$-V^2C_B + V V_0(C_A - C_B) + (C_A V_0^2 - R) = 0$$
Something is wrong, no need for quadratic here:

$$V = \frac {-(10^k - C_A 10^{pH}) V_0} {10^k + C_B 10^{pH}}$$

For inverting algebraically work with H rather than pH

This is from the Gran method original paper, BTW.

k (which is probably a p something)
No, that's log(activity coefficient).

Thank's for the help. Yesterday I was not sure about this reciprocal thing - it seemed logical, but I have learnt not to trust my instincts when it comes to anything more complicated than multiplication table.

Last edited:

#### epenguin

Homework Helper
Gold Member
I will work through it again with more calm and clearer head (also had computer trouble today).
We want to show the students how we make mistakes and are very 'umble.

#### Redbelly98

Staff Emeritus
Homework Helper
Borek, I'll put this up here instead of PM as hopefully someone can check it in case of mistakes er typos.

For the differentiation

$$pH = k - log(\frac{C_AV_0 - C_BV}{V_0 + V})$$

$$= k - log(C_AV_0 - C_BV) +log(V_0 + V)$$

$$= k + \ln 10 [-\ln(C_AV_0 - C_BV) + \ln(V_0 + V)]$$

Then differentiating

$$\frac{dpH}{dV} = [\frac{- C_B}{C_AV_0 - C_BV} + \frac{1}{V_0 + V}].\ln 10$$
Should that be +CB in the numerator (two minus-signs cancel each other)?

### Physics Forums Values

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• Topics based on mainstream science
• Proper English grammar and spelling
We Value Civility
• Positive and compassionate attitudes
• Patience while debating
We Value Productivity
• Disciplined to remain on-topic
• Recognition of own weaknesses
• Solo and co-op problem solving