Perceptual Robotics LAB

TECIP

Scuola Superiore Sant’Anna

PERCRO People

• Director: Carlo Aberto Avizzano • Full Professor: Massimo Bergamasco • Associate Professor: Antonio Frisoli • Researchers

– Franco Tecchia (CS) – Marcello Carrozzino (CS) – Emanuele Ruffaldi (CS-AM) – Marco Fontana (AM) – Rocco Vertechy (AM) – Valentina Colla (CS) – Massimiliano Solazzi (AM)

• PhD (12) • Research Collaborators (10)

PERCRO Lab PERCRO

TeCIP

Intelligent

Automation

Systems

Computer

Graphics &

Virtual

Environment

Human

Robot

Interaction

Security,

Energy,

Environment, &

Safety

Gustavo

Stefanini

Finmeccanica

Joint Research

Center

1) Body kinematics 2) Anthropomorphic design 3) Force control 4) Impedance control 5) Compensation and other 6) behaviors

Advances in Robot and Interface design

Environment cam

module

(color recognition, reference

framework changing, target

computing)

Viewpoint module by Arrington ResearchTM

(eye-tracking solver)

Head-mounted cam

module (color recognition, target

selector, target computing)

xeye, yeye

UDP

UD

P

UDP

S (selector)

(xtarg, ytarg, ztarg) exos-ref

UDP

(xproxy, yproxy, zproxy) exos-ref

XPC-target module (proxy computing, on-line

trajectory planning)

Advances in Robot and Interface design Body, Brain perception and motion

1) Body perception 2) Brain and Cognition 3) Motion control

1) Body sensors 2) Data mining 3) Device control

Innovative control methodologies • EMG control of

exoskeleton • BCI control of an

exoskeleton

"Simulink Student Challenge" winner of the world “Simulink Student Challenge” for a video on his research within BRAVO

pushing module

tightening module

elastic vest

Advances in Robot and Interface design Body, Brain perception and motion

Mobile Robotics 1) ROS based 2) Modules integration 3) Laser data 4) Localization issue 5) Object recognition 6) Manipulation

KUKA Youbot (now dual arm) KUKA Youbot (now dual arm)

Robotic manipulator

Fuel Cell

Wind micro-turbine

Photovoltaic panel

Robotic tracker

Hydrogen

Portable and Renewable energy systems

1) Matherials and Technologies 2) Autonomous robotic systems 3) Solar and wind energies 4) Fuel Cell

Fontana, Vertechy

Intelligent data analysis

1) Data collection

2) Manipulation tools

3) Segmentation and labeling

4) Warping & Filter

5) Feature and Hyperparameters

6) Function set approx

7) Model generation

Intelligent Motion control 1) Encountered devices

2) Bayes rule & EM tools

3) Motion prediction

4) Device control

5) Environment integration

Arms motion/force

Encoder 200 Hz

Development and test of a full immersive

rower skills capture system: SPRINT

0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000-100

0

100

200

300

400

500Force (Strain Gauges) performed by a Professional User

Samples

Forc

e

OA

R

FO

RC

E

Seat @ 100 Hz

2400 2600 2800 3000 3200 3400 3600 3800 4000 4200

30

40

50

60

70

80

90

100

Full Motion Tracking

@ 100-200 Hz

VICON

Cosmed K4

@ user’s

breathing pace

Physical behavior modelling

1) Parallel programming 2) FEM models 3) OpenCL 4) VE Integration

X-CAVE

Course Topics 1) Realtime 3D capture 2) Geometrical modeling 3) Networked systems 4) Multiscreen projection 5) Realtime rendering

Computer Graphics & Virtual Environment

1) Real-time computer graphics algorithms; 2) 3D meshes representation; 3) Geometrical compression algorithms ; 4) Shadowing, Illumination & image realism; 5) Procedural modeling; 6) Immersive visualisation; 7) Cluster-based rendering;

[Tecchia, Carrozzino]

Wearable Systems

1) Wearable systems 2) Wearable computing 3) Mobile vision 4) Streaming protocols 5) Augmented reality 6) Tools and technologies

1

2

3

4

5

6

Advances in Robot and Interface design: Simulation

1) Vehicle dynamics 2) Washout filters 3) System architectures 4) VE interface and integration 5) Visualization frames 6) Real-time simulation 7) Interaction with physical objects

[Fontana, Avizzano]

Corsi

Titolo Docente CFU Sem

Multimodal Virtual Environments for Rehabilitation Frisoli, Solazzi 4 2

Networked Virtual Environments Carrozzino, Tecchia

4 1

Body and Brain Perception and Motion Bergamasco 4 2

Machine Learning for Human Motion Ruffaldi 4 2

Fuel-Cells Control Vertechy, Fontana

6 1-2

Energy Harvester Control Vertechy, Fontana

6 1-2

Wearable Motion Tracker Avizzano, Ruffaldi

6 1-2