Aldo Rossi - Academia.edu (original) (raw)

Papers by Aldo Rossi

International Conference on Biomedical Engineering, 2003

... SYSTEM FOR BLIND PEOPLE Giovanni Boschetti1 , Paolo Gallina2 , Giulio Rosati1 , Aldo Rossi1 ,... more ... SYSTEM FOR BLIND PEOPLE Giovanni Boschetti1 , Paolo Gallina2 , Giulio Rosati1 , Aldo Rossi1 , Vanni Zanotto1 1 Department of Innovation in Mechanics and Management DIMEG University of Padova Via Venezia, 1 35131 Padova, Italy email: giovanni.boschetti@unipd.it 2 ...

A teleoperated tracked vehicle for inspecting the inner wall of a RFX machine is presented in thi... more A teleoperated tracked vehicle for inspecting the inner wall of a RFX machine is presented in this paper. It must enter the toroidal chamber of the machine and check the condition of the graphite tiles using a vision system based on a CCD camera. The design of the vehicle has taken into account many requirements imposed by the critical environmental conditions. The encumbrances problems have been faced and solved by off-line simulating the vehicle motion by means of a robotic simulator integrated with a CAD system. The insertion of the vehicle through a port of the chamber has also been off-line simulated in a virtual environment, in order to solve many of the related problems during the design phase.

12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD03, 2003

Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 2000

The objective of this paper is to describe and numerically test a control scheme for a flexible f... more The objective of this paper is to describe and numerically test a control scheme for a flexible four-bar linkage. The dynamic response of the mechanism is reproduced by means of an accurate finite element model accounting for geometric and inertial nonlinearities. A reduced number of measured variables is selected to control both rigid-body motion and vibration separately without implementing an estimator of the state of the system. Rigid-body motion control is performed by means of a PID-like regulator while proportional controllers are employed to damp link oscillations. Appropriate devices are proposed to avoid coupling effects among variables. Numerical results demonstrate the effectiveness of the control when it operates at different sampling times.

AMST’02 Advanced Manufacturing Systems and Technology, 2002

This paper presents a non-contact laser triangulation 3D digitizer which offers a good combinatio... more This paper presents a non-contact laser triangulation 3D digitizer which offers a good combination of accuracy, efficiency, robustness and portability. The key component of the digitizer is an accurate laser triangulation rangefinder which moves on a vertical plane and continuously measures the distance of a last attached to a rotating shaft. A PD control action keeps the distance between the sensor and the last surface within the sensor measuring range, and close to the reference distance which minimizes measurement errors. One linear encoder, measuring the sensor horizontal displacements, and a shaft-position encoder, measuring the last angular displacements, provide the additional data needed for cross section reconstruction. The problem of digitizing a cross section which does not contain the center of rotation is faced using a photoelectric sensor detecting the cross section dimensions before the last reaches the rangefinder. The experimental results prove the effectiveness of the proposed system.

Applied Bionics and Biomechanics, 2011

In recent years, new surgical tools have been designed to improve treatment results and lower pat... more In recent years, new surgical tools have been designed to improve treatment results and lower patient trauma. Nevertheless, the dexterity and accuracy required for the positioning of new tools are often unreachable, if surgeons are not assisted by suitable systems. Significant advantages are derived from the introduction of computer and robot technologies. For that reason, the interaction between robotic systems and surgeons today is producing new interest worldwide both in medical and engineering fields. In particular, medical robotics has found fruitful ground in neurosurgical applications, since the high functional density of the central nervous system requires strict accuracy constraints on tool positioning. As a matter of fact, the major benefits of robots, such as precision, accuracy and repeatability, make them ideal as neurosurgeons' assistants. This paper presents a masterslave haptic robotic system for minimally invasive neurosurgery, which can aid surgeons in performing safer and more accurate stereotactic neurosurgical treatments. The design of the proposed system is based on LANS (Linear Actuator for NeuroSurgery), which has been developed by our Research Group. Experimental test aimed at showing the added value of the DAANS system over its predecessor, the effectiveness of conformational caps and of the added rotational degree of freedom are scheduled for the upcoming months.

Proceedings of the Third Conference on Mechatronics and Robotics, 1995

adjusting procedure is presented, able to find the correlation between a real object and its repr... more adjusting procedure is presented, able to find the correlation between a real object and its representation in a simulation environment. This procedure enables one to design and test complex tasks in the simulation environment and guarantees the correct execution in the real cello The proposed algorithm is based on the surface matching theory and is designed to work whenever does not exist a one to one correspondence between the sets of points. Two types of matching are introduced, called point to point and surface to point. Both matching types are implemented and discussed. The results of some performance tests are presented. The proposed procedure is applied to a skull phantom whose CAD model come from combined CT and MR.

Romansy 14, 2002

This paper presents the design of a PID controller for a flexible planar manipulator, based on a ... more This paper presents the design of a PID controller for a flexible planar manipulator, based on a very accurate dynamic model of the system. The model is employed to test a classical PID regulator in simulation, in order to be able to control a flexible five-bar closed-chain planar manipulator. The chosen PID controller is described, and the most significant simulation results are presented and discussed.

... Manage-ment, and Mechanical Engineering (DIEGM), University of Udine, via delle Scienze 208 -... more ... Manage-ment, and Mechanical Engineering (DIEGM), University of Udine, via delle Scienze 208 - 33100 Udine, Italy (vanni.zanotto@uniud.it) ... Admittedly, the PRS emission axis is currently oriented using stereotactic headframes, by means of long-lasting manual procedures. ...

Sommario Nelle scuole di Ingegneria esigenze didattiche e tradizione culturale privilegiano la ri... more Sommario Nelle scuole di Ingegneria esigenze didattiche e tradizione culturale privilegiano la ricerca algoritmico-analitica, mentre si tende a sottovalutare l'importanza del progetto compiuto, ritenendolo un mero esercizio applicativo. Le recenti innovazioni in campo concorsuale sembrano muoversi nel solco di questa tradizione, penalizzando ulteriormente chi si occupa di progettazione innovativa. Ma se la sintesi progettuale venisse espulsa dalle nostre facoltà tutta l'università ne sarebbe in qualche modo impoverita. In questa memoria gli autori analizzano la situazione delineata e propongono degli spunti di riflessione e delle ipotesi di intervento per non disperdere il patrimonio di competenze e talenti legati all'attività progettuale. Parole chiave: Sintesi, analisi, progetto, sintesi progettuale, valenza scientifica, scientificità, brevetti, realizzazioni, pubblicazioni, citazioni.

Mathematics and Computers in Simulation, 1974

Mechanism and Machine Theory, 1989

Une théorie est proposée pour l'analyse dynamique de mécanismes flexibles. Cette théorie est... more Une théorie est proposée pour l'analyse dynamique de mécanismes flexibles. Cette théorie est basée sur l'utilisation de coefficients de sensibilité et d'éléments finis. On obtient une équation d'équilibre global du mécanisme en imposant un déplacement virtuel au mécanisme de ...

The International Journal of Medical Robotics and Computer Assisted Surgery, 2005

Medical robotics and computer assisted surgery are feasible and promising applications of robotic... more Medical robotics and computer assisted surgery are feasible and promising applications of robotic technology, whose main goals are surgical augmentation, information enhancement and improved surgical action. Neurosurgery probably presents the most major challenges, and can considerably benefit from the introduction of computers and robots to guide surgical procedures. This paper presents an innovative masterslave haptic robotic system for minimally invasive neurosurgery, which can help surgeons overcome human shortcomings and perform more accurate, repeatable, and reliable stereotactic neurosurgery. The system, named LANS, consists of a slave mechatronic actuator and a haptic master. The slave is designed to move linearly a laser pointer, a biopsy needle or a low-energy X-ray emitter along a pre-planned axis. The tool insertion into the brain is guided by the surgeon through the haptic master which also provides force feedback to the operator. Not only can the haptic master reproduce the contact force between the surgical tool and the treated tissue, but it can also produce virtual forces aimed at assisting surgeons during the operations. Experiments have been conducted to prove the soundness and accuracy of the overall system mechanical design and to assess the effectiveness of the control schemes synthesized for the master and the slave.

A hybrid parallel/serial manipulator architecture was introduced in a companion paper where the t... more A hybrid parallel/serial manipulator architecture was introduced in a companion paper where the translational freedoms are provided by a cable-direct-driven robot (CDDR) and the rotational freedoms are provided by a serial wrist mechanism. While the companion paper presents kinematics and statics, the current paper presents a dynamics model and simulated control for planar CDDRs. Examples are presented to compare the planar 3-cable CDDR with one degree of actuation redundancy and the 4-cable CDDR with two degrees of actuation redundancy. It was found that the 4-cable tracking error was worse than for the 3-cable case, due to increased inertia with an additional actuator.

2009 IEEE International Conference on Rehabilitation Robotics, 2009

AbstractPost-stroke robot-aided neurorehabilitation is an emerging research field, aiming to imp... more AbstractPost-stroke robot-aided neurorehabilitation is an emerging research field, aiming to improve the intensity and the effectiveness of post-stroke rehabilitation protocols by using robotic technology and virtual reality. One classification that has been proposed for therapy ...