March 18, 2017

Publications

Panther

Abstract:Powerful Autonomous eNTity High-End Robot (Panther) is a tracked robot made to explore an outdoor environment. It is built with different materials plexiglass, aluminium and plastic and different technologies. It has 9kg of weight and has a size of 42cm with, 40cm deep and 30cm height, with a ground clearance of 7cm. The tracks have a particular damping system with three different dampers. This robot has a ZED stereo camera an NVIDIA Jetson TX1 and the unav a little motor control board. This hardware and the ROS framework enable the machine to interact or wandering around all objects. All code is available on github.

Raffaello Bonghi

Poster presented In GPU Technology Conference Europe, Amsterdam, Passenger Terminal. 28-29 september 2016.

Sampled-Data Stabilization Around the L2 Translunar Libration Point

Abstract: The paper recalls the achievement of quasi-halo orbit following around the L2 translunar libration point via continuous-time nonlinear regulation and presents the corresponding sampled-data design by emulation. The paper also introduces a multirate sampled-data stabilizing control law for performing the same task. Simulation results concerning two such sampled-data control strategies show that the latter sensibly improves the tracking performances compared to the former.

Lorenzo Ricciardi Celsi
Raffaello Bonghi
Salvatore Monaco
Dorothée Normand-Cyrot

Paper presented In 3rd IAA Conference on University Satellite Missions and CubeSat Workshop and International Workshop on Lean Satellite Standardization, Palazzo Rospigliosi, Roma, Italy, November 2015.

On the Exact Steering of Finite Sampled Nonlinear Dynamics with Input Delays 

Abstract: The paper deals with exact steering predictor-based multirate control of nonlinear dynamics with a non-zero drift term and delayed inputs which admit under feedback a finite-order sampled-data equivalent model. Simulation results concerning the adopted control strategy are presented.

Lorenzo Ricciardi Celsi
Raffaello Bonghi
Salvatore Monaco
Dorothée Normand-Cyrot

Paper presented In MICNON 2015 - Conference on Modelling, Identification and Control of Nonlinear Systems, volume 48, pages 674 - 679, Saint-Petersburg, Russia, 2015.

A novel approach for Aerial Manipulation 

Abstract: We explore the idea of using a fully actuated design for an unmanned aerial vehicle developed for aerial manipulation. To this aim, a Trirotor equipped with a prismatic arm has been adopted. An accurate analysis of the mechanical design and modeling of the vehicle has been performed. Particular attention has been given to the analysis of the destabilization effects caused by the arm motion, during the vehicle flight. A system control, able to stabilize the vehicle in different flight conditions, has been developed and implemented in a simulation platform, for verification and validation purposes.

Gianpaolo Gonnelli
Raffaello Bonghi

Poster presented In International CAE Conference, Pacengo del Garda (Verona), Italy, 2014.

International symposium robotics: a new science

Abstract: "Un robot in ogni casa": è lo slogan da cui ha preso le mosse il seminario svoltosi lo scorso 20 febbraio a Roma, ed ha riunito alcuni tra i più importanti esperti mondiali del settore insieme a filosofi ed epistemologi.

Raffaello Bonghi

Paper for Fare Elettronica volume 274, pages 98 - 100,  April 2008.

Explorer: I robot esploratori

Abstract: Nell'articolo precedente abbiamo introdotto i robottini da sumo.
Oggi ci occuperemo della categoria dei robot Explorer: i più diffusi nelle scuole ed in particolar modo negli istituti tecnici.

Raffaello Bonghi

Paper for Fare Elettronica volume 234, pages 94 - 97,  December 2004.

Il sumo robotico

Abstract: In Italia lo "sport robotico" più conosciuto, nel mondo il più seguito... è ora di dare una spiegazione a questa competizione partendo direttamente dalla sua storia.
Quest'articolo partirà dalle origini del MiniSumo fino ad arrivare ai giorni nostri con i nostri simpaticissimi robottini.

Raffaello Bonghi

Paper for Fare Elettronica volume 228, pages 100 - 102,  June 2004.

 

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