Stefano Mauro
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View article: Methodological framework for assessing the sustainability of electric passenger fleets: Application to the Egadi Archipelago
Methodological framework for assessing the sustainability of electric passenger fleets: Application to the Egadi Archipelago Open
View article: A Multibody Modeling Approach Applied to the Redesign for Additive Manufacturing of a Load Bearing Structure
A Multibody Modeling Approach Applied to the Redesign for Additive Manufacturing of a Load Bearing Structure Open
This study addresses the critical need to enhance productivity in industrial automatic systems by optimizing the mass of moving components. The primary challenge is determining the complex, dynamic loads on structural elements, a prerequis…
View article: Collaborative Robot Control Based on Human Gaze Tracking
Collaborative Robot Control Based on Human Gaze Tracking Open
Gaze tracking is gaining relevance in collaborative robotics as a means to enhance human–machine interaction by enabling intuitive and non-verbal communication. This study explores the integration of human gaze into collaborative robotics …
View article: Methodological Framework for Assessing the Sustainability of Electric Passenger Fleets: Application to the Egadi Archipelago
Methodological Framework for Assessing the Sustainability of Electric Passenger Fleets: Application to the Egadi Archipelago Open
View article: A model-based framework to prevent excavator induced damage in operations on natural gas pipelines
A model-based framework to prevent excavator induced damage in operations on natural gas pipelines Open
Despite the presence of numerous safety precautions, the primary cause of damage to underground pipes is often attributed to external interference from excavators during their operations. To address this issue, this paper introduces a mode…
View article: Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration
Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration Open
The spherical shape is an interesting approach to develop exploration robots, or rovers, thanks to its capability of ensuring omnidirectional motion and of being basically unsensitive to possible rollovers. This works intends to propose a …
View article: Methodological Framework for Assessing the Sustainability of Electric Passenger Fleets: Application to the Egadi Archipelago
Methodological Framework for Assessing the Sustainability of Electric Passenger Fleets: Application to the Egadi Archipelago Open
View article: A Lunar-Orbiting Satellite Constellation for Wireless Energy Supply
A Lunar-Orbiting Satellite Constellation for Wireless Energy Supply Open
The goal of this research is to define a lunar-orbiting system that provides power to the lunar surface through wireless power transmission. To meet the power demand of a lunar base, a constellation of satellites placed in stable orbits is…
View article: Experiments on the Artificial Potential Field with Local Attractors for Mobile Robot Navigation
Experiments on the Artificial Potential Field with Local Attractors for Mobile Robot Navigation Open
Obstacle avoidance is a challenging task in robot navigation, as it requires efficient and reliable methods to avoid collision and reach the desired goal. Artificial potential field methods are widely used for this purpose, as they are eff…
View article: A Comprehensive Multibody Model of a Collaborative Robot to Support Model-Based Health Management
A Comprehensive Multibody Model of a Collaborative Robot to Support Model-Based Health Management Open
Digital models of industrial and collaborative manipulators are widely used for several applications, such as power-efficient trajectory definition, human–robot cooperation safety improvement, and prognostics and health management (PHM) al…
View article: Exact Formulation for the Curvature of Gothic Arch Ball Screw Profiles and New Approximated Solution Based on Simplified Groove Geometry
Exact Formulation for the Curvature of Gothic Arch Ball Screw Profiles and New Approximated Solution Based on Simplified Groove Geometry Open
The correct evaluation of the curvatures of ball screw grooves allows the accurate design of the constructive parameters of this mechanism and enhancing its performance. The formulation commonly used in the literature, however, refers to b…
View article: Development of a methodology to select suitable cutting techniques for the decommissioning of nuclear power plants considering site-specific requirements
Development of a methodology to select suitable cutting techniques for the decommissioning of nuclear power plants considering site-specific requirements Open
In the nuclear industry field, the decommissioning of Nuclear Power Plants (NPPs) is becoming a very relevant issue due to the number of reactors that are expected to shut down in the next few decades. Each plant presents unique characteri…
View article: Design of a Lightweight and Deployable Soft Robotic Arm
Design of a Lightweight and Deployable Soft Robotic Arm Open
Soft robotics represents a rising trend in recent years, due to the ability to work in unstructured environments or in strict contact with humans. Introducing soft parts, robots can adapt to various contexts overcoming limits relative to t…
View article: Robot Collision Avoidance based on Artificial Potential Field with Local Attractors
Robot Collision Avoidance based on Artificial Potential Field with Local Attractors Open
View article: On the Importance of the Root-to-Hub Adapter Effects on Hawt Performance: A Cfd-Bem Numerical Investigation
On the Importance of the Root-to-Hub Adapter Effects on Hawt Performance: A Cfd-Bem Numerical Investigation Open
View article: Design Thinking as a Framework for the Design of a Sustainable Waste Sterilization System: The Case of Piedmont Region, Italy
Design Thinking as a Framework for the Design of a Sustainable Waste Sterilization System: The Case of Piedmont Region, Italy Open
The development of new methods for the correct disposal of waste is unavoidable for any city that aims to become eco-friendly. Waste management is no exception. In the modern era, the treatment and disposal of infectious waste should be se…
View article: Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots
Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots Open
Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and t…
View article: Harmonic Drive Gear Failures in Industrial Robots Applications: An Overview
Harmonic Drive Gear Failures in Industrial Robots Applications: An Overview Open
Industrial robots play a key role in production lines. As a direct consequence, even a slight degradation of their operating conditions could negatively affect the entire manufacturing process. To minimize economical losses, preventive mea…
View article: Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications
Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications Open
The rising interest in soft robotics, combined to the increasing applications in the space industry, leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package…
View article: A Practical and Effective Layout for a Safe Human-Robot Collaborative Assembly Task
A Practical and Effective Layout for a Safe Human-Robot Collaborative Assembly Task Open
This work describes a layout to carry out a demonstrative assembly task, during which a collaborative robot performs pick-and-place tasks to supply an operator the parts that he/she has to assemble. In this scenario, the robot and operator…
View article: Modeling of Flexible Bodies for the Study of Control in the Simulink Environment
Modeling of Flexible Bodies for the Study of Control in the Simulink Environment Open
When studying complex mechatronic systems, it is useful to build models able to simulate both the dynamics of the phenomenon and the control system applied. Typically, the bodies involved are modeled as rigid bodies. In this work, a techni…
View article: A Novel Platform for Smart 3D Manufacturing System
A Novel Platform for Smart 3D Manufacturing System Open
The proposed paper is about the development of an integrated manufacturing process for smart 3D polymeric components, with electronics embedded, developed in the framework of research collaboration between the university partner and a grou…
View article: Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks
Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks Open
View article: Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks
Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks Open
View article: Influence of Human Limb Motion Speed in a Collaborative Hand-over Task
Influence of Human Limb Motion Speed in a Collaborative Hand-over Task Open
View article: Influence of Human Limb Motion Speed in a Collaborative Hand-over Task
Influence of Human Limb Motion Speed in a Collaborative Hand-over Task Open
The paper analyses a possible cooperative task between a human operator and a robot.Operator and robot are interfaced by Microsoft Kinect® which is used to detect the position of an upper limb of the operator.The robot is driven by a contr…
View article: Vision-based localization of the center of mass of large space debris via statistical shape analysis
Vision-based localization of the center of mass of large space debris via statistical shape analysis Open
The current overpopulation of artificial objects orbiting the Earth has increased the interest of the space agencies on planning missions for de-orbiting the largest inoperative satellites. Since this kind of operations involves the captur…
View article: Collision Avoidance Algorithm for Collaborative Robotics
Collision Avoidance Algorithm for Collaborative Robotics Open
The paper discusses a study on a real-time collision avoidance algorithm for collaborative robotics applications. Within the work it is considered that a vision system detects the position of an obstacle and defines an ellipsoid which comp…
View article: Analysis of the pushing phase in Paralympic cross-country sit-skiers – Class LW10
Analysis of the pushing phase in Paralympic cross-country sit-skiers – Class LW10 Open
Paralympic Cross-Country sit-skiers use adaptive equipment, with a resulting gesture similar to double poling techniques adopted by able-bodied skiers. Despite the similarity, a specific attention on the gesture performed by sit-skiers is …
View article: High concentration photovoltaic system with parallel kinematic solar tracker
High concentration photovoltaic system with parallel kinematic solar tracker Open
The paper introduces a high concentration photovoltaic system developed at Politecnico di Torino. The system includes a new kind of solar tracker, based on a parallel kinematic mechanism, some high concentration photovoltaic modules and a …