Blar i NTNU Open på forfatter "Sanfilippo, Filippo"
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A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface
Sanfilippo, Filippo; Hatledal, Lars Ivar; Pettersen, Kristin Ytterstad; Zhang, Houxiang (Journal article, 2017)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 ... -
A Game-based Learning Framework for Controlling Brain-Actuated Wheelchairs
Hjørungdal, Rolf-Magnus; Sanfilippo, Filippo; Osen, Ottar; Rutle, Adrian; Bye, Robin Trulssen (Chapter, 2016)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 ... -
A multi-sensor fusion framework for improving situational awareness in demanding maritime training
Sanfilippo, Filippo (Journal article, 2017)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 ... -
A Sensor Calibration and Sensor Fusion Approach with Focus on Tactile Force Estimation for Perception-Driven Obstacle-Aided Snake Robot Locomotion
Fredriksen, Vetle Bjørnstad (Master thesis, 2018)Snake robots have been a research topic of interest since Shigeo Hirose developed the first snake robot in 1972. As with many other types of robots, snake robots are interesting because they could be used to perform tasks ... -
A Sensor Fusion Approach with Focus on Visual Sensing for Perception-Driven Obstacle-Aided Snake Robot Locomotion
Kjørholt, Harald Gard Halvorssønn (Master thesis, 2018)Developing snake-like robots can be advantageous for numerous reasons. Biological snakes are capable of traversing all types of terrain in a very energy efficient and effective way. They achieve this variety of locomotion ... -
A Voxel-Based Numerical Method for Computing and Visualising the Workspace of Offshore Cranes
Hatledal, Lars Ivar; Sanfilippo, Filippo; Chu, Yingguang; Zhang, Houxiang (Chapter; Peer reviewed, 2015)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 ... -
ALTERNATIVE AND FLEXIBLE CONTROL METHODS FOR ROBOTIC MANIPULATORS: On the challenge of developing a flexible control architecture that allows for controlling different manipulators
Sanfilippo, Filippo (Doctoral thesis at NTNU;2015:192, Doctoral thesis, 2015)Robotic arms and cranes show some similarities in the way they operate and in the way they are designed. Both have a number of links serially attached to each other by means of joints that can be moved by some type of ... -
Comparison of KVP and RSI for Controlling KUKA Robots Over ROS
Arbo, Mathias Hauan; Eriksen, Ivar; Sanfilippo, Filippo; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)In this work, an open-source ROS interface based on KUKAVARPROXY for control of KUKA robots is compared to the commercial closed-source Robot Sensor Interface available from KUKA. This comparison looks at the difference ... -
Controlling Kuka Industrial Robots : Flexible Communication Interface JOpenShowVar.
Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Fago, Massimiliano; Pettersen, Kristin Ytterstad (Journal article, 2015)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, ... -
Enhancing Teaching Methods on Embedded Systems with Project-Based Learning
Sanfilippo, Filippo; Austreng, Kolbjørn (Chapter, 2018)Automation engineering departments must continuously develop their laboratories and pedagogical tools to provide their students with effective study plans. While acquiring state-of-the-art equipment can be financially ... -
ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands
Sanfilippo, Filippo; Zhang, Houxiang; Pettersen, Kristin Ytterstad; Salvietti, G.; Prattichizzo, Domenico (Chapter, 2014)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 ... -
On Usage Of EEG Brain Control For Rehabilitation Of Stroke Patients
Verplaetse, Tom; Sanfilippo, Filippo; Rutle, Adrian; Osen, Ottar; Bye, Robin Trulssen (Chapter, 2016)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 ... -
Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion
Hanssen, Christian; Transeth, Aksel Andreas; Sanfilippo, Filippo; Liljebäck, Pål; Stavdahl, Øyvind (Chapter, 2020)Development of snake robots have been motivated by the ability of snakes to move efficiently in unstructured and cluttered environments. A snake robot has the potential to utilise obstacles for generating locomotion, in ... -
Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities
Sanfilippo, Filippo; Azpiazu, Jon; Marafioti, Giancarlo; Transeth, Aksel Andreas; Stavdahl, Øyvind; Liljebäck, Pål (Journal article; Peer reviewed, 2017)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 ... -
SnakeSIM: a ROS-based Rapid-Prototyping Framework for Perception-Driven Obstacle-Aided Locomotion of Snake Robots
Sanfilippo, Filippo; Stavdahl, Øyvind; Liljebäck, Pål (Chapter, 2017)Biological snakes are capable of exploiting roughness in the terrain for locomotion. This feature allows them to adapt to different types of environments. Snake robots that can mimic this behaviour could be fitted with ... -
SnakeSIM: a ROS‑based Control and Simulation Framework for Perception‑Driven Obstacle‑Aided Locomotion of Snake Robots
Sanfilippo, Filippo; Stavdahl, Øyvind; Liljebäck, Pål (Journal article; Peer reviewed, 2018)Biological snakes are capable of exploiting roughness in the terrain for locomotion. This feature allows them to adapt to different types of environments. Snake robots that can mimic this behaviour could be fitted with ... -
Sustainable approach to teaching embedded systems with hands-on project-based visible learning
Sanfilippo, Filippo; Austreng, Kolbjørn (Peer reviewed; Journal article, 2021)Although purchasing state-of-the-art teaching equipment may be financially demanding, substantial efforts are being made at the Norwegian University of Science and Technology (NTNU) in Trondheim to provide students with ... -
Virtual prototyping system for maritime crane design and operation based on functional mock-up interface
Chu, Yingguang; Hatledal, Lars Ivar; Sanfilippo, Filippo; Æsøy, Vilmar; Zhang, Houxiang; Schaathun, Hans Georg (Chapter; Peer reviewed, 2015)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, ...