Filippo Sanfilippo

• Zafar, Muhammad Hamza; Langås, Even Falkenberg & Sanfilippo, Filippo (2024). Exploring the synergies between collaborative robotics, digital twins, augmentation, and industry 5.0 for smart manufacturing: A state-of-the-art review. Robotics and Computer-Integrated Manufacturing. ISSN 0736-5845. 89. doi: 10.1016/j.rcim.2024.102769.
• Baila, Diana Irinel; Sanfilippo, Filippo; Savu, Tom; Górski, Filip; Radu, Ionut Cristian & Zaharia, Catalin [Vis alle 9 forfattere av denne artikkelen] (2024). 3D printing of personalised stents using new advanced photopolymerizable resins and Ti-6Al-4V alloy. Rapid prototyping journal. ISSN 1355-2546. doi: 10.1108/RPJ-10-2023-0360.
• Moosavi, Syed Kumayl Raza; Zafar, Muhammad Hamza & Sanfilippo, Filippo (2024). Collaborative robots (cobots) for disaster risk resilience: a framework for swarm of snake robots in delivering first aid in emergency situations. Frontiers in Robotics and AI. ISSN 2296-9144. 11. doi: 10.3389/frobt.2024.1362294.
• Zafar, Muhammad Hamza; Khan, Noman Mujeeb; Houran, Mohamad Abou; Mansoor, Majad; Akhtar, Naureen & Sanfilippo, Filippo (2024). A novel hybrid deep learning model for accurate state of charge estimation of Li-Ion batteries for electric vehicles under high and low temperature. Energy. ISSN 0360-5442. 292. doi: 10.1016/j.energy.2024.130584.
• Bukhari, Syed Muhammad Salman; Zafar, Muhammad Hamza; Houran, Mohamad Abou; Moosavi, Syed Kumayl Raza; Mansoor, Majad & Muaaz, Muhammad [Vis alle 7 forfattere av denne artikkelen] (2024). Secure and privacy-preserving intrusion detection in wireless sensor networks: Federated learning with SCNN-Bi-LSTM for enhanced reliability. Ad hoc networks. ISSN 1570-8705. 155. doi: 10.1016/j.adhoc.2024.103407.
• Păcurar, Răzvan Ioan; Sanfilippo, Filippo; Økter, Martin Bjaadal; Băilă, Diana-Irinel; Zaharia, Cătălin & Nicoară, Adrian Ionuţ [Vis alle 14 forfattere av denne artikkelen] (2024). Use of high-performance polymeric materials in customized low-cost robotic grippers for biomechatronic applications: experimental and analytical research. Frontiers in Materials. ISSN 2296-8016. 11. doi: 10.3389/fmats.2024.1304339.
• Zafar, Muhammad Hamza; Khan, Noman Mujeeb; Mansoor, Majad & Sanfilippo, Filippo (2023). Optimal Tuning of PID Controller for Boost Converter using Meta-Heuristic Algorithm for Renewable Energy Applications. I NN, NN (Red.), International Conference on Mechanical, Automotive and Mechatronics Engineering (ICMAME 2023). ICMAME. ISSN 9786250015261. s. 1–6.
• Murtaza, Aitzaz Ahmed; Amina, Saher; Mohyuddin, Hassan; Moosavi, Syed Kumayl Raza; Zafar, Muhammad Hamza & Sanfilippo, Filippo (2023). Enhancing Cardiovascular Disease Prediction via Hybrid Deep Learning Architectures: A Step Towards Smart Healthcare. I NN, NN (Red.), 2nd International Conference on Emerging Trends in Electrical, Control, and Telecommunication Engineering (ETECTE). IEEE conference proceedings. ISSN 9798350305654. s. 1–6. doi: 10.1109/ETECTE59617.2023.10396716. Fulltekst i vitenarkiv
• Langås, Even Falkenberg; Zafar, Muhammad Hamza & Sanfilippo, Filippo (2023). Harnessing digital twins for human-robot teaming in industry 5.0: Exploring the ethical and philosophical implications. I Yu, Wen (Red.), 2023 IEEE Symposium Series on Computational Intelligence (SSCI). IEEE conference proceedings. ISSN 978-1-6654-3065-4. s. 1788–1793. doi: https:/doi.org/10.1109/SSCI52147.2023.10372069. Fulltekst i vitenarkiv
• Hua, Tuan; Langås, Even Falkenberg; Zafar, Muhammad Hamza & Sanfilippo, Filippo (2023). From rigid to hybrid/soft robots: Exploration of ethical and philosophical aspects in shifting from caged robots to human-robot teaming. I Yu, Wen (Red.), 2023 IEEE Symposium Series on Computational Intelligence (SSCI). IEEE conference proceedings. ISSN 978-1-6654-3065-4. s. 1794–1799. doi: %2010.1109/SSCI52147.2023.10372032. Fulltekst i vitenarkiv
• Zafar, Muhammad Hamza; Younus, Hassaan Bin; Moosavi, Syed Kumayl Raza; Mansoor, Majad & Sanfilippo, Filippo (2023). Online PID Tuning of a 3-DoF Robotic Arm Using a Metaheuristic Optimisation Algorithm: A Comparative Analysis. I NA, NA (Red.), Communications in Computer and Information Science. Springer. ISSN 978-3-031-48981-5. s. 25–37. doi: 10.1007/978-3-031-48981-5_3.
• Zafar, Muhammad Hamza; Sanfilippo, Filippo & Blažauskas, Tomas (2023). Harmony unleashed: Exploring the ethical and philosophical aspects of machine learning in human-robot collaboration for industry 5.0. I Yu, Wen (Red.), 2023 IEEE Symposium Series on Computational Intelligence (SSCI). IEEE conference proceedings. ISSN 978-1-6654-3065-4. s. 1775–1780. doi: 10.1109/SSCI52147.2023.10371798.
• Moosavi, Syed Kumayl Raza; Zafar, Muhammad Hamza; Mirjalili, Seyedali & Sanfilippo, Filippo (2023). Improved Barnacles Movement Optimizer (IBMO) Algorithm for Engineering Design Problems. I NN, NN (Red.), Artificial Intelligence and Soft Computing. Springer. ISSN 978-3-031-42505-9. s. 427–438. doi: 10.1007/978-3-031-42505-9_36. Fulltekst i vitenarkiv
• Zafar, Muhammad Hamza; Moosavi, Syed Kumayl Raza & Sanfilippo, Filippo (2023). Inverse Kinematic Modelling of a 3-DOF Robotic Manipulator using Hybrid Deep Learning Models. Procedia CIRP. ISSN 2212-8271. 120, s. 213–218. doi: 10.1016/j.procir.2023.08.038. Fulltekst i vitenarkiv
• Sanfilippo, Filippo & Rañó, Inaki (2023). Mimicking the Sense of Smell of Search and Rescue (SAR) Dogs: a Bio-inspired Steering Framework for Quadruped Robots. I Radianti, Jaziar; Dokas, Ioannis; LaLone, Nicolas & Khazanchi, Deepak (Red.), 20th Global Information Systems for Crisis Response and Management Conference (ISCRAM 2023). ISCRAM. ISSN 979-8-218-21749-5. s. 892–901.
• Górski, Filip; Rybarczyk, Dominik; Wichniarek, Radosław; Wierzbicka, Natalia; Kuczko, Wiesław & Żukowska, Magdalena [Vis alle 12 forfattere av denne artikkelen] (2023). Development and Testing of an Individualized Sensorised 3D Printed Upper Limb Bicycle Prosthesis for Adult Patients. Applied Sciences. ISSN 2076-3417. 13(23). doi: 10.3390/app132312918. Fulltekst i vitenarkiv
• Górski, Filip; Grohs, Aleksandra; Kuczko, Wiesław; Żukowska, Magdalena; Wichniarek, Radosław & Siwiec, Sabina [Vis alle 10 forfattere av denne artikkelen] (2023). Development and Studies of VR-Assisted Hand Therapy Using a Customized Biomechatronic 3D Printed Orthosis. Electronics. ISSN 2079-9292. 13(1). doi: 10.3390/electronics13010079. Fulltekst i vitenarkiv
• Zafar, Muhammad Hamza; Langås, Even Falkenberg & Sanfilippo, Filippo (2023). Empowering human-robot interaction using sEMG sensor: Hybrid deep learning model for accurate hand gesture recognition. Results in Engineering (RINENG). ISSN 2590-1230. 20. doi: 10.1016/j.rineng.2023.101639. Fulltekst i vitenarkiv Vis sammendrag

  In this paper, a novel approach using a Henry Gas Solubility-based Stacked Convolutional Neural Network (HGS-SCNN) for hand gesture recognition using surface electromyography (sEMG) sensors is proposed. The stacked architecture of the CNN model helps to capture both low-level and high-level features, enabling effective representation learning. To begin, we generated a dataset comprising 600 samples of hand gestures. Next, we applied the Discrete Wavelet Transform (DWT) technique to extract features from the filtered sEMG signal. This step allowed us to capture both spatial and frequency information, enhancing the discriminative power of the extracted features. Extensive experiments are conducted to evaluate the performance of the proposed HGS-SCNN model. In addition, the obtained results are compared with state-of-the-art techniques, namely AOA-SCNN, GWO-SCNN, and WOA-SCNN. The comparative analysis demonstrates that the HGS-SCNN outperforms these existing methods, achieving an impressive accuracy of 99.3%. The experimental results validate the effectiveness of our proposed approach in accurately detecting hand gestures. The combination of DWT-based feature extraction and the HGS-SCNN model offers robust and reliable hand gesture recognition, thereby opening new possibilities for intuitive human-machine interaction and applications requiring gesture-based control.

• Salman Bukhari, Syed Muhammad; Raza Moosavi, Syed Kumayl; Zafar, Muhammad Hamza; Mansoor, Majad; Mohyuddin, Hassan & Sajid Ullah, Syed [Vis alle 8 forfattere av denne artikkelen] (2023). Federated transfer learning with orchard-optimized Conv-SGRU: A novel approach to secure and accurate photovoltaic power forecasting. Renewable Energy Focus. ISSN 1755-0084. 48. doi: 10.1016/j.ref.2023.100520. Fulltekst i vitenarkiv
• Moosavi, Syed Kumayl Raza; Zafar, Muhammad Hamza; Sanfilippo, Filippo; Akhter, Malik Naveed & Hadi, Shahzaib Farooq (2023). Early Mental Stress Detection Using Q-Learning Embedded Starling Murmuration Optimiser-Based Deep Learning Model. IEEE Access. ISSN 2169-3536. 11, s. 116860–116878. doi: 10.1109/ACCESS.2023.3326129. Fulltekst i vitenarkiv Vis sammendrag

  Stress affects individual of all ages as a regular part of life, but excessive and chronic stress can lead to physical and mental health problems, decreased productivity, and reduced quality of life. By identifying stress at an early stage, individuals can take steps to manage it effectively and improve their overall well-being. Feature selection is a critical aspect of early stress detection because it helps identify the most relevant and informative features that can differentiate between stressed and non-stressed individuals. This paper firstly proposes a variance based feature selection technique that uses q-learning embedded Starling Murmuration Optimiser (QLESMO) to choose relevant features from a publicly available dataset in which stresses experienced by nurses working during the Covid’19 Pandemic is recorded using bio-signals and user surveys. Furthermore, a comparative study with other metaheuristic based feature selection techniques have been demonstrated. Next, to evaluate the efficacy of the proposed algorithm, 10 benchmark test functions have been used. The reduced feature subset is then classified through a 1D convolutional neural network (CNN) model (QLESMO-CNN) and is seen to perform well in terms of the evaluation metrics in comparison to other competitive algorithms. Finally, the proposed technique is compared with the State-of-the-Art methodologies present in literature. The experiments provide a strong basis to determine features that are most relevant for early mental stress classification using a hybrid model combining CNN, Reinforcement Learning and metaheuristic algorithms.

• Zafar, Muhammad Hamza; Bukhari, Syed Muhammad Salman; Abou Houran, Mohamad; Moosavi, Syed Kumayl Raza; Mansoor, Majad & Al-Tawalbeh, Nedaa [Vis alle 7 forfattere av denne artikkelen] (2023). Step towards secure and reliable smart grids in Industry 5.0: A federated learning assisted hybrid deep learning model for electricity theft detection using smart meters. Energy Reports. ISSN 2352-4847. 10, s. 3001–3019. doi: 10.1016/j.egyr.2023.09.100. Fulltekst i vitenarkiv
• Mohyuddin, Hassan; Moosavi, Syed Kumayl Raza; Zafar, Muhammad Hamza & Sanfilippo, Filippo (2023). A comprehensive framework for hand gesture recognition using hybrid-metaheuristic algorithms and deep learning models. Array. ISSN 2590-0056. 19. doi: 10.1016/j.array.2023.100317. Fulltekst i vitenarkiv Vis sammendrag

  This paper presents a novel methodology that utilizes gesture recognition data, which are collected with a Leap Motion Controller (LMC), in tandem with the Spotted Hyena-based Chimp Optimization Algorithm (SSC) for feature selection and training of deep neural networks (DNNs). An expansive tabular database was created using the LMC for eight distinct gestures and the SSC algorithm was used for discerning and selecting salient features. This refined feature subset is then utilized in the subsequent training of a DNN model. A comprehensive comparative analysis is conducted to evaluate the performance of the SSC algorithm in comparison with established optimization techniques, such as Particle Swarm Optimization(PSO), Grey Wolf Optimizer(GWO), and Sine Cosine Algorithm(SCA), specifically in the context of feature selection. The empirical findings decisively establish the efficacy of the SSC algorithm, consistently achieving a high accuracy rate of 98% in the domain of gesture recognition tasks. The feature selection approach proposed emphasizes its intrinsic capacity to enhance not only the accuracy of gesture recognition systems and its wider suitability across diverse domains that require sophisticated feature extraction techniques.

• Górski, Filip; Łabudzki, Remigiusz; Żukowska, Magdalena; Sanfilippo, Filippo; Ottestad, Morten & Zelenay, Martin [Vis alle 8 forfattere av denne artikkelen] (2023). Experimental Evaluation of Extended Reality Technologies in the Development of Individualized Three-Dimensionally Printed Upper Limb Prostheses. Applied Sciences. ISSN 2076-3417. 13(14). doi: 10.3390/app13148035. Fulltekst i vitenarkiv Vis sammendrag

  This paper presents results from experimental studies that assess the utilization of virtual, augmented, and mixed reality (VR, AR, MR) at different stages of developing personalized 3D printed upper limb prostheses for adult patients. The prostheses are designed automatically using the AutoMedPrint system, leveraging 3D scans as described in various prior publications. Various stages of development of the prosthesis are made as applications of different extended reality technologies. An assembly instruction is implemented as an immersive VR application, a configurator is designed as AR application and a configurator and try-on application is prepared and deployed in MR. The applications are tested by an international group of experts during a scheduled experiment. The experts then participate to surveys and comparatively evaluate the potential of all the XR technologies. The paper presents the development of these applications, provides a detailed account of the experimental process, including the rankings of XR technologies for different applications throughout the lifecycle of a prosthetic device.

• Zafar, Muhammad Hamza; Mansoor, Majad; Abou Houran, Mohamad; Khan, Noman Mujeeb; Khan, Kamran & Raza Moosavi, Syed Kumayl [Vis alle 7 forfattere av denne artikkelen] (2023). Hybrid deep learning model for efficient state of charge estimation of Li-ion batteries in electric vehicles. Energy. ISSN 0360-5442. 282. doi: 10.1016/j.energy.2023.128317. Vis sammendrag

  State of charge (SoC) estimation is critical for the safe and efficient operation of electric vehicles (EVs). This work proposes a hybrid multi-layer deep neural network (HMDNN)-based approach for SoC estimation in EVs. This HMDNN uses Mountain Gazelle Optimizer (MGO) as a training algorithm for the deep neural network. Our method leverages the intrinsic relationship between the SoC and the voltage/current measurements of the EV battery to accurately estimate the SoC in real time. We evaluate our approach on a large dataset of real-world EV charging data and demonstrate its effectiveness in comparison to traditional SoC estimation methods. Four diverse Li-ion battery datasets of electric vehicles are employed which are the dynamic stress test (DST), Beijing dynamic stress test (BJDST), federal urban driving schedule (FUDS), and highway driving schedule (US06) with different temperatures of . The comparison is made with Mayfly Optimization Algorithm based DNN, Particle Swarm Optimization based DNN and Back-Propagation based DNN. The evaluation indices used are normalized mean square error (NMSE), root mean square error (RMSE), mean absolute error (MAE), and relative error (RE). The proposed algorithm achieves 0.1% NMSE and 0.3% RMSE on average on all datasets, which validates the effective performance of the proposed model. The results show that the proposed neural network-based approach can achieve higher accuracy and faster convergence than existing methods. This can enable more efficient EV operation and improved battery life.

• Sanfilippo, Filippo; Langås, Even Falkenberg; Bukhari, Halima & Robstad, Stian (2023). Pervasive and Connected Digital Twins for Edge Computing Enabled Industrial Applications. I NN, NN (Red.), 56th Hawaii International Conference on System Sciences (HICSS 2023). ScholarSpace. ISSN 978-0-9981331-6-4. s. 6789–6798. Fulltekst i vitenarkiv Vis sammendrag

  A digital twin (DT) is a digital representation of a physical asset that serves as its counterpart — or twin. DTs differ from static, three-dimensional models in that they are continuously updated with data from numerous sources. In one continually changing world of pervasive computing, where computational and human intelligence are expanding everywhere, DTs can be regarded as the backbone for addressing the synergy of software, devices, movable objects, networks, and people. In this paper, we present a novel perspective for designing, prototyping and testing pervasive and connected DTs for edge computing enabled industrial applications. The provided paradigm allows for the creation of computational models for cloud computing as well as the transmission of data and computational intelligence through analytic platforms. A case study is presented to demonstrate the possibilities of the suggested framework. According to the outlined findings, the proposed architecture contributes to effective maintenance and management of infrastructures and facilities.

• Chitikena, Hareesh; Sanfilippo, Filippo & Ma, Shugen (2023). Robotics in Search and Rescue (SAR) Operations: An Ethical and Design Perspective Framework for Response Phase. Applied Sciences. ISSN 2076-3417. 13(3). doi: 10.3390/app13031800. Fulltekst i vitenarkiv Vis sammendrag

  Every year, especially in urban areas, the population density rises quickly. The effects of catastrophes (i.e., war, earthquake, fire, tsunami) on people are therefore significant and grave. Assisting the impacted people will soon involve human-robot Search and Rescue (SAR) operations. Therefore, it is crucial to connect contemporary technology (i.e., robots and cognitive approaches) to SAR to save human lives. However, these operations also call for careful consideration of several factors, including safety, severity, and resources. Hence, ethical issues with technologies in SAR must be taken into consideration at the development stage. In this study, the most relevant ethical and design issues that arise when using robotic and cognitive technology in SAR are discussed with a focus on the response phase. Among the vast variety of SAR robots that are available nowadays, snake robots have shown huge potential; as they could be fitted with sensors and used for transporting tools to hazardous or confined areas that other robots and humans are unable to access. With this perspective, particular emphasis has been put on snake robotics in this study by considering ethical and design issues. This endeavour will contribute to providing a broader knowledge of ethical and technological factors that must be taken into account throughout the design and development of snake robots.

• Khan, Muhammad Kamran; Zafar, Muhammad Hamza; Rashid, Saad; Mansoor, Majad; Moosavi, Syed Kumayl Raza & Sanfilippo, Filippo (2023). Improved Reptile Search Optimization Algorithm: Application on Regression and Classification Problems. Applied Sciences. ISSN 2076-3417. 13(2). doi: 10.3390/app13020945. Fulltekst i vitenarkiv Vis sammendrag

  The reptile search algorithm is a newly developed optimization technique that can efficiently solve various optimization problems. However, while solving high-dimensional nonconvex optimization problems, the reptile search algorithm retains some drawbacks, such as slow convergence speed, high computational complexity, and local minima trapping. Therefore, an improved reptile search algorithm (IRSA) based on a sine cosine algorithm and Levy flight is proposed in this work. The modified sine cosine algorithm with enhanced global search capabilities avoids local minima trapping by conducting a full-scale search of the solution space, and the Levy flight operator with a jump size control factor increases the exploitation capabilities of the search agents. The enhanced algorithm was applied to a set of 23 well-known test functions. Additionally, statistical analysis was performed by considering 30 runs for various performance measures like best, worse, average values, and standard deviation. The statistical results showed that the improved reptile search algorithm gives a fast convergence speed, low time complexity, and efficient global search. For further verification, improved reptile search algorithm results were compared with the RSA and various state-of-the-art metaheuristic techniques. In the second phase of the paper, we used the IRSA to train hyperparameters such as weight and biases for a multi-layer perceptron neural network and a smoothing parameter (σ) for a radial basis function neural network. To validate the effectiveness of training, the improved reptile search algorithm trained multi-layer perceptron neural network classifier was tested on various challenging, real-world classification problems. Furthermore, as a second application, the IRSA-trained RBFNN regression model was used for day-ahead wind and solar power forecasting. Experimental results clearly demonstrated the superior classification and prediction capabilities of the proposed hybrid model. Qualitative, quantitative, comparative, statistical, and complexity analysis revealed improved global exploration, high efficiency, high convergence speed, high prediction accuracy, and low time complexity in the proposed technique.

• Moosavi, Syed Kumayl Raza; Zafar, Muhammad Hamza & Sanfilippo, Filippo (2022). A Review of the State-of-the-Art of Sensing and Actuation Technology for Robotic Grasping and Haptic Rendering, 2022 5th International Conference on Information and Computer Technologies (ICICT). IEEE conference proceedings. ISSN 978-1-6654-6960-9. s. 182–190. doi: 10.1109/ICICT55905.2022.00039.
• Sanfilippo, Filippo; Thorstensen, Rein Terje; Jha, Ajit; Jiang, Zhiyu & Robbersmyr, Kjell Gunnar (2022). A Perspective Review on Digital Twins for Roads, Bridges, and Civil Infrastructures. I -, IEEE (Red.), IEEE 2022 3rd International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-6654-7095-7. doi: 10.1109/ICECCME55909.2022.9988693.
• Sanfilippo, Filippo; Økter, Martin Bjaadal; Eie, Tine Cecilia & Ottestad, Morten (2022). Teaching Motion Control in Mechatronics Education Using an Open Framework Based on the Elevator Model. Machines. 10(10). doi: 10.3390/machines10100945. Fulltekst i vitenarkiv Vis sammendrag

  Universities and other educational institutions may find it difficult to afford the cost of obtaining cutting-edge teaching resources. This study introduces the adoption of a novel open prototyping framework in the context of mechatronics education, employing low-cost commercial off-the-shelf (COTS) components and tools for the motion control module. The goal of this study is to propose a novel structure for the motion control module in the engineering mechatronics curriculum. The objective is to foster a new teaching method. From a methodology perspective, students are involved in a series of well-organised theoretical lectures as well as practical, very engaging group projects in the lab. To help students understand, draw connections, and broaden their knowledge, the methods of surface learning and deep learning are frequently mixed thoroughly. The structure of the course as well as the key topics are discussed. The proposed open framework, which consists of an elevator model, is presented in details. Students’ early evaluation indicates that the course organisation and subjects are successful and beneficial.

• Sanfilippo, Filippo; Økter, Martin Bjaadal; Eie, Tine Cecilia & Ottestad, Morten (2022). An Open Framework for teaching Motion Control for Mechatronics Education, 2022 7th International STEM Education Conference (iSTEM-Ed). IEEE conference proceedings. ISSN 978-1-6654-9821-0. doi: 10.1109/iSTEM-Ed55321.2022.9920788. Vis sammendrag

  This paper proposes the introduction of a novel open prototyping framework that involves using low-cost commercial off-the-shelf (COTS) components and tools for the module of motion control, within mechatronics education. The goal of this study is to propose a novel structure for the motion control module in the engineering mechatronics curriculum. This is accomplished by integrating students in a series of well-organised theoretical lectures as well as hands-on, highly engaging labora-tory group projects. Surface learning parts and deep learning sections are combined frequently to encourage learners to grasp, make connections, and expand their knowledge. The structure of the course as well as the key topics are discussed. The proposed open framework, which consist of an elevator model, is presented in details.

• Sanfilippo, Filippo; Smith, Jesper; Bertrand, Sylvain & Svendsen, Tor Halvard Skarberg (2022). Mixed reality (MR) Enabled Proprio and Teleoperation of a Humanoid Robot for Paraplegic Patients, 2022 5th International Conference on Information and Computer Technologies (ICICT). IEEE conference proceedings. ISSN 978-1-6654-6960-9. s. 153–158. doi: 10.1109/ICICT55905.2022.00034. Vis sammendrag

  Paraplegia is a disability caused by impairment in motor or sensory functions of the lower limbs. Most paraplegic subjects use mechanical or motorised wheelchairs for their movement, however, this may limit the capability of patients to independently perform common activities of daily living (ADL). In this paper, a novel mixed reality (MR) enabled proprio and teleoperation framework for a humanoid robot is presented. The framework can be operated by a paraplegic person by using inputs from an MR headset. The framework enables varied and unscripted manipulation tasks in a realistic environment, combining navigation, perception, manipulation, and grasping. The impaired operator can make use of a wide range of interaction methods and tools, from direct teleoperation of the robot’s full-body kinematics to performing grasping tasks or controlling the robot’s mobile base. The adopted humanoid robot is the EVEr3 Humanoid Research Robot from Halodi Robotics, while the Oculus Rift S is chosen as MR headset. To demonstrate the potential of the proposed framework, a human subject study is presented. In this study, a home/workplace environment is rendered with MR by combining physical shelves and everyday objects, such as goods to be grasped, with simulated elements, such as the robot avatar and the control interface. A paraplegic subject is involved in the study. Results suggest that the proposed MR-enabled system improves the patient engagement and illusion of presence.

• Nyberg, Svein Olav Glesaaen; Robbersmyr, Kjell Gunnar; Holm, Jan Andreas & Sanfilippo, Filippo (2022). Tensile Experiments on Adhesion Between Aluminium Profiles and Glass. I Sanfilippo, Filippo; Granmo, Ole-Christoffer; Yildirim Yayilgan, Sule & Bajwa, Imran Sarwar (Red.), Intelligent Technologies and Applications: 4th International Conference, INTAP 2021, Grimstad, Norway, October 11–13, 2021, Revised Selected Papers. Springer. ISSN 978-3-031-10524-1. s. 407–418. doi: 10.1007/978-3-031-10525-8_32. Vis sammendrag

  In this work, the effects of the adhesion between aluminium profiles and glass are studied from a static tensile perspective. A series of stretch curves are analysed from their derivatives to find their points of float and maximum load bearing. The variable factors are glass type, and type of connection: i.e., edge adhesive, side (fugue) adhesive, and excessive fugue adhesive, for short named fugue-edge. The stretch data imply four quantities to analyse and compare: displacement and load respectively at float and at max load. The results are first compared factor group against factor group. With this tool, only a few significant conclusions may be found. The second comparison is by means of the more robust statistical tools of linear regression and analysis of variance (ANOVA), with conclusions about which factors are significant, and then about the size of the effect on the four variables under study. This forms the basis for a recommendations for how to obtain the strongest possible glass-frame system.

• Balaji, Saishashank; Sanfilippo, Filippo; Gerdes, Martin & Prattichizzo, Domenico (2022). A Perspective on Intervention Approaches for Children with Autism Spectrum Disorder. I Sanfilippo, Filippo; Granmo, Ole-Christoffer; Yildirim Yayilgan, Sule & Bajwa, Imran Sarwar (Red.), Intelligent Technologies and Applications: 4th International Conference, INTAP 2021, Grimstad, Norway, October 11–13, 2021, Revised Selected Papers. Springer. ISSN 978-3-031-10524-1. s. 132–143. doi: 10.1007/978-3-031-10525-8_11. Vis sammendrag

  Autism spectrum disorder (ASD) is a neurodevelopmental disorder that affects 1 in 160 children globally. Autism is characterised by abnormalities in communication, social interactions and behavioural challenges. Sensory processing difficulties affect two-thirds of children with autism. This causes anxiety and typically leads to repetitive behaviour referred to as problem behaviours. Stereotypy and aggression are some of the most frequently observed problem behaviours. Behavioural interventions may help manage symptoms and develop cognitive skills, thus promoting a child’s participation in social activities. A growing body of literature suggests that technological advancements in mobile health (mHealth) systems can be utilised to develop various intervention modalities. The central goal is to help children with ASD adapt to their surroundings by managing their problem behaviours. A promising possibility is to monitor physiological signals with wearable sensors to anticipate the onset of problem behaviour and provide intervention through wearable assistive devices. This paper presents a new perspective to manage problem behaviour and concept guidelines for a potential mHealth framework to deliver vibrotactile and thermal stimuli for sensory-based intervention.

• Sanfilippo, Filippo; Blažauskas, Tomas; Girdžiūna, Martynas; Janonis, Airidas; Kiudys, Eligijus & Salvietti, Gionata (2022). A Multi-modal Auditory-Visual-Tactile e-Learning Framework. I Sanfilippo, Filippo; Granmo, Ole-Christoffer; Yildirim Yayilgan, Sule & Bajwa, Imran Sarwar (Red.), Intelligent Technologies and Applications: 4th International Conference, INTAP 2021, Grimstad, Norway, October 11–13, 2021, Revised Selected Papers. Springer. ISSN 978-3-031-10524-1. s. 119–131. doi: 10.1007/978-3-031-10525-8_10. Vis sammendrag

  With a high number of countries closing learning institutions due to the restrictions in response to the COVID-19 pandemic, over 80% of the world’s students was not attending school. As a response to this challenge, many educational institutions are increasing their efforts to utilise various educational technologies and provide remote learning opportunities. One of the biggest drawbacks of the majority of these existing solutions is limited support for hands-on laboratory work and practical experiences. This is especially relevant to science, technology, engineering, and mathematics (STEM) departments, which must continuously develop their laboratories and pedagogical tools to provide their students with effective study plans. To facilitate a safe, digital access to laboratories, a novel haptic-enabled framework for hands-on e-Learning is introduced in this work. The framework enables a fully-immersive tactile, auditory, and visual experience. This is achieved by combining virtual reality (VR) tools, with a novel wearable haptic device, which is designed by augmenting a low-cost commercial off-the-shelf (COTS) controller with vibrotactile actuators. For this purpose, the Unity game engine and the Valve Knuckles EV3 controllers are adopted. To demonstrate the potential of the proposed framework, a human subject study is presented. Results suggest that the proposed haptic-enabled framework improves the student engagement and illusion of presence.

• Knausgård, Kristian Muri; Skar, Siv; Sanfilippo, Filippo; Buldenko, Albert; Lindheim, Henning & Lunde, Jakob E. [Vis alle 8 forfattere av denne artikkelen] (2022). Branch-Manoeuvring Capable Pipe Cleaning Robot for Aquaponic Systems. I Sanfilippo, Filippo; Granmo, Ole-Christoffer; Yildirim Yayilgan, Sule & Bajwa, Imran Sarwar (Red.), Intelligent Technologies and Applications: 4th International Conference, INTAP 2021, Grimstad, Norway, October 11–13, 2021, Revised Selected Papers. Springer. ISSN 978-3-031-10524-1. s. 107–118. doi: 10.1007/978-3-031-10525-8_9. Vis sammendrag

  Aquaponic systems are engineered ecosystems combining aquaculture and plant production. Nutrient rich water is continuously circulating through the system from aquaculture tanks. A biofilter with nitrifying bacteria breaks down fish metabolism ammonia into nitrite and nitrate, which plants and makes the aquaculture wastewater into valued organic fertiliser for the plants, containing essential macro and micro elements. At the same time, the plants are cleaning the water by absorbing ammonia from the fish tanks before it reaches dangerous levels for the aquatic animals. In principle, the only external input is energy, mainly in the form of light and heat, but fish food is also commonly provided. Growing fish food is potentially feasible in a closed loop system, hence aquaponic systems can possibly be an important source of proteins and other important nutrition when, for example, colonising other planets in the future. Fully autonomous aquaponic systems are currently not available. This work aims at minimising manual labour related to cleaning pipes for water transport. The cleaning process must be friendly to both plants and aquatic animals. Hence, in this work, pure mechanical cleaning is adopted. A novel belt-driven continuum robot capable of travelling through small/medium diameter pipes and manoeuvring branches and bends, is designed and tested. The robot is modular and can be extended with different cleaning modules through an interface providing CAN-bus network and electric power. The flexible continuum modules of the robot are characterised. Experimental results demonstrate that the robot is able to travel through pipes with diameters varying from 50 mm to 75 mm, and also capable of handling T-branches of up to 90∘.

• Hamza Zafar, Muhammad; Mujeeb Khan, Noman; Mansoor, Majad; Feroz Mirza, Adeel; Kumayl Raza Moosavi, Syed & Sanfilippo, Filippo (2022). Adaptive ML-based technique for renewable energy system power forecasting in hybrid PV-Wind farms power conversion systems. Energy Conversion and Management. ISSN 0196-8904. 258. doi: 10.1016/j.enconman.2022.115564. Fulltekst i vitenarkiv Vis sammendrag

  Large scale integration of renewable energy system with classical electrical power generation system requires a precise balance to maintain and optimize the supply–demand limitations in power grids operations. For this purpose, accurate forecasting is needed from wind energy conversion systems (WECS) and solar power plants (SPPs). This daunting task has limits with long-short term and precise term forecasting due to the highly random nature of environmental conditions. This paper offers a hybrid variational decomposition model (HVDM) as a revolutionary composite deep learning-based evolutionary technique for accurate power production forecasting in microgrid farms. The objective is to obtain precise short-term forecasting in five steps of development. An improvised dynamic group-based cooperative search (IDGC) mechanism with a IDGC-Radial Basis Function Neural Network (IDGC-RBFNN) is proposed for enhanced accurate short-term power forecasting. For this purpose, meteorological data with time series is utilized. SCADA data provide the values to the system. The improvisation has been made to the metaheuristic algorithm and an enhanced training mechanism is designed for the short term wind forecasting (STWF) problem. The results are compared with two different Neural Network topologies and three heuristic algorithms: particle swarm intelligence (PSO), IDGC, and dynamic group cooperation optimization (DGCO). The 24 h ahead are studied in the experimental simulations. The analysis is made using seasonal behavior for year-round performance analysis. The prediction accuracy achieved by the proposed hybrid model shows greater results. The comparison is made statistically with existing works and literature showing highly effective accuracy at a lower computational burden. Three seasonal results are compared graphically and statistically.

• Hua, Tuan; Sanfilippo, Filippo & Hao, Nguyen Vinh (2022). A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm. Robotics. ISSN 2218-6581. 11(2). doi: 10.3390/robotics11020047. Fulltekst i vitenarkiv Vis sammendrag

  Collaborative robots (or cobots) are robots that are capable of safely operating in a shared environment or interacting with humans. In recent years, cobots have become increasingly common. Compliant actuators are critical in the design of cobots. In real applications, this type of actuation system may be able to reduce the amount of damage caused by an unanticipated collision. As a result, elastic joints are expected to outperform stiff joints in complex situations. In this work, the control of a 2-DOF robot arm with elastic actuators is addressed by proposing a two-loop adaptive controller. For the outer control loop, an adaptive sliding mode controller (ASMC) is adopted to deal with uncertainties and disturbance on the load side of the robot arm. For the inner loops, model reference adaptive controllers (MRAC) are utilised to handle the uncertainties on the motor side of the robot arm. To show the effectiveness of the proposed controller, extensive simulation experiments and a comparison with the conventional sliding mode controller (SMC) are carried out. As a result, the ASMC has a 50.35% lower average RMS error than the SMC controller, and a shorter settling time (5% criterion) (0.44 s compared to 2.11 s).

• Duivon, Askan; Kirsch, Pino; Mauboussin, Boris; Mougard, Gabriel; Woszczyk, Jakub & Sanfilippo, Filippo (2022). The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot^†. Robotics. ISSN 2218-6581. 11(2). doi: 10.3390/robotics11020042. Fulltekst i vitenarkiv Vis sammendrag

  The term perception-driven obstacle-aided locomotion (POAL) was proposed to describe locomotion in which a snake robot leverages a sensory-perceptual system to exploit the surrounding operational environment and to identify walls, obstacles, or other structures as a means of propulsion. To attain POAL from a control standpoint, the accurate identification of push-points and reliable determination of feasible contact reaction forces are required. This is difficult to achieve with rigidly actuated robots because of the lack of compliance. As a possible solution to this challenge, our research group recently presented Serpens, a low-cost, open-source, and highly compliant multi-purpose modular snake robot with a series elastic actuator (SEA). In this paper, we propose a new prototyping iteration for our snake robot to achieve a more dependable design. The following three contributions are outlined in this work as a whole: the remodelling of the elastic joint with the addition of a damper element; a refreshed design for the screw-less assembly mechanism that can now withstand higher transverse forces; the re-design of the joint module with an improved reorganisation of the internal hardware components to facilitate heat dissipation and to accommodate a larger battery with easier access. The Robot Operating System (ROS) serves as the foundation for the software architecture. The possibility of applying machine learning approaches is considered. The results of preliminary simulations are provided.

• Moosavi, Syed Kumayl Raza; Zafar, Muhammad Hamza & Sanfilippo, Filippo (2022). Forward Kinematic Modelling with Radial Basis Function Neural Network Tuned with a Novel Meta-Heuristic Algorithm for Robotic Manipulators. Robotics. ISSN 2218-6581. 11(2). doi: 10.3390/robotics11020043. Fulltekst i vitenarkiv Vis sammendrag

  The complexity of forward kinematic modelling increases with the increase in the degrees of freedom for a manipulator. To reduce the computational weight and time lag for desired output transformation, this paper proposes a forward kinematic model mapped with the help of the Radial Basis Function Neural Network (RBFNN) architecture tuned by a novel meta-heuristic algorithm, namely, the Cooperative Search Optimisation Algorithm (CSOA). The architecture presented is able to automatically learn the kinematic properties of the manipulator. Learning is accomplished iteratively based only on the observation of the input–output relationship. Related simulations are carried out on a 3-Degrees of Freedom (DOF) manipulator on the Robot Operating System (ROS). The dataset created from the simulation is divided 65–35 for training–testing of the proposed model. The metrics used for model validation include spread value, cost and runtime for the training dataset, and Mean Relative Error, Normal Mean Square Error, and Mean Absolute Error for the testing dataset. A comparative analysis of the CSOA-RBFNN model is performed with an artificial neural network, support vector regression model, and with with other meta-heuristic RBFNN models, i.e., PSORBFNN and GWO-RBFNN, that show the effectiveness and superiority of the proposed technique.

• Sanfilippo, Filippo; Blazauskas, Tomas; Salvietti, Gionata; Ramos, Isabel; Vert, Silviu & Radianti, Jaziar [Vis alle 8 forfattere av denne artikkelen] (2022). A Perspective Review on Integrating VR/AR with Haptics into STEM Education for Multi-Sensory Learning. Robotics. ISSN 2218-6581. 11(2). doi: 10.3390/robotics11020041. Fulltekst i vitenarkiv Vis sammendrag

  As a result of several governments closing educational facilities in reaction to the COVID-19 pandemic in 2020, almost 80% of the world’s students were not in school for several weeks. Schools and universities are thus increasing their efforts to leverage educational resources and provide possibilities for remote learning. A variety of educational programs, platforms, and technologies are now accessible to support student learning; while these tools are important for society, they are primarily concerned with the dissemination of theoretical material. There is a lack of support for hands-on laboratory work and practical experience. This is particularly important for all disciplines related to science, technology, engineering, and mathematics (STEM), where labs and pedagogical assets must be continuously enhanced in order to provide effective study programs. In this study, we describe a unique perspective to achieving multi-sensory learning through the integration of virtual and augmented reality (VR/AR) with haptic wearables in STEM education. We address the implications of a novel viewpoint on established pedagogical notions. We want to encourage worldwide efforts to make fully immersive, open, and remote laboratory learning a reality.

• Sanfilippo, Filippo (2022). Combining Grasping with Adaptive Path Following and Locomotion for Modular Snake Robots. International Journal of Mechanical Engineering and Robotics Research (IJMERR). ISSN 2278-0149. 11(2), s. 59–65. doi: 10.18178/ijmerr.11.2.59-65.
• Tuan, Hua Minh; Sanfilippo, Filippo & Hao, Nguyen Vinh (2021). Modelling and Control of a 2-DOF Robot Arm with Elastic Joints for Safe Human-Robot Interaction. Frontiers in Robotics and AI. ISSN 2296-9144. 8. doi: 10.3389/frobt.2021.679304. Fulltekst i vitenarkiv
• Avazov, Nurilla; Hicheri, Rym; Muaaz, Muhammad; Sanfilippo, Filippo & Pätzold, Matthias Uwe (2021). A Trajectory-Driven 3D Non-Stationary mm-Wave MIMO Channel Model for a Single Moving Point Scatterer. IEEE Access. ISSN 2169-3536. 9, s. 115990–116001. doi: 10.1109/ACCESS.2021.3105296. Fulltekst i vitenarkiv
• Madshaven, Julie Madelen; Markseth, Tonje Fjeldstad; Jomås, David Bye; Isabwe, Ghislain Maurice Norbert; Ottestad, Morten & Reichert, Frank [Vis alle 7 forfattere av denne artikkelen] (2021). Investigating the User Experience of Virtual Reality Rehabilitation Solution for Biomechatronics Laboratory and Home Environment. Frontiers in Virtual Reality. 2. doi: 10.3389/frvir.2021.645042. Fulltekst i vitenarkiv
• Moosavi, Syed Kumayl Raza; Zafar, Muhammad Hamza; Akhter, Malik Naveed; Hadi, Shahzaib Farooq; Khan, Noman Mujeeb & Sanfilippo, Filippo (2021). A Novel Artificial Neural Network (ANN) Using The Mayfly Algorithm for Classification. I Unknown, Unknown (Red.), International Conference on Digital Futures and Transformative Technologies (ICoDT2). IEEE (Institute of Electrical and Electronics Engineers). ISSN 1665430745. s. 1–6. doi: 10.1109/ICoDT252288.2021.9441473. Fulltekst i vitenarkiv
• Sanfilippo, Filippo & Austreng, Kolbjørn (2021). Sustainable approach to teaching embedded systems with hands-on project-based visible learning. International Journal of Engineering Education. ISSN 0949-149X. 37(3), s. 814–829.
• Sanfilippo, Filippo; Tang, Min & Steyaert, Sam (2021). The Aquatic Surface Robot (AnSweR), a lightweight, low cost, multipurpose unmanned research vessel. I Yildirim Yayilgan, Sule; Bajwa, Imran Sarwar & Sanfilippo, Filippo (Red.), Proceeding of the 3rd International Conference on Intelligent Technologies and Applications (INTAP). Springer. ISSN 978-3-030-71711-7. s. 251–265. doi: 10.1007/978-3-030-71711-7_21. Fulltekst i vitenarkiv Vis sammendrag

  Even though a few examples of aquatic surface robots exist, they are generally expensive, relatively large and heavy and tailored to custom-made hardware/software components that are not openly available to a broad public. In this work, the Aquatic Surface Robot (AnSweR), a newly-designed, lightweight, low cost, open-source, multipurpose unmanned research vessel is presented. The AnSweR features a lightweight and compact design that makes it fit in a backpack. Low-noise operation (in and above the surface) is achieved with a propulsion system based on two water-jets. Only affordable commercial-off-the-shelf (COTS) components are adopted. The primary goal of the AnSweR is to map underwater landscapes and to collect bathymetry data in lakes, rivers, and coastal ecosystems. A modular hardware and software architecture is adopted. This architecture allows the AnSweR to be equipped with a customisable add-on set of sensors and actuators to enable a variety of research activities, such as measuring environmental variables (e.g., salinity, oxygen, temperature) and sampling operations (e.g., sediment, vegetation, microplastics). The software architecture is based on the Robot Operating System (ROS). This paper describes the design of AnSweR as the main scientific contribution and presents preliminary simulation and experimental results which illustrate its potential.

• Arbo, Mathias Hauan; Eriksen, Ivar; Sanfilippo, Filippo & Gravdahl, Jan Tommy (2021). Comparison of KVP and RSI for Controlling KUKA Robots Over ROS. IFAC-PapersOnLine. ISSN 2405-8963. 53(2), s. 9841–9846. doi: 10.1016/j.ifacol.2020.12.2688. Fulltekst i vitenarkiv
• Bos, Steven; Gundersen, Henning & Sanfilippo, Filippo (2020). uMemristorToolbox: Open source framework to control memristors in Unity for ternary applications. I Werner, Bob (Red.), 2020 IEEE 50th International Symposium on Multiple-Valued Logic (ISMVL). IEEE Computer Society Digital Library. ISSN 978-1-7281-5406-0. s. 212–217. doi: 10.1109/ISMVL49045.2020.000-3. Fulltekst i vitenarkiv
• Hanssen, Kristian Gaustad; Transeth, Aksel Andreas; Sanfilippo, Filippo; Liljebäck, Pål & Stavdahl, Øyvind (2020). Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion, Proceeding of IEEE International Workshop on Advanced Motion Control (AMC2020). IEEE conference proceedings. ISSN 978-1-7281-3189-4. s. 98–104. doi: 10.1109/AMC44022.2020.9244366. Fulltekst i vitenarkiv Vis sammendrag

  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 contrast to wheeled robots which are unable to move efficiently in rough terrain. In this paper, we propose a local path planning algorithm for snake robots based on obstacle-aided locomotion (OAL). An essential feature in OAL is to determine suitable push-points in the environment that the snake robot can use for locomotion. The proposed method is based on a set of criteria for evaluating a path, and is a novel contribution of this paper. We focus on local path planning and formulate the problem as finding the best next push point and the trajectory towards it. The path is parameterised as a quadratic Bézier curve. The algorithm is implemented and tested with a simulator, employing decentralised joint controllers with references generated by a constant translation speed of the snake along the path. Careful design of the criteria allows us to use simple position and velocity controllers for the joints, circumventing the need for force control. However, the set of feasible paths will be restricted by this approach. The proposed criteria can also be used in a global path planning algorithm; the local focus is due to one of the key use cases of snake robots: operating in unstructured and unknown environments.

• Sanfilippo, Filippo; Tang, Min & Steyaert, Sam (2020). Aquatic Surface Robots: the State of the Art, Challenges and Possibilities. I Unknown, Unknown (Red.), 2020 IEEE International Conference on Human-Machine Systems (ICHMS). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-7281-5871-6. s. 1–6. doi: 10.1109/ICHMS49158.2020.9209422. Vis sammendrag

  In this paper, a survey of the state of the art, challenges, and possibilities for aquatic surface robots is presented. To this end, a survey and classification of aquatic surface robots is first outlined. Then, different levels of autonomy are identified for this typology of robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, a step-wise approach is adopted on how to increment aquatic surface robots abilities within guidance, navigation, and control in order to target the different levels of autonomy. Possibilities and challenges for designing aquatic surface robots as carriers for conducting research activities are discussed. The main goal of this paper is to further increase global efforts to realise the wide range of possible applications offered by aquatic surface robots and to provide an up-to-date reference as a benchmark for new research and development in this field.

• Sanfilippo, Filippo & Pacchierotti, Claudio (2020). A Low-Cost Multi-Modal Auditory-Visual-Tactile Framework for Remote Touch. I Huang, May; Gokhale, Anu & Zhang, Sen (Red.), 3rd International Conference on Information and Computer Technologies (ICICT). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-7281-7283-5. s. 213–218. doi: 10.1109/ICICT50521.2020.00040.
• Sanfilippo, Filippo; Hua, Tuan Minh & Bos, Steven (2020). A comparison between a two feedback control loop and a reinforcement learning algorithm for compliant low-cost series elastic actuators. I Bui, Tung X. (Red.), Proceeding of the 53rd Hawaii International Conference on System Sciences (HICSS 2020). AIS Electronic Library University of Hawai'i at Manoa Hamilton Library 2550 McCarthy Mall Honolulu, HI 96822. ISSN 978-0-9981331-3-3. s. 881–890. doi: 10.24251/hicss.2020.110. Fulltekst i vitenarkiv Vis sammendrag

  Highly-compliant elastic actuators have become progressively prominent over the last years for a variety of robotic applications. With remarkable shock tolerance, elastic actuators are appropriate for robots operating in unstructured environments. In accordance with this trend, a novel elastic actuator was recently designed by our research group for Serpens, a low-cost, open-source and highly-compliant multi-purpose modular snake robot. To control the newly designed elastic actuators of Serpens, a two-feedback loops position control algorithm was proposed. The inner controller loop is implemented as a model reference adaptive controller (MRAC), while the outer control loop adopts a fuzzy proportional-integral controller (FPIC). The performance of the presented control scheme was demonstrated through simulations. However, the efficiency of the proposed controller is dependent on the initial values of the parameters of the MRAC controller as well as on the effort required for a human to manually construct fuzzy rules. An alternative solution to the problem might consist of using methods that do not assume a priori knowledge: a solution that derives its properties from a machine learning procedure. In this way, the controller would be able to automatically learn the properties of the elastic actuator to be controlled. In this work, a novel controller for the proposed elastic actuator is presented based on the use of an artificial neural network (ANN) that is trained with reinforcement learning. The newly designed control algorithm is extensively compared with the former approach. Simulation results are presented for both methods. The authors seek to achieve a fair, non-biased, risk-aware and trustworthy comparison.

• Hua, Tuan; Sanfilippo, Filippo & Helgerud, Erlend (2019). A robust two-feedback loops position control algorithm for compliant low-cost series elastic actuators. IEEE International Conference on Systems, Man, and Cybernetics (SMC). ISSN 2163-9590. s. 2384–2390. doi: 10.1109/SMC.2019.8913845. Fulltekst i vitenarkiv
• Ho-Sy, Thong; Sanfilippo, Filippo & Truong-Quang, Vinh (2019). A Hybrid Algorithm Based on WiFi for Robust and Effective Indoor Positioning. I Unknown, Unknown (Red.), 19th International Symposium on Communications and Information Technologies (ISCIT). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-7281-5009-3. s. 416–421. doi: 10.1109/ISCIT.2019.8905143. Fulltekst i vitenarkiv
• Wali, Lina Jemal & Sanfilippo, Filippo (2019). A Review of the State-of-the-Art of Assistive Technology for People with ASD in the Workplace and in Everyday Life. I Pappas, Ilias; Mikalef, Patrick; Dwivedi, Yogesh K.; Jaccheri, Maria Letizia; Krogstie, John & Mäntymäki, Matti (Red.), Digital Transformation for a Sustainable Society in the 21st Century. 18th IFIP WG 6.11 Conference on e-Business, e-Services, and e-Society, I3E 2019, Trondheim, Norway, September 18–20, 2019, Proceedings. Springer Publishing Company. ISSN 978-3-030-29374-1. s. 520–532. doi: 10.1007/978-3-030-29374-1_42. Vis sammendrag

  Autism, also known as autism spectrum disorder (ASD), is an incurable brain-based disorder that refers to a wide range of complex neurodevelopment disorders characterised by marked difficulties in communication and social skills, repetitive behaviour, highly focused interests and sensory sensitivity. Autism can present challenges for affected people at the work environment and in everyday life. The barrier for individuals with ASD increases further with changing environmental situations. Individuals with ASD have limited abilities to isolate their Five senses and often experience over- or under-sensitivity to sounds, touch, tastes, smells, light, colours or temperatures. In this perspective, individuals with autism may experience extraordinary challenges during a regular day for most people, especially in non-conductive crowded environments like workplaces. This work presents a survey of the state-of-the-art implementation as well as research challenges of assisting technology for people with ASD in the workplace and in everyday life. An overview of relevant key technologies and methods is outlined by focusing both on the therapeutic perspective as well as on the technological viewpoint. The aim of this paper is to provide a better understanding of the design challenges and to identify important research directions in this increasingly important area.

• Sanfilippo, Filippo; Helgerud, Erlend; Stadheim, Per Anders & Aronsen, Sondre Lieblein (2019). Serpens, A Low-Cost Snake Robot with Series Elastic Torque-Controlled Actuators and A Screw-Less Assembly Mechanism. I Unknown, Unknown (Red.), International Conference on Control, Automation and Robotics (ICCAR). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-4673-7522-1. s. 133–139. doi: 10.1109/ICCAR.2019.8813482. Fulltekst i vitenarkiv
• Sanfilippo, Filippo & Raja, Kiran (2019). A Multi-Sensor System for Enhancing Situational Awareness and Stress Management for People with ASD in the Workplace and in Everyday Life. I Bui, Tung X. (Red.), Proceeding of the 52nd Hawaii International Conference on System Sciences (HICSS 2019). AIS Electronic Library. ISSN 978-0-9981331-2-6. s. 4079–4086. doi: 10125/59845. Vis sammendrag

  Autism spectrum disorders (ASD) present challenges for affected people at work and in everyday life. The barrier increases further with changing environmental situations. Deviations in factors like lighting or sound may lead to increased stress. The intervention plans to instil positive behaviour support (PBS) suggest that a customised environment can minimise the impacts due to these variations. This work proposes a novel framework which leverages the information from multi-sensor channels in a combined manner to customise the environment so that situational awareness (SA) can be improved. The proposed framework allows for monitoring the environment by combining the information from different sensor channels including both personal sensors (i.e. on board of a mobile device) as well as environmental sensors/actuators (i.e. embedded in smart-buildings). In this preliminary work, the system architecture is introduced. To demonstrate the potential of the proposed system, a case study is also considered through the development of a prototype for a mobile application and by reporting results on a scale model of a smart workplace with customisable environment.

• Sanfilippo, Filippo; Helgerud, Erlend; Stadheim, Per Anders & Aronsen, Sondre Lieblein (2019). Serpens: A Highly Compliant Low-Cost ROS-Based Snake Robot with Series Elastic Actuators, Stereoscopic Vision and a Screw-Less Assembly Mechanism. Applied Sciences. ISSN 2076-3417. 9(3). doi: 10.3390/app9030396. Fulltekst i vitenarkiv Vis sammendrag

  Abstract: Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven obstacle-aided locomotion (POAL). From a control point of view, achieving POAL with traditional rigidly-actuated robots is challenging because of the complex interaction between the snake robot and the immediate environment. To simplify the control complexity, compliant motion and fine torque control on each joint is essential. Accordingly, intrinsically elastic joints have become progressively prominent over the last years for a variety robotic applications. Commonly, elastic joints are considered to outperform rigid actuation in terms of peak dynamics, robustness, and energy efficiency. Even though a few examples of elastic snake robots exist, they are generally expensive to manufacture and tailored to custom-made hardware/software components that are not openly available off-the-shelf. In this work, Serpens, a newly-designed low-cost, open-source and highly-compliant multi-purpose modular snake robot with series elastic actuator (SEA) is presented. Serpens features precision torque control and stereoscopic vision. Only low-cost commercial-off-the-shelf (COTS) components are adopted. The robot modules can be 3D-printed by using Fused Deposition Modelling (FDM) manufacturing technology, thus making the rapid-prototyping process very economical and fast. A screw-less assembly mechanism allows for connecting the modules and reconfigure the robot in a very reliable and robust manner. The concept of modularity is also applied to the system architecture on both the software and hardware sides. Each module is independent, being controlled by a self-reliant controller board. The software architecture is based on the Robot Operating System (ROS). This paper describes the design of Serpens and presents preliminary simulation and experimental results, which illustrate its performance.

• Sanfilippo, Filippo (2018). Perception-Driven Obstacle-Aided Locomotion (POAL) of Learning Snake Robots. Society for Design and Process Science. ISSN 1090-9389. s. 68–71. doi: 10.3390/app7040336. Vis sammendrag

  Snake robots equipped with sensors and tools could potentially contribute to applications such as fire-fighting, industrial inspection, search-and-rescue and more. Such capabilities would require that a snake robot has a high degree of awareness of its surroundings (e.g. perception-driven loco- motion) and is able to exploit objects and irregularities in its environment to gain propulsion (e.g. obstacle-aided locomotion). To capture this concept for snake robots, the terms perception- driven obstacle-aided locomotion (POAL) was introduced in literature. Based on several years of research in snake robotics and on recent results, it is possible to state that even though simplified snake robot models were successfully designed, there is still a lack of generality for practical applications. A more flexible and general approach to the problem is needed. POAL is an extremely challenging problem to tackle with traditional control schemes. Based on current trends in robotics, machine learning (e.g. deep learning) approaches may have a great potential for such problem. In this paper, the potentials of adopting machine learning approaches for achieving POAL are discussed.

• Sanfilippo, Filippo & Austreng, Kolbjørn (2018). Enhancing Teaching Methods on Embedded Systems with Project-Based Learning. I Lee, Mark J.W.; Nikolic, Sasha; Ros, Monserrat; Shen, Jun; Lei, Leon; Wong, Gary & Venkatarayalu, Neelakantam (Red.), 2018 IEEE International Conference on Teaching, Assessment, and Learning for Engineering (TALE), proceedings of. IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-5386-6522-0. s. 169–176. doi: 10.1109/TALE.2018.8615221. Fulltekst i vitenarkiv
• Rañó, Inaki; Gómez, Augusto & Sanfilippo, Filippo (2018). Bridging the Gap Between Bio-inspired Steering and Locomotion: a Braitenberg Snake Robot. I IEEE, . (Red.), Proceeding of the 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Marina Bay Sands Expo and Convention Centre, Singapore, November 18-21, 2018. IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-5386-9581-4. s. 1394–1399. doi: 10.1109/ICARCV.2018.8581251. Fulltekst i vitenarkiv Vis sammendrag

  Braitenberg vehicles are simple models of animal motion towards, or away from, a stimulus (light, sound, chemicals, etc). They have been widely used in robotics to implement target reaching and avoidance behaviors based on different types of sensors. While the seminal work of Braitenberg used wheeled vehicles to illustrate the principles of animal steering, few attempts have been made at combining these steering level controllers with locomotion mechanism other than actuated wheels. This paper presents the first implementation of this biologically inspired steering controller in a snake-like robot with non-actuated wheels and actuated joints. The sinusoidal gait of the snake is modulated following the principles of the Braitenberg vehicle 3a using two sensors symmetrically located on the head. The effectiveness of this bio-inspired controller is shown through simulations where the snake orients its head and body with the direction of the stimulus gradient, and reaches the stimulus maximum within some range. This paper represents one of the first steps towards connecting bio-inspired sensor-based steering mechanisms and bio-inspired locomotion, and shows that existing theoretical results of Braitenberg vehicles with actuated wheels also apply to a snake-like robot with non-actuated wheels.

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• Sanfilippo, Filippo; Granmo, Ole-Christoffer; Yildirim Yayilgan, Sule & Bajwa, Imran Sarwar (2022). Intelligent Technologies and Applications: 4th International Conference, INTAP 2021, Grimstad, Norway, October 11–13, 2021, Revised Selected Papers. Springer. ISBN 978-3-031-10524-1. 434 s.
• Yildirim Yayilgan, Sule; Bajwa, Imran Sarwar & Sanfilippo, Filippo (2021). Proceeding of the 3rd International Conference on Intelligent Technologies and Applications (INTAP). Springer. ISBN 978-3-030-71711-7. 1382(1).

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• Sanfilippo, Filippo (2023). European Robotics Forum, representing the University of Agder.
• Sanfilippo, Filippo (2023). IEEE Norway Section Report.
• Sanfilippo, Filippo (2023). Visibility and dissemination of research results.
• Sanfilippo, Filippo (2023). Verticalizing, stiffening mechatronic lower limb orthoses with a sensor system enabling gamification of rehabilitation.
• Sanfilippo, Filippo (2023). Immersive Technology for Education.
• Sanfilippo, Filippo (2023). IEEE Robotics and Automation, Control Systems and Intelligent Transportation Systems Joint Chapter, IEEE Section Norway.
• Sanfilippo, Filippo (2023). AI- and Robotics-enabled systems, a forward leap into real life applications.
• Sanfilippo, Filippo (2023). AugmentedWearEdu.
• Sanfilippo, Filippo (2023). International Digital Culture Spotlight Heritage Timisoara Festival with XR Demonstrations.
• Sanfilippo, Filippo (2023). European Robotics Week in South of Norway, organised in collabo- ration with the Norwegian Research Centre (NORCE), and with the Mechatronics Innovation Lab (MIL). [Internett]. https://youtu.be/Rz2eJZAYRTA.
• Sanfilippo, Filippo (2023). European network for 3D printing of biomimeticmechatronic systems(EMERALD), funded through EEA Grants and Norway Grants. Partners: Technical University of Cluj-Napoca (Universitatea Tehnic ̆a din Cluj-Napoca), Romania; Politehnica University of Bucharest, Romania; Bizzcom s.r.o., Slovakia; Poznan ́ University of Technology, Poland. Co-Investigator. Budget: 198,810 EUR. [Internett]. Facebook, https://www.facebook.com/watch/?v=614612244208475.
• Sanfilippo, Filippo (2022). AI- and Robotics-enabled systems, a forward leap into real life applications.
• Yildirim Yayilgan, Sule; Bajwa, Imran Sarwar & Sanfilippo, Filippo (2021). Preface. Communications in Computer and Information Science (CCIS). ISSN 1865-0929. 1382, s. v–vi.
• Nyberg, Svein Olav Glesaaen; Robbersmyr, Kjell Gunnar; Holm, Jan Andreas & Sanfilippo, Filippo (2021). Effects of Material Selection on Adhesion between glass and aluminium pre-recorded video for digital attendees.
• Sanfilippo, Filippo (2021). Snake Robots - State-of-the-art. Vis sammendrag

  Snake robots could enable applications in demanding real-life operations, such as explorations of earthquake-hit areas, pipe inspections, fire-fighting and search-and-rescue (SAR) activities. This talk explores challenges and possibilities.

• Sanfilippo, Filippo; Bajwa, Imran Sarwar; Granmo, Ole-Christoffer & Yildirim Yayilgan, Sule (2021). 4th International Conference on Intelligent Technologies and Applications (INTAP'21).
• Sanfilippo, Filippo; Blažauskas, Tomas; Salvietti, Gionata; ramos, isabel; Vert, Silviu & Radianti, Jaziar [Vis alle 7 forfattere av denne artikkelen] (2021). Integrating VR/AR with Haptics into STEM Education. Vis sammendrag

  About 80% of the world's students are not in school as a result of many countries shutting educational institutions in response to the COVID-19 pandemic in 2020. To address this challenge, schools and universities are stepping up their efforts to leverage educational resources and offer remote learning opportunities. Many educational applications, platforms, and tools are available to facilitate student learning during periods of school closure. While these approaches provide critical support to society, they are mostly focused on the transfer of theoretical content. There is a lack of support for hands-on laboratory work and practical experience. This is especially relevant for science, technology, engineering, and mathematics (STEM) departments, which must constantly improve their labs and pedagogical resources to offer meaningful study plans. In this paper, we present a novel perspective for a sustainable integration of virtual and augmented reality (VR/AR) with haptic wearables into STEM education to achieve multi-sensory learning. We highlight a unique viewpoint on existing pedagogical concepts and discuss the implications. We seek to stimulate global efforts towards the achievement of fully-immersive, open, and distance laboratory learning.

• Nyberg, Svein Olav Glesaaen; Robbersmyr, Kjell Gunnar; Holm, Jan Andreas & Sanfilippo, Filippo (2021). Static Tensile Experiments on Adhesion between Aluminium Profiles and Glass. Vis sammendrag

  In this work, we study the effects of the adhesion between aluminium profiles and glass from a static tensile perspective. A series of stretch curves from a 2016 experiment are analysed from their derivatives to find their points of float and maximum load bearing. The variable factors in this experiment are glass type, and type of connection: edge gluing, side (fugue) gluing, and excessive fugue gluing, which we have named fugue-edge. The stretch data gives us four quantities to analyse and compare: displacement and load at respectively float and at max load. We first display the results by simply comparing factor group against factor group. Whit this tool, only a few significant conclusions may be found. We then look at the more powerful statistical tools of linear regression and Anova (analysis of variance), explain these tools, and then draw conclusions about which factors are significant, and then about the size of the effect on the four variables under study. This forms the basis for our recommendation to window producers on where to focus their attention for the strongest possible glass-frame system.

• Sanfilippo, Filippo; Blažauskas, Tomas; Girdžiūna, Martynas; Janonis, Airidas; Kiudys, Eligijus & Salvietti, Gionata (2021). A Multi-Modal Auditory-Visual-Tactile e-Learning Framework. Vis sammendrag

  With a high number of countries closing learning institutions due to the restrictions in response to the COVID-19 pandemic, over 80% of the world's students was not attending school. As a response to this challenge, many educational institutions are increasing their efforts to utilise various educational technologies to provide remote learning opportunities. One of the biggest drawbacks of the majority of these existing solutions is limited support for hands-on laboratory work and practical experiences. This is especially relevant to science, technology, engineering, and mathematics (STEM) departments, which must continuously develop their laboratories and pedagogical tools to provide their students with effective study plans. To enable a safe, digital access to laboratories, a novel haptic-enabled framework for hands-on e-Learning is introduced in this work. The framework enables a fully-immersive tactile, auditory, and visual experience. This is achieved by combining virtual reality (VR) tools, with a novel wearable haptic device, which is designed by augmenting a low-cost commercial off-the-shelf (COTS) controller with vibrotactile actuators. For this purpose, the Unity game engine and the Valve Knuckles EV3 controllers are adopted. To demonstrate the potential of the proposed framework, a human subject study is presented. Results suggest that the proposed haptic-enabled framework improves the student engagement and illusion of presence.

• Balaji, Saishashank; Sanfilippo, Filippo; Gerdes, Martin & Prattichizzo, Domenico (2021). A Perspective on Intervention Approaches for Children with Autism Spectrum Disorder. Vis sammendrag

  Autism spectrum disorder (ASD) is a neurodevelopmental disorder affecting 1 in 160 children globally. Autism is characterised by abnormalities in communication, social interactions and behavioural challenges. Sensory processing disorders (SPD) affect two-thirds of children with autism. This causes anxiety and typically leads to repetitive behaviour referred to as problem behaviours; stereotypy and aggression are some of the most frequently observed problem behaviours in children with autism. Behavioural interventions may help reduce symptoms, develop cognitive capacity, and improve the child's ability to participate in social activities. A growing body of literature suggests that technological advancements in mobile health (mHealth) services may provide effective interventions to address the core symptoms of autism. One of the central challenges is to help children with ASD adapt to their surroundings by mitigating their problem behaviours. One of the most promising possibilities is to monitor physiological signals with wearable sensors to anticipate the onset of interfering behaviour and provide intervention through wearable assistive devices. This paper presents a new perspective on state-of-the-art intervention technologies in managing problem behaviour and discusses potential proactive intervention methods. We present a novel mHealth framework for behavioural interventions with the proactive use of wearable devices for empathic multi-modal auditory-visual-tactile feedback.

• Knausgård, Kristian Muri; Skar, Siv; Sanfilippo, Filippo; Buldenko, Albert; Lindheim, Henning & Lunde, Jakob [Vis alle 8 forfattere av denne artikkelen] (2021). Branch-Manoeuvring Capable Pipe Cleaning Robot for Aquaponic Systems. Vis sammendrag

  Aquaponic systems are engineered ecosystems combining aquaculture and plant production. Nutrient rich water is continuously circulating through the system from aquaculture tanks. A biofilter with nitrifying bacteria breaks down fish metabolism ammonia into nitrite and nitrate, which plants and makes the aquaculture wastewater into valued organic fertiliser for the plants, contenting essential macro and micro elements. At the same time, plants are cleaning the water by absorbing ammonia from the fish tanks before it reaches dangerous levels for the aquatic animals. In principle, the only external input is energy, mainly in the form of light and heat, but fish food is also commonly provided. Growing fish food is potentially feasible in a closed loop system, hence aquaponic systems can possibly be an important source of proteins and other important nutrition when, for example, colonising other planets in the future. Fully autonomous aquaponic systems are currently not available. This work aims at minimising manual labour related to cleaning pipes for water transport. The cleaning process must be friendly to both plants and aquatic animals. Hence, in this work, pure mechanical cleaning is adopted. A novel belt-driven continuum robot capable of travelling through small/medium diameter pipes and manoeuvring branches and bends, is designed and tested. The robot is modular and can be extended with different cleaning modules through an interface providing CAN-bus network and electric power. The flexible continuum modules of the robot are characterised. Experimental results demonstrate that the robot is able to travel through pipes of diameter 50 mm to 75 mm, and also capable of handling T-branches of up to 90 degrees.

• Duivon, Askan; Kirsch, Pino; Mauboussin, Boris; Mougard, Gabriel; Woszczyk, Jakub & Sanfilippo, Filippo (2021). The new design of Serpens, a highly compliant low-cost snake robot. Vis sammendrag

  The term perception-driven obstacle-aided locomotion(POAL)was coined as locomotion where the snake robot utilises a sensory-perceptual system to exploit the surrounding operational space and identifies walls, obstacles or other objects, for means of propulsion. From a control perspective, to obtain POAL it is necessary to precisely identify push-points and to reliably determine achievable contact reaction forces. Because of the lack of compliance, achieving this with conventional rigidly-actuated robots is difficult. To address this challenge, our research group recently introduced Serpens, a low-cost, open-source, and highly compliant multi-purpose modular snake robot with series elastic actuator (SEA). In this work, a new prototyping iteration for our snake robot is presented with the intent of achieving a more reliable design. Overall, the paper has the following threefold contributions: the re-design of the joint module with an improved reorganisation of the internal hardware components to facilitate heat dissipation and to accommodate a larger battery with easier access; the remodelling of the elastic joint with the addition of a damper element; a refreshed design for the screw-less assembly mechanism that can now withstand higher transverse forces. The software architecture is based on the Robot Operating System (ROS). Preliminary simulation results are presented.

• Sanfilippo, Filippo; Thorstensen, Rein Terje; Jha, Ajit; Jiang, Zhiyu; Knausgård, Kristian Muri & Robbersmyr, Kjell Gunnar (2021). A Perspective of Road Infrastructure and Bridges Digital Twins.
• Hua, Tuan; Sanfilippo, Filippo & Hao, Nguyen Vinh (2021). An Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm. Vis sammendrag

  Collaborative robots (or cobots) are robots that can safely operate together or interact with humans in a shared environment. They have steadily been more prevalent in recent years. The use of compliant actuators is critical in the design of cobots. In fact, this form of actuation system can potentially mitigate the damage caused by unexpected collision. As a result, when working in a complex setting, elastic joints are thought to outperform rigid joints. In this paper, a two-loop adaptive controller is proposed to deal with the control task of a 2-DOF robot arm with elastic actuators. For the outer control loop, an adaptive sliding mode controller (ASMC) is proposed to deal with uncertainties and disturbance on the load side of the robot arm. For the inner loop, model reference adaptive controllers (MRAC) are proposed to handle the uncertainties on the load side of the robot arm. Simulation experiments are conducted to verify the efficiency of the proposed two-loop controller.

• Sanfilippo, Filippo; Hua, Tuan & Bos, Steven (2020). A comparison between a two feedback control loop and a reinforcement learning algorithm for compliant low-cost series elastic actuators.
• Sanfilippo, Filippo & Pacchierotti, Claudio (2020). A Low-Cost Multi-Modal Auditory-Visual-Tactile Framework for Remote Touch.
• Bos, Steven; Gundersen, Henning & Sanfilippo, Filippo (2020). uMemristorToolbox: Open source framework to control memristors in Unity for ternary applications. Vis sammendrag

  This paper presents uMemristorToolbox, a novel open source framework that reads and writes non-volatile ternary states to memristors. The Unity (C#) framework is a port of the open source Java project Memristor-Discovery and adds a closed-loop ternary memory controller to enable both PC and real-time embedded ternary applications. We validate the closed-loop ternary memory controller in an embedded system case study with 16 M+SDC Tungsten dopant memristors. We measure an average switching speed of 3 Hz, worst case energy usage of 1 μW per switch, 0.03% random write error and no decay in (non-volatile) state retention after 15 minutes. We conclude with observations and open questions when working with memristors for ternary applications.

• Arbo, Mathias Hauan; Eriksen, Ivar; Sanfilippo, Filippo & Gravdahl, Jan Tommy (2020). Comparison of KVP and RSI for Controlling KUKA Robots Over ROS.
• Sanfilippo, Filippo; Helgerud, Erlend & Bos, Steven (2019). Augmented Reality for Robotics Research, Education and Training.
• Sanfilippo, Filippo (2019). H2020: from Single Robots to Collaborative Robots (CoBots).
• Sanfilippo, Filippo (2019). From Single Robots to Collaborative Robots (CoBots).
• Sanfilippo, Filippo (2019). The University of Agder research activity showcased on Italian TV. [TV]. La7, Italy.
• Sanfilippo, Filippo (2019). HRC: from modular robotic grasping to obstacle aided locomotion for SAR.
• Sanfilippo, Filippo (2019). Modelling and control of a Mass Spring Damper: from classical control theory to emerging Machine Learning based control methods - principles, methods, and example applications.
• Sanfilippo, Filippo (2019). Human-robot collaboration (HRC): from modular robotic grasping to obstacle aided locomotion for search and rescue.

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