DESDEMONA Achievements

DESDEMONA achievements constitute a series of steps beyond the status of knowledge at the EU funded project starting on 1st June 2018, in the development of novel design methods, systems, procedure and technical solution, to integrate sensing and automation technologies for the purpose of self-inspection and self-monitoring of steel structures. The obtained results will lead to an increment of the service life of existing and new steel civil and industrial infrastructure and to a decrease in the cost associated to inspections, improving human activities performed in difficult conditions, safety and workers’ potential by the use of advanced tools. The research succeeded to expand new high-quality standard and practices for steel structure inspection and maintenance through the interrelated development of the following actions: i) steel structure geometry and condition virtualization through data fusion of image processing, thermography and vibration measurements; ii) developing of procedure for steel defect detection by robotic and automatic systems such as Cable-Driven Parallel Manipulators (CDPM), Unmanned Aerial Vehicles (UAV), Wall Climbing Drone (WCD), Cable Climbing Robot (CCR) and Wheeled Robot (WR) iii) embedding sensor systems to revalorize and transform steel elements and structures into self-diagnostic (smart) elements and materials even through nanotechnologies, iv) realizing an experimental lab-based apparatus and a series of case studies inspected by intelligent and robotic systems. The project outcomes are determining an impact on the reduction of the cost of steel structures inspection and maintenance and on the increase of user safety and comfort in industrial and civil environment

Non-invasive Electronic Biosensor Circuits and Systems

An aging population has lead to increased demand for health-care and an interest in moving health care services from the hospital to the home to reduce the burden on society. One enabling technology is comfortable monitoring and sensing of bio-signals. Sensors can be embedded in objects that people interact with daily such as a computer, chair, bed, toilet, car, telephone or any portable personal electronic device. Moreover, the relatively recent and wide availability of microelectronics that provide the capabilities of embedded software, open access wireless protocols and long battery life has led many research groups to develop wearable, wireless bio-sensor systems that are worn on the body and integrated into clothing. These systems are capable of interaction with other devices that are nowadays commonly in our possession such as a mobile phone, laptop, PDA or smart multifunctional MP3 player. The development of systems for wireless bio-medical long term monitoring is leading to personal monitoring, not just for medical reasons, but also for enhancing personal awareness and monitoring self-performance, as with sports-monitoring for athletes. These developments also provide a foundation for the Brain Computer Interface (BCI) that aims to directly monitor brain signals in order to control or manipulate external objects. This provides a new communication channel to the brain that does not require activation of muscles and nerves. This innovative and exciting research field is in need of reliable and easy to use long term recording systems (EEG). In particular we highlight the development and broad applications of our own circuits for wearable bio-potential sensor systems enabled by the use of an amplifier circuit with sufficiently high impedance to allow the use of passive dry electrodes which overcome the significant barrier of gel based contacts

ROBOTIC INTERACTION AND COOPERATION. Industrial and rehabilitative applications

The main goal of the thesis is the development of human-robotic interaction control strategies, which enable close collaboration between human and robot. In this framework we studied two di erent aspects, with applications respectively in industrial and rehabilitation domains. In the rst part safety issues are examined on a scenario in which a robot manipulator and a human perform the same task and in the same workspace. During the task execution the human should be able to get into contact with the robot and in this case an estimation algorithm of both interaction forces and contact point is proposed in order to guarantee safety conditions. At the same time, all the unintended contacts have to be avoided, and a suitable post collision strategy has been studied to move away the robot from the collision area or to reduce the impact e orts. However, the second part of the thesis focus on the cooperation between an orthesis and a patient. Indeed, in order to support a rehabilitation process, gait parameters, such as hip and knee angles or the beginning of a gait phase, have been estimated. For this purpose a sensor system, consisting of accelerometers and gyroscopes, and algorithms, developed in order to avoid the error accumulation due to the gyroscopes drift and the vibrations related to the beginning of the stance phase due to the accelerometers, have been proposed.The main goal of the thesis is the development of human-robotic interaction control strategies, which enable close collaboration between human and robot. In this framework we studied two di erent aspects, with applications respectively in industrial and rehabilitation domains. In the rst part safety issues are examined on a scenario in which a robot manipulator and a human perform the same task and in the same workspace. During the task execution the human should be able to get into contact with the robot and in this case an estimation algorithm of both interaction forces and contact point is proposed in order to guarantee safety conditions. At the same time, all the unintended contacts have to be avoided, and a suitable post collision strategy has been studied to move away the robot from the collision area or to reduce the impact e orts. However, the second part of the thesis focus on the cooperation between an orthesis and a patient. Indeed, in order to support a rehabilitation process, gait parameters, such as hip and knee angles or the beginning of a gait phase, have been estimated. For this purpose a sensor system, consisting of accelerometers and gyroscopes, and algorithms, developed in order to avoid the error accumulation due to the gyroscopes drift and the vibrations related to the beginning of the stance phase due to the accelerometers, have been proposed