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1.
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Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints
/ D'Antuono, Gianluca (Norwegian U. Sci. Tech.) ; Pettersen, Kristin Y (Norwegian U. Sci. Tech.) ; Buonocore, Luca R (CERN) ; Gravdahl, Jan Tommy (Norwegian U. Sci. Tech.) ; Di Castro, Mario (CERN)
This paper presents a novel application of Path Following and Nonlinear Model Predictive Control techniques to a tendon-actuated snake robot with rolling joints. The study investigates the efficacy of NMPC in guiding the robot’s end-effector along predefined trajectories in the robot output space, emphasizing its relevance for inspection and maintenance tasks in cluttered environments where traditional manipulators may be impractical or ineffective. [...]
2024 - 7 p.
- Published in : 10.1109/ccta60707.2024.10666573
In : 2024 IEEE Conference on Control Technology and Applications, Newcastle upon Tyne, UK, 21 -23 Aug 2024, pp.817-823
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2.
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Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider
/ Gamper, Hannes (CERN ; JKU, Linz) ; Forkel, David (CERN ; Jaume I U.) ; Rosales, Alejandro Díaz (CERN ; Delft Tech. U.) ; Garai, Jorge Playán (CERN) ; Almagro, Carlos Veiga (CERN ; Jaume I U.) ; Buonocore, Luca Rosario (CERN) ; Matheson, Eloise (CERN) ; Di Castro, Mario (CERN)
At CERN, radiation surveys of equipment and beam lines are important for safety and analysis throughout the accelerator complex. Radiation measurements are highly dependent on the distance between the sensor and the radiation source. [...]
2023
- Published in : Springer Proceedings in Advanced Robotics 27 (2023) 295-303
In : 20th International Symposium on Robotics Research (ISRR 2022), Geneva, Switzerland, 25 - 30 Sep 2022, pp.295-303
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3.
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Manipulation Tasks in Hazardous Environments Using a Teleoperated Robot: A Case Study at CERN
/ Gentile, Cosimo (Campus BioMedico U., Rome) ; Lunghi, Giacomo (CERN) ; Buonocore, Luca Rosario (CERN) ; Cordella, Francesca (Campus BioMedico U., Rome) ; Di Castro, Mario (CERN) ; Masi, Alessandro (CERN) ; Zollo, Loredana (Campus BioMedico U., Rome)
Remote robotic systems are employed in the CERN accelerator complex to perform different tasks, such as the safe handling of cables and their connectors. Without dedicated control, these kinds of actions are difficult and require the operators’ intervention, which is subjected to dangerous external agents. [...]
2023 - 15 p.
- Published in : Sensors 23 (2023) 1979
Fulltext: PDF;
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4.
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Robot-Aided Contactless Monitoring of Workers’ Cardiac Activity in Hazardous Environment
/ Cittadini, Roberto (CERN ; Campus BioMedico U., Rome) ; Buonocore, Luca Rosario (CERN) ; Matheson, Eloise (CERN) ; di Castro, Mario (CERN) ; Zollo, Loredana (Rome U. ; Campus BioMedico U., Rome)
Vital signals monitoring is expected to support people in their daily activities in the near future,
following continuous strides in developing health technologies for complex and hazardous environments.
As the industry 4.0 revolution grows, robotic systems are increasingly deployed to support health monitoring, even though current robotic systems merely enable navigation and exploration of the surrounding
environment to find people to be monitored, without adaptation of their behaviour to improve the quality of
the health monitoring. At the European Organization for Nuclear Research (CERN), a wireless personnel
safety prototype has been developed to assist workers in harsh environments, although this system needs
to be improved in terms of invasiveness and portability. [...]
2022 - 12 p.
- Published in : IEEE Access 10 (2022) 133427-133438
Fulltext: PDF;
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5.
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Camera Placement in a Short Working Distance Optical Inspection System for RF Cavities
/ Macpherson, Alick (CERN) ; Buonocore, Luca Rosario (CERN) ; Di Castro, Mario (CERN) ; Gamper, Hannes (CERN ; Linz U.) ; Luthi, Adrien (CERN)
Inspection of the RF surface of cavities for the purpose of detecting surface anomalies has been well established, and is typically based on long working distance optical systems using on-axis camera and mirror systems to scan the cavity surface. In order to improve the systematic inspection of the full RF surface of large area cavities, a novel short working distance inspection system is being developed at CERN. [...]
2022 - 5 p.
- Published in : JACoW SRF 2021 (2022) 503-507
Fulltext: PDF;
In : 20th International Conference on RF Superconductivity (SRF 2021), Online, US, 28 Jun - 2 Jul 2021, pp.503-507
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6.
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Visual control through narrow passages for an omnidirectional wheeled robot
/ Morra, Damiano (Naples U.) ; Cervera, Enric (Jaume I U., Castellon) ; Buonocore, Luca Rosario (CERN) ; Cacace, Jonathan (Naples U.) ; Ruggiero, Fabio (Naples U.) ; Lippiello, Vincenzo (Naples U.) ; Castro, Mario Di (CERN)
Robotic systems are gradually replacing human intervention in dangerous facilities to improve human safety and prevent risky situations. In this domain, our work addresses the problem of autonomous crossing narrow passages in a semi-structured (i.e., partially-known) environment. [...]
2022 - 6 p.
- Published in : 10.1109/MED54222.2022.9837221
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7.
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Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project
/ Ruggiero, Fabio (U. Naples (main)) ; Kim, Jung-Tae (U. Naples (main)) ; Gutierrez-Giles, Alejandro (CIC, IPN) ; Satici, Aykut C (Boise State U.) ; Donaire, Alejandro (Newcastle U., Australia) ; Cacace, Jonathan (U. Naples (main)) ; Buonocore, Luca Rosario (CERN) ; Fontanelli, Giuseppe Andrea (U. Naples (main)) ; Lippiello, Vincenzo (U. Naples (main)) ; Siciliano, Bruno (U. Naples (main))
This chapter aims the broadcasting of the results achieved by the RoDyMan project about the task planning manipulation of deformable objects, and the nonprehensile manipulation control. The final demonstrator of the project is a pizza-making process. [...]
2019 - 25 p.
- Published in : 10.1007/978-3-030-31993-9_4
In : The 15th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018), Porto, Portugal, 29 - 30 Jul 2018, pp.76-100
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8.
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CERN BDF Prototype Target Operation, Removal and Autopsy Steps
/ Franqueira Ximenes, Rui (CERN) ; Aberle, Oliver (CERN) ; Ahdida, Claudia (CERN) ; Avigni, Pietro (CERN) ; Battistin, Michele (CERN) ; Bianchi, Laura (CERN) ; Buonocore, Luca Rosario (CERN) ; Burger, Stephane (CERN) ; Busom Descarrega, Josep (CERN) ; Calviani, Marco (CERN) et al.
The Beam Dump Facility (BDF), currently in the study phase, is a proposed general-purpose fixed target facility at CERN. Initially will host the Search for Hidden Particles (SHiP) experiment, intended to investigate the origin of dark matter and other weakly interacting particles. [...]
Geneva : JACoW, 2021 - 4 p.
- Published in : JACoW IPAC 2021 (2021) 3559-3562
Fulltext: PDF;
In : 12th International Particle Accelerator Conference (IPAC 2021), Online, 24 - 28 May 2021, pp.3559-3562
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10.
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REMOTE - Robotics activities at CERN - Simulation and best practices for remote maintenance
/ Buonocore, Luca Rosario (speaker) (CERN)
Simulation and best practices for remote maintenance
To decrease human exposure to hazards in hostile environments, Remote Handling (RH) tasks ― the action of using a mechatronic device to execute remote-controlled operations ― are needed. At CERN, the BE-CEM group is responsible for planning and safely performing RH operations for remote maintenance. [...]
2022 - 3550.
Academic Training Lecture Regular Programme, 2021-2022
External link: Event details
In : REMOTE - Robotics activities at CERN - Simulation and best practices for remote maintenance
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