ModGrasp
A Wave Simulator and Active Heave Compensation Framework
JOpenShowVar, a communication interface to Kuka robots
2015, December, 17 0

# A summary of my research and publications for the year 2015

The year 2015 has been an exceptionally productive year from a research point of view.

A list of my publications for the year 2015 is reported in the following.

1. Filippo Sanfilippo, Lars Ivar Hatledal, Houxiang Zhang, Massimiliano Fago and Kristin Ytterstad Pettersen. Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar. IEEE Robotics & Automation Magazine 22(4):96-109, December 2015. URL PDF BibTeX

@article{sanfilippo2015jopenshowvar,
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Zhang, Houxiang and Fago, Massimiliano and Pettersen, Kristin Ytterstad",
title = "Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar",
journal = "IEEE Robotics \& Automation Magazine",
year = 2015,
month = "Dec",
volume = 22,
number = 4,
pages = "96-109",
abstract = "JOpenShowVar is a Java open-source cross-platform communication interface to Kuka industrial robots. This novel interface allows for read-write use of the controlled manipulator variables and data structures. JOpenShowVar, which is compatible with all the Kuka industrial robots that use KUKA Robot Controller version 4 (KR C4) and KUKA Robot Controller version 2 (KR C2), runs as a client on a remote computer connected with the Kuka controller via TCP/IP. Even though only soft real-time applications can be implemented, JOpenShowVar opens up to a variety of possible applications, making the use of various input devices and sensors as well as the development of alternative control methods possible. Four case studies are presented to demonstrate the potential of JOpenShowVar. The first two case studies are open-loop applications, while the last two case studies describe the possibility of implementing closed-loop applications. In the first case study, the proposed interface is used to make it possible for an Android mobile device to control a Kuka KR 6 R900 SIXX (KR AGILUS) manipulator. In the second case study, the same Kuka robot is used to perform a two-dimensional (2-D) line-following task that can be used for applications, such as advanced welding operations. In the third case study, a closed-loop application is developed to control the same manipulator with a Leap Motion controller that supports hand and finger motions as input without requiring contact or touching. In the fourth case study, a bidirectional closed-loop coupling is established between a Force Dimension omega.7 haptic device and the same Kuka manipulator. Related experiments are carried out to validate the efficiency and flexibility of the proposed communication interface.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/controlling-kuka-industrial-robots-flexible-communication-interface-jopenshowvar.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7349325&contentType=Journals+%26+Magazines"
}

2. Filippo Sanfilippo and Kristin Ytterstad Pettersen. OpenMRH: a Modular Robotic Hand Generator Plugin for OpenRAVE. In Proceeding of the IEEE Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China. 2015, 1–6. PDF BibTeX

@inproceedings{sanfilippo2015openmrh,
title = "OpenMRH: a Modular Robotic Hand Generator Plugin for OpenRAVE",
author = "Sanfilippo, Filippo and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the IEEE Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China",
pages = "1--6",
year = 2015,
organization = "IEEE",
abstract = "In this work, the open-source plugin OpenMRH is presented for the Open Robotics Automation Virtual Environment (OpenRAVE), a simulation environment for testing, developing and deploying motion planning algorithms. The proposed plugin allows for a fast and automated generation of different modular hand models OpenMRH combines virtual-prototyping and modular concepts. Each modular model is generated by applying a dynamically generated code, which is consistent with the standard syntax expected by OpenRAVE for the simulated models. In this way, once the desired model is generated, an instance of OpenRAVE can be launched and the model can be visualised. Alternatively, the modular models can be generated from a user-defined input specified via a graphical user interface (GUI). The generated models can be used for testing, developing and deploying grasp or motion planning algorithms. Two case studies are considered to validate the efficiency of the proposed model generator. In the first case study, a modular robotic hand model is generated with OpenMRH by using user-defined input parameters. In the second case study, another hand model is generated with OpenMRH by using algorithmic defined input parameters.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/openmrh-a-modular-robotic-hand-generator-plugin-for-openrave.pdf"
}

3. Filippo Sanfilippo, Paul B T Weustink and Kristin Ytterstad Pettersen. A Coupling Library for the Force Dimension Haptic Devices and the 20-sim Modelling and Simulation Environment. In Proceeding of the 41st Annual Conference of the IEEE Industrial Electronics Society (IECON), Yokohama, Japan. 2015, 168–173. PDF BibTeX

@inproceedings{sanfilippo2015haptics,
title = "A Coupling Library for the Force Dimension Haptic Devices and the 20-sim Modelling and Simulation Environment",
author = "Sanfilippo, Filippo and Weustink, Paul B. T. and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the 41st Annual Conference of the IEEE Industrial Electronics Society (IECON), Yokohama, Japan",
pages = "168--173",
year = 2015,
organization = "IEEE",
abstract = "A haptic feedback device is a device that establishes a kinaesthetic link between a human operator and a computer-generated environment. This paper addresses the bidirectional coupling between a commercial off-the-shelf (COTS) haptic feedback device and a general-purpose modelling and simulation environment. In particular, an open-source library is developed to couple the Force Dimension omega.7 haptic device with the 20-sim modelling and simulation environment. The presented coupling interface is also compatible with all the different haptic devices produced by Force Dimension. The proposed integrated haptic interface makes it possible to track the user’s motion, detect collisions between the user-controlled probe and virtual objects, compute reaction forces in response to motion or contacts and exert an intuitive force feedback on the user. A real-time one-to-one correspondence between reality and virtual reality can be transparently created. This allows for a variety of possible applications. Stability issues, performance issues, design and virtual prototyping challenges can be addressed and investigated for research purposes. In addition, design and virtual prototyping are also of interest to industry. Realistic training environments can be developed for the user considering different possible operations and stressing the importance of usability and user experience. Experiments based on using haptics technology in the field of education can also be easily performed. To demonstrate the potential of the proposed coupling, a case study is presented. Related simulations and experimental results are carried out.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-coupling-library-for-the-force-dimension-haptic-devices-and-the-20-sim-modelling-and-simulation-environment.pdf"
}

4. Filippo Sanfilippo and Kristin Ytterstad Pettersen. A Sensor Fusion Wearable Health-Monitoring System with Haptic Feedback. In Proceeding of the 11th IEEE International Conference on Innovations in Information Technology (IIT’15), Dubai, United Arab Emirates. 2015, 241–245. PDF BibTeX

@inproceedings{sanfilippo2015wearable,
title = "A Sensor Fusion Wearable Health-Monitoring System with Haptic Feedback",
author = "Sanfilippo, Filippo and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the 11th IEEE International Conference on Innovations in Information Technology (IIT’15), Dubai, United Arab Emirates",
pages = "241--245",
year = 2015,
organization = "IEEE",
abstract = "A wearable integrated health-monitoring system is presented in this paper. The system is based on a multi-sensor fusion approach. It consists of a chest-worn device that embeds a controller board, an electrocardiogram (ECG) sensor, a temperature sensor, an accelerometer, a vibration motor, a colour-changing light-emitting diode (LED) and a push-button. This multi-sensor device allows for performing biometric and medical monitoring applications. Distinctive haptic feedback patterns can be actuated by means of the embedded vibration motor according to the user’s health state. The embedded colour-changing LED is employed to provide the wearer with an additional intuitive visual feedback of the current health state. The push-button provided can be pushed by the user to report a potential emergency condition. The collected biometric information can be used to monitor the health state of the person involved in real-time or to get sensitive data to be subsequently analysed for medical diagnosis. In this preliminary work, the system architecture is presented. As a possible application scenario, the health-monitoring of offshore operators is considered. Related initial simulations and experiments are carried out to validate the efficiency of the proposed technology. In particular, the system reduces risk, taking into consideration assessments based on the individual and on overall potentially-harmful situations.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-sensor-fusion-wearable-health-monitoring-system-with-haptic-feedback.pdf"
}

5. Filippo Sanfilippo, Lars Ivar Hatledal and Kristin Ytterstad Pettersen. A Fully-Immersive Hapto-Audio-Visual Framework for Remote Touch. In Proceeding of the 11th IEEE International Conference on Innovations in Information Technology (IIT’15), Dubai, United Arab Emirates. 2015. PDF BibTeX

@inproceedings{sanfilippo2015touch,
title = "A Fully-Immersive Hapto-Audio-Visual Framework for Remote Touch",
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the 11th IEEE International Conference on Innovations in Information Technology (IIT’15), Dubai, United Arab Emirates",
year = 2015,
organization = "IEEE",
abstract = "This paper presents the development of an open-source low-cost framework for a fully-immersive haptic, audio and visual experience. This framework is realised by exclusively adopting commercial off-the-shelf (COTS) components and tools. In particular, vibration actuators and open-source electronics are employed in the design of a pair of novel and inexpensive haptic gloves. These gloves allow for establishing a kinesthetic link between a human operator interacting with a computer-generated environment. Remote touch applications are possible. In the context of Smart Cities, this technology may be adopted to enhance the interface between nature and culture by stimulating the senses or as a complement to the landscape.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-fully-immersive-hapto-audio-visual-framework-for-remote-touch.pdf"
}

6. Filippo Sanfilippo. Alternative and Flexible Control Approaches for Robotic Manipulators: on the Challenge of Developing a Flexible Control Architecture that Allows for Controlling Different Manipulators. Ph.D. dissertation, Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics, Trondheim, June 2015. URL PDF BibTeX

@phdthesis{key:sanfilippophdthesis,
author = "Sanfilippo, Filippo",
title = "Alternative and Flexible Control Approaches for Robotic Manipulators: on the Challenge of Developing a Flexible Control Architecture that Allows for Controlling Different Manipulators",
school = "Ph.D. dissertation, Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics",
year = 2015,
month = "June",
abstract = "In this work, efficient design methods for robotic manipulators are initially investigated. Successively, the possibility of developing a flexible control architecture that allows for controlling different manipulators by using a universal input device is outlined. The main challenge of doing this consists of finding a flexible way to map the normally fixed DOFs of the input controller to the variable DOFs of the specific manipulator to be controlled. This process has to be realised regardless of the differences in size, kinematic structure, body morphology, constraints and affordances. Different alternative control algorithms are investigated including effective approaches that do not assume a priori knowledge for the Inverse Kinematic (IK) models. These algorithms derive the kinematic properties from biologically-inspired approaches, machine learning procedures or optimisation methods. In this way, the system is able to automatically learn the kinematic properties of different manipulators. Finally, a methodology for performing experimental activities in the area of maritime cranes and robotic arm control is outlined. By combining the rapid-prototyping approach with the concept of interchangeable interfaces, a simulation and benchmarking framework for advanced control methods of maritime cranes and robotic arms is presented.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/sanfilippo-alternative-and-flexible-control-methods-for-robotic-manipulators.pdf",
url = "http://brage.bibsys.no/xmlui/handle/11250/2360280"
}

7. Filippo Sanfilippo, Lars Ivar Hatledal, Arne Styve, Houxiang Zhang and Kristin Ytterstad Pettersen. Integrated Flexible Maritime Crane Architecture for the Offshore Simulation Centre AS (OSC): A Flexible Framework for Alternative Maritime Crane Control Algorithms. IEEE Journal of Oceanic Engineering PP(99):1-12, 2015. URL BibTeX

@article{sanfilippo2015osc,
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Styve, Arne and Zhang, Houxiang and Pettersen, Kristin Ytterstad",
title = "Integrated Flexible Maritime Crane Architecture for the Offshore Simulation Centre AS (OSC): A Flexible Framework for Alternative Maritime Crane Control Algorithms",
journal = "IEEE Journal of Oceanic Engineering",
year = 2015,
month = "",
volume = "PP",
number = 99,
pages = "1-12",
abstract = "The Offshore Simulator Centre AS (OSC) is the world's most advanced provider of simulators for demanding offshore operations. However, even though the OSC provides very powerful simulation tools, it is mainly designed for training purposes and it does not inherently offer any flexible methods concerning the control methodology. In fact, each crane model is controlled with a dedicated control algorithm that cannot be modified, accessed, or replaced at runtime. As a result, it is not possible to dynamically switch between different control methods, nor is it possible to easily investigate alternative control approaches. To overcome these problems, a flexible and general control system architecture that allows for modeling flexible control algorithms of maritime cranes and more generally, robotic arms, was previously presented by our research group. However, in the previous work, a generic game engine was used to visualize the different models. In this work, the flexible and general control system architecture is integrated with a crane simulator developed by the OSC taking full advantage of the provided domain-consistent simulation tools. The Google Protocol Buffers protocol is adopted to realize the communication protocol. This integration establishes the base for the research of alternative control algorithms, which can be efficiently tested in a realistic maritime simulation environment. As a validating case study, an alternative control method based on particle swarm optimization (PSO) is also presented. Related simulations are carried out to validate the efficiency of the proposed integration.",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7156157&contentType=Early+Access+Articles"
}

8. Lars Ivar Hatledal, Filippo Sanfilippo, Yingguang Chu and Houxiang Zhang. A Voxel-Based Numerical Method for Computing and Visualising the Workspace of Offshore Cranes. In Proceeding of the 34th International Conference on Ocean, Offshore and Arctic Engineering (OMAE), St. John’s, Newfoundland, Canada. 2015, 1–7. URL BibTeX

@inproceedings{sanfilippo2015voxel,
title = "A Voxel-Based Numerical Method for Computing and Visualising the Workspace of Offshore Cranes",
author = "Hatledal, Lars Ivar and Sanfilippo, Filippo and Chu, Yingguang and Zhang, Houxiang",
booktitle = "Proceeding of the 34th International Conference on Ocean, Offshore and Arctic Engineering (OMAE), St. John’s, Newfoundland, Canada",
pages = "1--7",
year = 2015,
organization = "ASME",
abstract = "Workspace computation and visualisation is one of the most important criteria in offshore crane design in terms of geometry dimensioning, installation feasibility and operational performance evaluation. This paper presents a numerical method for the computation and visualisation of the workspace of offshore cranes. The Working Load Limit (WLL) and the Safe Working Load (SWL) can be automatically determined. A three-dimensional (3D) rectangular grid of voxels is used to describe the properties of the workspace. Firstly, a number of joint configurations are generated by using the Monte Carlo method, which are then mapped from joint to Cartesian space using forward kinematics (FK). The bounding box of the workspace is then derived from these points, and the voxels are distributed on planes inside the box. The method distinguishes voxels by whether they are reachable and if they are on the workspace boundary. The output of the method is an approximation of the workspace volume and point clouds depicting both the reachable space and the boundary of the workspace. Using a third-party software that can work with point clouds, such like MeshLab, a 3D mesh of the workspace can be obtained. A more in-depth description and the pseudo-code of the presented method are presented. As a case study, the workspace of a common type of offshore crane, with three rotational joints, is computed with the proposed method.",
url = "http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=2465407"
}

9. Filippo Sanfilippo and Kristin Ytterstad Pettersen. XBee Positioning System with Embedded Haptic Feedback for Dangerous Offshore Operations: a Preliminary Study. In Proceeding of the MTS/IEEE Oceans '15 Conference, Genova, Italy. 2015, 1–6. URL PDF BibTeX

@inproceedings{sanfilippo2015xbee,
title = "XBee Positioning System with Embedded Haptic Feedback for Dangerous Offshore Operations: a Preliminary Study",
author = "Sanfilippo, Filippo and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the MTS/IEEE Oceans '15 Conference, Genova, Italy",
pages = "1--6",
year = 2015,
organization = "MTS/IEEE",
abstract = "The problem of identification and isolation of dangerous zones in offshore installations is investigated in this preliminary work. A node positioning algorithm is implemented in order to track and identify the operational movements on board the vessel. This implementation is realised with an XBee network that uses a trilateration method, making it possible to actively monitor and dynamically identify several on board zones in different operational scenarios. The crew members can be given varying degrees of access permissions in accordance with their job duties. In this way, access to dangerous areas can be easily controlled in a modular fashion. Subsequently, the user's risk perception is considered. Traditionally, the responsibility of proper hazard identification is placed on the operators. For this reason, more attention is being given to the way that people think, feel and behave in response to risk. Risk is perceived differently by different people, and in this sense, the user's experience and therefore ability to perceive risk can be greatly improved with the use of haptics. Haptic feedback, also known as haptics, is the use of the sense of touch in a user interface designed in such a way as to provide the user (operator) with additional information. In this work, a vibration motor is embedded in the operator's helmet, thus providing intuitive haptic feedback. The operator perceives different types of risks according to the surrounding areas due to the integration of this technology with the XBee-based positioning algorithm and by using distinctive feedback patterns. Related experiments are carried out to validate the efficiency of the proposed technology. In particular, the presented approach demonstrates a great potential for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/xbee-positioning-system-with-embedded-haptic-feedback-for-dangerous-offshore-operations-a-preliminary-study.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7271241&contentType=Conference+Publications"
}

10. Yingguang Chu, Lars Ivar Hatledal, Filippo Sanfilippo, Hans Georg Schaathun, Vilmar Æsøy and Houxiang Zhang. Virtual Prototyping System for Maritime Crane Design and Operation Based on Functional Mock-up Interface. In Proceeding of the MTS/IEEE Oceans '15 Conference, Genova, Italy. 2015, 1–4. URL PDF BibTeX

@inproceedings{sanfilippo2015prototyping,
title = "Virtual Prototyping System for Maritime Crane Design and Operation Based on Functional Mock-up Interface",
author = "Chu, Yingguang and Hatledal, Lars Ivar and Sanfilippo, Filippo and Schaathun, Hans Georg and \AEs\oy, Vilmar and Zhang, Houxiang",
booktitle = "Proceeding of the MTS/IEEE Oceans '15 Conference, Genova, Italy",
pages = "1--4",
year = 2015,
organization = "MTS/IEEE",
abstract = "This paper presents the framework of a virtual prototyping system for the design and simulation of maritime crane operations. By combining the rapid-prototyping approach with the concept of interchangeable interfaces, different demanding operation scenarios can be simulated including models of the corresponding physical systems, the vessel and the surrounding environment. Multiple tradeoffs and alternative solutions can be evaluated during the design phase. This process can be achieved within a short time period, allowing for the reduction of lead-times as well as for the abatement of mistakes or system failures that may otherwise cause fatal accidents in real tests. In addition, the virtual simulator can also be used for training purposes allowing for a substantial improvement in working efficiency and operation safety. The software architecture of the proposed framework is based on the application of the Functional Mock-up Interface standard. This utilises the current available modelling tools and allows for the exchange of dynamic models and for co-simulation of different models according to the current designing needs. The development of the framework and involved modules of maritime crane systems are described. Preliminary simulations are presented to show the effectiveness and flexibility of the proposed framework.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/virtual-prototyping-system-for-maritime-crane-design-and-operation-based-on-functional-mock-up-interface.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7271342&contentType=Conference+Publications"
}

11. Filippo Sanfilippo, Lars Ivar Hatledal, Houxiang Zhang, Webjørn Rekdalsbakken and Kristin Ytterstad Pettersen. A Wave Simulator and Active Heave Compensation Framework for Demanding Offshore Crane Operations. In Proceeding of the IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2015), Halifax, Canada. 2015, 1588–1593. URL PDF BibTeX

@inproceedings{sanfilippo2015wave,
title = "A Wave Simulator and Active Heave Compensation Framework for Demanding Offshore Crane Operations",
author = "Sanfilippo, Filippo and Hatledal, Lars Ivar and Zhang, Houxiang and Rekdalsbakken, Webj{\o}rn and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2015), Halifax, Canada",
pages = "1588--1593",
year = 2015,
organization = "IEEE",
abstract = "In this work, a framework is presented that makes it possible to reproduce the challenging operational scenario of controlling offshore cranes via a laboratory setup. This framework can be used for testing different control methods and for training purposes. The system consists of an industrial robot, the \textit{Kuka} \textit{KR 6 R900 SIXX (KR AGILUS)} manipulator and a motion platform with three degrees of freedom. This work focuses on the system integration. The motion platform is used to simulate the wave effects, while the robotic arm is controlled by the user with a joystick. The wave contribution is monitored by means of an accelerometer mounted on the platform and it is used as a negative input to the manipulator's control algorithm so that active heave compensation methods can be achieved. Concerning the system architecture, the presented framework is built on open-source software and hardware. The control software is realised by applying strict multi-threading criteria to meet demanding real-time requirements. Related simulations and experimental results are carried out to validate the efficiency of the proposed framework. In particular, it can be certified that this approach allows for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/a-wave-simulator-and-active-heave-compensation-framework-for-demanding-offshore-crane-operations.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7129518&contentType=Conference+Publications"
}

12. Filippo Sanfilippo, Houxiang Zhang and Kristin Ytterstad Pettersen. The New Architecture of ModGrasp for Mind-Controlled Low-Cost Sensorised Modular Hands. In Proceeding of the IEEE International Conference on Industrial Technology (ICIT), Seville, Spain. 2015, 524–529. URL PDF BibTeX

@inproceedings{sanfilippo2015modgrasp,
title = "The New Architecture of ModGrasp for Mind-Controlled Low-Cost Sensorised Modular Hands",
author = "Sanfilippo, Filippo and Zhang, Houxiang and Pettersen, Kristin Ytterstad",
booktitle = "Proceeding of the IEEE International Conference on Industrial Technology (ICIT), Seville, Spain",
pages = "524--529",
year = 2015,
organization = "IEEE",
abstract = "\textit{ModGrasp}, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands, was previously introduced by our research group. \textit{ModGrasp} combines the rapid-prototyping approach with the modular concept, making it possible to model different manipulator configurations. Virtual and physical prototypes can be linked in a real-time one-to-one correspondence. In this work, the \textit{ModGrasp} communication pattern is improved, becoming more modular, reliable and robust. In the previous version of the framework, each finger of the prototype was controlled by a separate controller board. In this work, each module, or finger link, is independent, being controlled by a self-reliant slave controller board. In addition, a newly redesigned multi-threading and multi-level software architecture with a hierarchical logical organisation is presented. In this regard, a new programming paradigm is delineated. The new architecture opens up to a variety of possible applications. As a case study, a mind-controlled, low-cost modular manipulator is presented. In detail, the user's levels of attention and meditation are monitored by using an electroencephalography (EEG) headset, the \textit{NeuroSky MindWave}. These levels are used as inputs to control the hand. Since the manipulator features 11 DOFs, a synergistic control approach is chosen to map inputs with outputs with such a different dimensionality. Related simulations and experimental results are carried out.",
pdf = "http://filipposanfilippo.inspitivity.com/publications/the-new-architecture-of-modgraspfor-mind-controlled-low-cost-sensorised-modular-hand.pdf",
url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7125152&contentType=Conference+Publications"
}


My research activity has also been awarded with several international awards. A list of the received awards is reported in the following:

## Ongoing Publications

• Filippo Sanfilippo, Lars Ivar Hatledal, Kristin Ytterstad Pettersen and Houxiang Zhang. A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mock-up Interface. Submitted, 2015.

I thank all my co-authors and congratulate all of them for their contribution. In particular, it is hard to overstate my gratitude to Professor Kristin Ytterstad Pettersen. Without her inspirational guidance, her enthusiasm, her encouragements, her unselfish help, I could never achieve these results.

Above all, I would like to thank all my students, they are the ones that fill all my efforts and research activities with meaning.

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