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Dr. Luigi Manfredi
Institute for Medical Science and Technology (IMSaT), Division of Imaging and Technology, School of Medicine, University of Dundee, Dundee, UK

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Research Keywords & Expertise

0 Bio-inspired robots
0 Soft Robots
0 Endoscopic robots
0 Shape memory alloy actuators
0 Control hardware

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Soft Robots
Bio-inspired robots

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Mini review article
Published: 14 July 2021 in Frontiers in Robotics and AI
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Colorectal cancer (CRC) is the second most common cause of cancer death worldwide, after lung cancer (Sung et al., 2021). Early stage detection is key to increase the survival rate. Colonoscopy remains to be the gold standard procedure due to its dual capability to optically inspect the entire colonic mucosa and to perform interventional procedures at the same time. However, this causes pain and discomfort, whereby it requires sedation or anaesthesia of the patient. It is a difficult procedure to perform that can cause damage to the colonic wall in some cases. Development of new technologies aims to overcome the current limitations on colonoscopy by using advancements in endorobotics research. The design of these advanced medical devices is challenging because of the limited space of the lumen, the contorted shape, and the long tract of the large bowel. The force applied to the colonic wall needs to be controlled to avoid collateral effects such as injuries to the colonic mucosa and pain during the procedure. This article discusses the current challenges in the colonoscopy procedure, the available locomotion technologies for endorobots used in colonoscopy at a prototype level and the commercial products available.

ACS Style

Luigi Manfredi. Endorobots for Colonoscopy: Design Challenges and Available Technologies. Frontiers in Robotics and AI 2021, 8, 1 .

AMA Style

Luigi Manfredi. Endorobots for Colonoscopy: Design Challenges and Available Technologies. Frontiers in Robotics and AI. 2021; 8 ():1.

Chicago/Turabian Style

Luigi Manfredi. 2021. "Endorobots for Colonoscopy: Design Challenges and Available Technologies." Frontiers in Robotics and AI 8, no. : 1.

Original research
Published: 16 January 2020 in Intelligent Service Robotics
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Autonomous navigation in complex environment is an important requirement for the design of a robot. Active SLAM (simultaneous localization and mapping) combining, which combine path planning with SLAM, is proposed to improve the ability of autonomous navigation in complex environment. In this paper, fully convolutional residual networks are used to recognize the obstacles to get depth image. The avoidance obstacle path is planned by Dueling DQN algorithm in the robot’s navigation; at the same time, the 2D map of the environment is built based on FastSLAM. The experiments show that the proposed algorithm can successfully identify and avoid moving and static obstacles with different quantities in the environment, and realize the autonomous navigation of the robot in a complex environment.

ACS Style

Shuhuan Wen; Yanfang Zhao; Xiao Yuan; Zongtao Wang; Dan Zhang; Luigi Manfredi. Path planning for active SLAM based on deep reinforcement learning under unknown environments. Intelligent Service Robotics 2020, 13, 263 -272.

AMA Style

Shuhuan Wen, Yanfang Zhao, Xiao Yuan, Zongtao Wang, Dan Zhang, Luigi Manfredi. Path planning for active SLAM based on deep reinforcement learning under unknown environments. Intelligent Service Robotics. 2020; 13 (2):263-272.

Chicago/Turabian Style

Shuhuan Wen; Yanfang Zhao; Xiao Yuan; Zongtao Wang; Dan Zhang; Luigi Manfredi. 2020. "Path planning for active SLAM based on deep reinforcement learning under unknown environments." Intelligent Service Robotics 13, no. 2: 263-272.

Article
Published: 10 January 2020 in Autonomous Robots
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This paper proposes a novel fusion of an inertial measurement unit (IMU) and stereo camera method based on direct sparse odometry (DSO) and stereo DSO. It jointly optimizes all model parameters within a sliding window, including the inverse depth of all selected pixels and the internal or external camera parameters of all keyframes. The vision part uses a photometric error function that optimizes 3D geometry and camera pose in a combined energy functional. The proposed algorithm uses image blocks to extract neighboring image features and directly forms measurement residuals in the image intensity space. A fixed-baseline stereo camera solves scale drift. IMU information is accumulated between several frames using manifold pre-integration and is inserted into the optimization as additional constraints between keyframes. The scale and gravity inserted are incorporated into the stereo visual inertial odometry model and are optimized together with other variables such as poses. The experimental results show that the tracking accuracy and robustness of the proposed method are superior to those of the state-of-the-art fused IMU method. In addition, compared with previous semi-dense direct methods, the proposed method displays a higher reconstruction density and scene recovery.

ACS Style

Shuhuan Wen; Yanfang Zhao; Hong Zhang; Hak Keung Lam; Luigi Manfredi. Joint optimization based on direct sparse stereo visual-inertial odometry. Autonomous Robots 2020, 44, 791 -809.

AMA Style

Shuhuan Wen, Yanfang Zhao, Hong Zhang, Hak Keung Lam, Luigi Manfredi. Joint optimization based on direct sparse stereo visual-inertial odometry. Autonomous Robots. 2020; 44 (5):791-809.

Chicago/Turabian Style

Shuhuan Wen; Yanfang Zhao; Hong Zhang; Hak Keung Lam; Luigi Manfredi. 2020. "Joint optimization based on direct sparse stereo visual-inertial odometry." Autonomous Robots 44, no. 5: 791-809.

Conference paper
Published: 01 August 2019 in 2019 WRC Symposium on Advanced Robotics and Automation (WRC SARA)
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In this paper, a novel control method of the redundant force branch based on the force/position hybrid control structure of Smith predictor compensation is proposed. A fuzzy PI controller is designed based on Smith predictor compensation structure and it is included in the redundant force branch. This method can obtain good tracking and dynamic performance. However, fuzzy control doesn't have self-learning and adaptive ability, so fuzzy neural network (FNN) controller is used in the redundant force branch. The simulation results show that the proposed FNN algorithm based on delay compensation force/position hybrid control structure can improve the adaptability and the control accuracy of driving force of redundant branch.

ACS Style

Shuhuan Wen; Yanfang Zha; Haiyang Yu; Luigi Manfredi; Xiongfei Li; Sen Wang. Fuzzy Neural Network algorithm based on the delay compensation force/position control structure of a redundant actuation parallel robot *. 2019 WRC Symposium on Advanced Robotics and Automation (WRC SARA) 2019, 142 -147.

AMA Style

Shuhuan Wen, Yanfang Zha, Haiyang Yu, Luigi Manfredi, Xiongfei Li, Sen Wang. Fuzzy Neural Network algorithm based on the delay compensation force/position control structure of a redundant actuation parallel robot *. 2019 WRC Symposium on Advanced Robotics and Automation (WRC SARA). 2019; ():142-147.

Chicago/Turabian Style

Shuhuan Wen; Yanfang Zha; Haiyang Yu; Luigi Manfredi; Xiongfei Li; Sen Wang. 2019. "Fuzzy Neural Network algorithm based on the delay compensation force/position control structure of a redundant actuation parallel robot *." 2019 WRC Symposium on Advanced Robotics and Automation (WRC SARA) , no. : 142-147.

Journal article
Published: 31 July 2019 in Scientific Reports
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The design of a smart robot for colonoscopy is challenging because of the limited available space, slippery internal surfaces, and tortuous 3D shape of the human colon. Locomotion forces applied by an endoscopic robot may damage the colonic wall and/or cause pain and discomfort to patients. This study reports a Soft Pneumatic Inchworm Double balloon (SPID) mini-robot for colonoscopy consisting of two balloons connected by a 3 degrees of freedom soft pneumatic actuator. SPID has an external diameter of 18 mm, a total length of 60 mm, and weighs 10 g. The balloons provide anchorage into the colonic wall for a bio-inspired inchworm locomotion. The proposed design reduces the pressure applied to the colonic wall and consequently pain and discomfort during the procedure. The mini-robot has been tested in a deformable plastic colon phantom of similar shape and dimensions to the human anatomy, exhibiting efficient locomotion by its ability to deform and negotiate flexures and bends. The mini-robot is made of elastomer and constructed from 3D printed components, hence with low production costs essential for a disposable device.

ACS Style

Luigi Manfredi; Elisabetta Capoccia; Gastone Ciuti; Alfred Cuschieri. A Soft Pneumatic Inchworm Double balloon (SPID) for colonoscopy. Scientific Reports 2019, 9, 1 -9.

AMA Style

Luigi Manfredi, Elisabetta Capoccia, Gastone Ciuti, Alfred Cuschieri. A Soft Pneumatic Inchworm Double balloon (SPID) for colonoscopy. Scientific Reports. 2019; 9 (1):1-9.

Chicago/Turabian Style

Luigi Manfredi; Elisabetta Capoccia; Gastone Ciuti; Alfred Cuschieri. 2019. "A Soft Pneumatic Inchworm Double balloon (SPID) for colonoscopy." Scientific Reports 9, no. 1: 1-9.

Conference paper
Published: 01 April 2019 in 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)
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The performance of a soft pneumatic robot (SPR) relies on the synergy between the mechanical design and the control unit that implements a closed-loop control between sensors and actuators. Most controllers are designed by using off-the-shelf components. Although commercial parts present high precision and reliability, they are heavy and bulky, limiting the realisation and design of untethered robots. The present study describes a wireless pneumatic control unit of a compact and light design that can control up to 3 pneumatic chambers. The unit includes pressure sensors and high precision miniaturised proportional valves. To simplify both the electrical cabling and the air tubes connections, a compact manifold is used to connect valves and pressure sensors. The control unit uses a Bluetooth RS232 serial module for a wireless communication. The mechatronic design is reported describing the electronic hardware, the manifold solution, and the firmware implementation. Experiments report i) the control of a linear pneumatic actuator (LPA), and ii) a simultaneous activation of 3 LPAs connected to a base providing 3 degrees of freedom (DOFs).

ACS Style

Luigi Manfredi; Alfred Cuschieri. A Wireless Compact Control Unit (WiCCU) for Untethered Pneumatic Soft Robots. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) 2019, 31 -36.

AMA Style

Luigi Manfredi, Alfred Cuschieri. A Wireless Compact Control Unit (WiCCU) for Untethered Pneumatic Soft Robots. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). 2019; ():31-36.

Chicago/Turabian Style

Luigi Manfredi; Alfred Cuschieri. 2019. "A Wireless Compact Control Unit (WiCCU) for Untethered Pneumatic Soft Robots." 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) , no. : 31-36.

Original paper
Published: 12 February 2019 in Nonlinear Dynamics
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This paper studies the modelling of a vibro-impact self-propelled capsule system in the small intestinal tract. Our studies focus on understanding the dynamic characteristics of the capsule and its performance in terms of the average speed and energy efficiency under various system and control parameters, such as capsule’s radius and length, and the frequency and magnitude of sinusoidal excitation. We find that the resistance from the small intestine will become larger once the capsule’s size or its instantaneous velocity increases. From our extensive numerical calculations, it is suggested that increasing forcing magnitude or choosing forcing frequency greater than the natural frequency of the inner mass can benefit the average speed of the capsule, and the radius of the capsule should be slightly larger than the radius of the small intestine in order to generate a reasonable resistance for capsule progression. Finally, the locomotion of the capsule along an inclined intestinal tract is tested, and the best radius and forcing magnitude of the capsule are also determined.

ACS Style

Yao Yan; Yang Liu; Luigi Manfredi; Shyam Prasad. Modelling of a vibro-impact self-propelled capsule in the small intestine. Nonlinear Dynamics 2019, 96, 123 -144.

AMA Style

Yao Yan, Yang Liu, Luigi Manfredi, Shyam Prasad. Modelling of a vibro-impact self-propelled capsule in the small intestine. Nonlinear Dynamics. 2019; 96 (1):123-144.

Chicago/Turabian Style

Yao Yan; Yang Liu; Luigi Manfredi; Shyam Prasad. 2019. "Modelling of a vibro-impact self-propelled capsule in the small intestine." Nonlinear Dynamics 96, no. 1: 123-144.

Journal article
Published: 31 January 2019 in Clinical Cancer Drugs
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ACS Style

Luigi Manfredi. New Robotic Technologies in Cancer Colon Screening. Clinical Cancer Drugs 2019, 5, 68 -74.

AMA Style

Luigi Manfredi. New Robotic Technologies in Cancer Colon Screening. Clinical Cancer Drugs. 2019; 5 (2):68-74.

Chicago/Turabian Style

Luigi Manfredi. 2019. "New Robotic Technologies in Cancer Colon Screening." Clinical Cancer Drugs 5, no. 2: 68-74.

Accepted manuscript
Published: 26 October 2018 in Materials Research Express
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This study reports a novel Hollow Soft Pneumatic Actuator (HOSE), which exhibits 4 degrees of freedom (DOFs). The design consists of a central hollow cylinder surrounded by four twisting symmetric chambers. By virtue of their spiral disposition, each chamber produces a diagonal force along the hollow internal cylinder composed of two components: one parallel to the Z axis and the other one to the plane X-Y. Both top and bottom sections of the actuator are reinforced to avoid deformation, essential for optimal function and dexterity of HOSE. Different movements of the actuator are produced by varying the activation combinations of the 4 chambers. They are constructed from thin walled (0.5 mm) Ecoflex 00-30 super soft silicon rubber, enabling HOSE to perform controlled movements with low pressure not exceeding 35 kPa. HOSE exhibits a maximal extension of 230% of its original length, bends up to i) ±90° around X axis, ii) ±115° around Y axis, and iii) twists around Z axis with a total range of ±35°. The paper describes the manufacturing process together with the actuator performance, reporting the range of motion along each DOF related to the internal pressure, volume vs. forces and torques produced along each axis.

ACS Style

Luigi Manfredi; Fabrizio Putzu; Saygun Guler; Yu Huan; Alfred Cuschieri. 4 DOFs Hollow Soft Pneumatic Actuator–HOSE. Materials Research Express 2018, 6, 045703 .

AMA Style

Luigi Manfredi, Fabrizio Putzu, Saygun Guler, Yu Huan, Alfred Cuschieri. 4 DOFs Hollow Soft Pneumatic Actuator–HOSE. Materials Research Express. 2018; 6 (4):045703.

Chicago/Turabian Style

Luigi Manfredi; Fabrizio Putzu; Saygun Guler; Yu Huan; Alfred Cuschieri. 2018. "4 DOFs Hollow Soft Pneumatic Actuator–HOSE." Materials Research Express 6, no. 4: 045703.

Journal article
Published: 17 October 2018 in Materials
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Shape memory alloys (SMAs) are smart materials used in robotics because of its light weight and high force-to-weight ratio. The low energy efficiency, up to 5%, has limited their use for large actuators. However, they have shown advantages in the design of mini-robots because of the limited volume required for the actuation system. The present study reports the design and construction of a mini compliant joint (MCJ) with a 2 degrees of freedom (DOFs) intersecting axis. The MCJ prototype has a 20 mm external diameter surrounding a cavity of 8 mm, weighs 2 g, is 20 mm high and can perform an angle rotation of 30∘ in less than 260 ms. It uses SMA NiTi wires in antagonistic configuration and springs to reduce the energy consumption and minimise heat production. The design methods and experimental results of the manufactured prototype are reported and discussed.

ACS Style

Luigi Manfredi; Alfred Cuschieri. Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires. Materials 2018, 11, 2014 .

AMA Style

Luigi Manfredi, Alfred Cuschieri. Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires. Materials. 2018; 11 (10):2014.

Chicago/Turabian Style

Luigi Manfredi; Alfred Cuschieri. 2018. "Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires." Materials 11, no. 10: 2014.

Conference paper
Published: 01 April 2018 in 2018 IEEE International Conference on Soft Robotics (RoboSoft)
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The new generation of bio-inspired robots is constructed from soft materials. The low mechanical stiffness of the material enables continuous deformation by the robot, which can thus negotiate narrow and tortuous spaces. Additionally, soft robots are intrinsically atraumatic, with safe interaction with the surrounding environment without the need of an active compliant control. Several research centres are exploring solutions to vary the stiffness of the component material through use of either on-off or continuous mechanisms. The latter can be implemented by using a combination of pneumatic chambers and tendons to vary the air pressure, in a single compact design. To enhance the robot dexterity required to perform complex tasks, each module of the soft robot needs to exhibit several degrees of freedom (DOFs). In the present study, we describe a novel soft pneumatic cylindrical module made of fibre-reinforced polymer, that uses 2 pair disposed antagonistic tendons for variable stiffness control and capable of 4 DOFs. By tensioning twin pairs of antagonistic tendons, the module can rotate around X, Y and Z axes, and by inflating air in the 2 chambers, it can extend along Z but also rotate around the X axis. The wide cross-sectional area of the chamber reduces the maximal actuating internal air pressure. We report the design and construction of the soft module, and experimental data on the range of motion, forces generated, and the range of stiffness.

ACS Style

Luigi Manfredi; Lei Yue; Jiajia Zhang; Alfred Cuschieri. A 4 DOFs variable stiffness soft module. 2018 IEEE International Conference on Soft Robotics (RoboSoft) 2018, 94 -99.

AMA Style

Luigi Manfredi, Lei Yue, Jiajia Zhang, Alfred Cuschieri. A 4 DOFs variable stiffness soft module. 2018 IEEE International Conference on Soft Robotics (RoboSoft). 2018; ():94-99.

Chicago/Turabian Style

Luigi Manfredi; Lei Yue; Jiajia Zhang; Alfred Cuschieri. 2018. "A 4 DOFs variable stiffness soft module." 2018 IEEE International Conference on Soft Robotics (RoboSoft) , no. : 94-99.

Journal article
Published: 29 September 2017 in Smart Materials and Structures
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Shape memory alloys (SMAs) are smart materials widely used as actuators for their high power to weight ratio despite their well-known low energy efficiency and limited mechanical bandwidth. For robotic applications, SMAs exhibit limitations due to high power consumption and limited stroke, varying from 4% to 7% of the total length. Hysteresis, during the contraction and extension cycle, requires a complex control algorithm. On the positive side, the small size and low weight are eminently suited for the design of mini actuators for robotic platforms. This paper describes the design and construction of a light weight and low power consuming mini rotary actuator with on-board contact-less position and force sensors. The design is specifically intended to reduce (i) energy consumption, (ii) dimensions of the sensory system, and (iii) provide a simple control without any need for SMA characterisation. The torque produced is controlled by on-board force sensors. Experiments were performed to investigate the energy consumption and performance (step and sinusoidal angle profiles with a frequency varying from 0.5 to 10 Hz and maximal amplitude of ). We describe a transient capacitor effect related to the SMA wires during the sinusoidal profile when the active SMA wire is powered and the antagonist one switched-off, resulting in a transient current time varying from 300 to 400 ms.

ACS Style

Luigi Manfredi; Yu Huan; Alfred Cuschieri. Low power consumption mini rotary actuator with SMA wires. Smart Materials and Structures 2017, 26, 115003 .

AMA Style

Luigi Manfredi, Yu Huan, Alfred Cuschieri. Low power consumption mini rotary actuator with SMA wires. Smart Materials and Structures. 2017; 26 (11):115003.

Chicago/Turabian Style

Luigi Manfredi; Yu Huan; Alfred Cuschieri. 2017. "Low power consumption mini rotary actuator with SMA wires." Smart Materials and Structures 26, no. 11: 115003.

Journal article
Published: 13 September 2013 in Biological Cybernetics
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The bioinspired approach has been key in combining the disciplines of robotics with neuroscience in an effective and promising fashion. Indeed, certain aspects in the field of neuroscience, such as goal-directed locomotion and behaviour selection, can be validated through robotic artefacts. In particular, swimming is a functionally important behaviour where neuromuscular structures, neural control architecture and operation can be replicated artificially following models from biology and neuroscience. In this article, we present a biomimetic system inspired by the lamprey, an early vertebrate that locomotes using anguilliform swimming. The artefact possesses extra- and proprioceptive sensory receptors, muscle-like actuation, distributed embedded control and a vision system. Experiments on optimised swimming and on goal-directed locomotion are reported, as well as the assessment of the performance of the system, which shows high energy efficiency and adaptive behaviour. While the focus is on providing a robotic platform for testing biological models, the reported system can also be of major relevance for the development of engineering system applications.

ACS Style

Luigi Manfredi; Tareq Assaf; Stefano Mintchev; Stefano Marrazza; L. Capantini; Stefano Orofino; Luca Ascari; Sten Grillner; Peter Wallén; Örjan Ekeberg; Cesare Stefanini; Paolo Dario. A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion. Biological Cybernetics 2013, 107, 513 -527.

AMA Style

Luigi Manfredi, Tareq Assaf, Stefano Mintchev, Stefano Marrazza, L. Capantini, Stefano Orofino, Luca Ascari, Sten Grillner, Peter Wallén, Örjan Ekeberg, Cesare Stefanini, Paolo Dario. A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion. Biological Cybernetics. 2013; 107 (5):513-527.

Chicago/Turabian Style

Luigi Manfredi; Tareq Assaf; Stefano Mintchev; Stefano Marrazza; L. Capantini; Stefano Orofino; Luca Ascari; Sten Grillner; Peter Wallén; Örjan Ekeberg; Cesare Stefanini; Paolo Dario. 2013. "A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion." Biological Cybernetics 107, no. 5: 513-527.

Journal article
Published: 04 September 2012 in IEEE/ASME Transactions on Mechatronics
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The mechanical design of a novel robotic module for a self-reconfigurable modular robotic system is presented in this paper. The robotic module, named Scout robot, was designed to serve both as a fully sensorized autonomous miniaturized robot for exploration in unstructured environments and as a module of a larger robotic organism. The Scout robot has a quasi-cubic shape of 105 mm × 105 mm × 123.5 mm, and weighs less than 1 kg. It is provided with tracks for 2-D locomotion and with two rotational DoFs for reconfiguration and macrolocomotion when assembled in a modular structure. A laser sensor was incorporated to measure the distance and relative angle to an object, and image-guided locomotion was successfully demonstrated. In addition, five Scout robot prototypes were fabricated, and multimodal locomotion of assembled robots was demonstrated.

ACS Style

Sheila Russo; Kanako Harada; Tommaso Ranzani; Luigi Manfredi; Cesare Stefanini; Arianna Menciassi; Paolo Dario. Design of a Robotic Module for Autonomous Exploration and Multimode Locomotion. IEEE/ASME Transactions on Mechatronics 2012, 18, 1757 -1766.

AMA Style

Sheila Russo, Kanako Harada, Tommaso Ranzani, Luigi Manfredi, Cesare Stefanini, Arianna Menciassi, Paolo Dario. Design of a Robotic Module for Autonomous Exploration and Multimode Locomotion. IEEE/ASME Transactions on Mechatronics. 2012; 18 (6):1757-1766.

Chicago/Turabian Style

Sheila Russo; Kanako Harada; Tommaso Ranzani; Luigi Manfredi; Cesare Stefanini; Arianna Menciassi; Paolo Dario. 2012. "Design of a Robotic Module for Autonomous Exploration and Multimode Locomotion." IEEE/ASME Transactions on Mechatronics 18, no. 6: 1757-1766.

Validation study
Published: 12 June 2012 in International Journal of Computer Assisted Radiology and Surgery
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Minimally invasive treatment of solid cancers, especially in the breast and liver, remains clinically challenging, despite a variety of treatment modalities, including radiofrequency ablation (RFA), microwave ablation or high-intensity focused ultrasound. Each treatment modality has advantages and disadvantages, but all are limited by placement of a probe or US beam in the target tissue for tumor ablation and monitoring. The placement is difficult when the tumor is surrounded by large blood vessels or organs. Patient-specific image-based 3D modeling for thermal ablation simulation was developed to optimize treatment protocols that improve treatment efficacy. A tissue-mimicking breast gel phantom was used to develop an image-based 3D computer-aided design (CAD) model for the evaluation of a planned RF ablation. First, the tissue-mimicking gel was cast in a breast mold to create a 3D breast phantom, which contained a simulated solid tumor. Second, the phantom was imaged in a medical MRI scanner using a standard breast imaging MR sequence. Third, the MR images were converted into a 3D CAD model using commercial software (ScanIP, Simpleware), which was input into another commercial package (COMSOL Multiphysics) for RFA simulation and treatment planning using a finite element method (FEM). For validation of the model, the breast phantom was experimentally ablated using a commercial (RITA) RFA electrode and a bipolar needle with an electrosurgical generator (DRE ASG-300). The RFA results obtained by pre-treatment simulation were compared with actual experimental ablation. A 3D CAD model, created from MR images of the complex breast phantom, was successfully integrated with an RFA electrode to perform FEM ablation simulation. The ablation volumes achieved both in the FEM simulation and the experimental test were equivalent, indicating that patient-specific models can be implemented for pre-treatment planning of solid tumor ablation. A tissue-mimicking breast gel phantom and its MR images were used to perform FEM 3D modeling and validation by experimental thermal ablation of the tumor. Similar patient-specific models can be created from preoperative images and used to perform finite element analysis to plan radiofrequency ablation. Clinically, the method can be implemented for pre-treatment planning to predict the effect of an individual’s tissue environment on the ablation process, and this may improve the therapeutic efficacy.

ACS Style

Zhigang Wang; Isshaa Aarya; Mariana Gueorguieva; Dun Liu; Hongyan Luo; Luigi Manfredi; Lijun Wang; Donald McLean; Stuart Coleman; Stuart Brown; Alfred Cuschieri. Image-based 3D modeling and validation of radiofrequency interstitial tumor ablation using a tissue-mimicking breast phantom. International Journal of Computer Assisted Radiology and Surgery 2012, 7, 941 -948.

AMA Style

Zhigang Wang, Isshaa Aarya, Mariana Gueorguieva, Dun Liu, Hongyan Luo, Luigi Manfredi, Lijun Wang, Donald McLean, Stuart Coleman, Stuart Brown, Alfred Cuschieri. Image-based 3D modeling and validation of radiofrequency interstitial tumor ablation using a tissue-mimicking breast phantom. International Journal of Computer Assisted Radiology and Surgery. 2012; 7 (6):941-948.

Chicago/Turabian Style

Zhigang Wang; Isshaa Aarya; Mariana Gueorguieva; Dun Liu; Hongyan Luo; Luigi Manfredi; Lijun Wang; Donald McLean; Stuart Coleman; Stuart Brown; Alfred Cuschieri. 2012. "Image-based 3D modeling and validation of radiofrequency interstitial tumor ablation using a tissue-mimicking breast phantom." International Journal of Computer Assisted Radiology and Surgery 7, no. 6: 941-948.

Journal article
Published: 22 May 2012 in Bioinspiration & Biomimetics
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This paper describes the development of a new biorobotic platform inspired by the lamprey. Design, fabrication and implemented control are all based on biomechanical and neuroscientific findings on this eel-like fish. The lamprey model has been extensively studied and characterized in recent years because it possesses all basic functions and control mechanisms of higher vertebrates, while at the same time having fewer neurons and simplified neural structures. The untethered robot has a flexible body driven by compliant actuators with proprioceptive feedback. It also has binocular vision for vision-based navigation. The platform has been successfully and extensively experimentally tested in aquatic environments, has high energy efficiency and is ready to be used as investigation tool for high level motor tasks.

ACS Style

Cesare Stefanini; S Orofino; Luigi Manfredi; Stefano Mintchev; S Marrazza; T Assaf; L Capantini; E Sinibaldi; S Grillner; P Wallén; P Dario. A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers. Bioinspiration & Biomimetics 2012, 7, 025001 .

AMA Style

Cesare Stefanini, S Orofino, Luigi Manfredi, Stefano Mintchev, S Marrazza, T Assaf, L Capantini, E Sinibaldi, S Grillner, P Wallén, P Dario. A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers. Bioinspiration & Biomimetics. 2012; 7 (2):025001.

Chicago/Turabian Style

Cesare Stefanini; S Orofino; Luigi Manfredi; Stefano Mintchev; S Marrazza; T Assaf; L Capantini; E Sinibaldi; S Grillner; P Wallén; P Dario. 2012. "A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers." Bioinspiration & Biomimetics 7, no. 2: 025001.

Conference paper
Published: 01 May 2012 in 2012 IEEE International Conference on Robotics and Automation
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In this paper the development of a bio-robotic platform is described. The robot design exploits biomechanical and neuroscientific knowledge on the lamprey, an eel-like swimmer well studied and characterized thanks to the reduced complexity of its anatomy. The robot is untethered, has a compliant body, muscle-like high efficiency actuators, proprioceptive sensors to detect stretch and stereoscopic vision. Experiments on the platform are reported, including robust and autonomous goal-directed swimming. Extensive experiments have been possible thanks to very high energy efficiency (around five hour continuous operating) the platform is ready to be used as investigation tool for high level motor tasks.

ACS Style

Cesare Stefanini; S. Orofino; L. Manfredi; Stefano Mintchev; S. Marrazza; T. Assaf; L. Capantini; E. Sinibaldi; S. Grillner; P. Wallén; P. Dario. A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior. 2012 IEEE International Conference on Robotics and Automation 2012, 5094 -5098.

AMA Style

Cesare Stefanini, S. Orofino, L. Manfredi, Stefano Mintchev, S. Marrazza, T. Assaf, L. Capantini, E. Sinibaldi, S. Grillner, P. Wallén, P. Dario. A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior. 2012 IEEE International Conference on Robotics and Automation. 2012; ():5094-5098.

Chicago/Turabian Style

Cesare Stefanini; S. Orofino; L. Manfredi; Stefano Mintchev; S. Marrazza; T. Assaf; L. Capantini; E. Sinibaldi; S. Grillner; P. Wallén; P. Dario. 2012. "A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior." 2012 IEEE International Conference on Robotics and Automation , no. : 5094-5098.

Conference paper
Published: 01 October 2011 in 2011 Fifth IEEE Conference on Self-Adaptive and Self-Organizing Systems Workshops
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The EU-funded CoCoRo project studies heterogeneous swarms of AUVs used for the purposes of under water monitoring and search. The CoCoRo underwater swarm system will combine bio-inspired motion principles with biologically-derived collective cognition mechanisms to provide a novel robotic system that is scalable, reliable and flexible with respect its behavioural potential. We will investigate and develop swarm-level emergent self-awareness, taking biological inspiration from fish, honeybees, the immune system and neurons. Low-level, local information processing will give rise to collective-level memory and cognition. CoCoRo will develop a novel bio-inspired operating system whose default behaviour will be to provide AUV shoaling functionality and the maintenance of swarm coherence. Collective discrimination of environmental properties will be processed on an individual-or on a collective-level given the cognitive capabilities of the AUVs. We will investigate collective self-recognition through experiments inspired by ethology and psychology, allowing for the quantification of collective cognition.

ACS Style

Thomas Schmickl; Ronald Thenius; Christoph Moslinger; Jonathan Ian Timmis; Andy Tyrrell; Mark Read; James Hilder; José Halloy; Alexandre Campo; Cesare Stefanini; Luigi Manfredi; Stefano Orofino; Serge Kernbach; Tobias Dipper; Donny Sutantyo. CoCoRo -- The Self-Aware Underwater Swarm. 2011 Fifth IEEE Conference on Self-Adaptive and Self-Organizing Systems Workshops 2011, 120 -126.

AMA Style

Thomas Schmickl, Ronald Thenius, Christoph Moslinger, Jonathan Ian Timmis, Andy Tyrrell, Mark Read, James Hilder, José Halloy, Alexandre Campo, Cesare Stefanini, Luigi Manfredi, Stefano Orofino, Serge Kernbach, Tobias Dipper, Donny Sutantyo. CoCoRo -- The Self-Aware Underwater Swarm. 2011 Fifth IEEE Conference on Self-Adaptive and Self-Organizing Systems Workshops. 2011; ():120-126.

Chicago/Turabian Style

Thomas Schmickl; Ronald Thenius; Christoph Moslinger; Jonathan Ian Timmis; Andy Tyrrell; Mark Read; James Hilder; José Halloy; Alexandre Campo; Cesare Stefanini; Luigi Manfredi; Stefano Orofino; Serge Kernbach; Tobias Dipper; Donny Sutantyo. 2011. "CoCoRo -- The Self-Aware Underwater Swarm." 2011 Fifth IEEE Conference on Self-Adaptive and Self-Organizing Systems Workshops , no. : 120-126.

Journal article
Published: 10 May 2010 in Applied Bionics and Biomechanics
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Smooth pursuit is one of the five main eye movements in humans, consisting of tracking a steadily moving visual target. Smooth pursuit is a good example of a sensory-motor task that is deeply based on prediction: tracking a visual target is not possible by correcting the error between the eye and the target position or velocity with a feedback loop, but it is only possible by predicting the trajectory of the target. This paper presents a model of smooth pursuit based on prediction and learning. It starts from amodel of the neuro-physiological system proposed by Shibata and Schaal Shibata et al., Neural Networks, vol. 18, pp. 213-224, 2005. The learning component added here decreases the prediction time in the case of target dynamics already experienced by the system. In the implementation described here, the convergence time is, after the learning phase, 0.8 s.

ACS Style

Davide Zambrano; Egidio Falotico; Luigi Manfredi; Cecilia Laschi. A model of the smooth pursuit eye movement with prediction and learning. Applied Bionics and Biomechanics 2010, 7, 109 -118.

AMA Style

Davide Zambrano, Egidio Falotico, Luigi Manfredi, Cecilia Laschi. A model of the smooth pursuit eye movement with prediction and learning. Applied Bionics and Biomechanics. 2010; 7 (2):109-118.

Chicago/Turabian Style

Davide Zambrano; Egidio Falotico; Luigi Manfredi; Cecilia Laschi. 2010. "A model of the smooth pursuit eye movement with prediction and learning." Applied Bionics and Biomechanics 7, no. 2: 109-118.

Conference paper
Published: 01 December 2008 in Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots
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This paper presents the implementation of a new algorithm for pattern recognition in machine vision developed in our laboratory applied to the RobotCub humanoid robotics platform simulator. The algorithm is a robust and direct method for the least-square fitting of ellipses to scattered data. RobotCub is an open source platform, born to study the development of neuro-scientific and cognitive skills in human beings, especially in children. By the estimation of the surrounding objects properties (such as dimensions, distances, etc...) a subject can create a topographic map of the environment, in order to navigate through it without colliding with obstacles. In this work we implemented the method of the least-square fitting of ellipses of Maini (EDFE), previously developed in our laboratory, in a robotics context. Moreover, we compared its performance with the hough transform, and others least-square ellipse fittings techniques. We used our system to detect spherical objects, and we applied it to the simulated RobotCub platform. We performed several tests to prove the robustness of the algorithm within the overall system, and finally we present our results.

ACS Style

Nicola Greggio; Luigi Manfredi; Cecilia Laschi; Paolo Dario; Maria Chiara Carrozza. RobotCub implementation of real-time least-square fitting of ellipses. Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots 2008, 174 -181.

AMA Style

Nicola Greggio, Luigi Manfredi, Cecilia Laschi, Paolo Dario, Maria Chiara Carrozza. RobotCub implementation of real-time least-square fitting of ellipses. Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots. 2008; ():174-181.

Chicago/Turabian Style

Nicola Greggio; Luigi Manfredi; Cecilia Laschi; Paolo Dario; Maria Chiara Carrozza. 2008. "RobotCub implementation of real-time least-square fitting of ellipses." Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots , no. : 174-181.