Curriculum Vitae et Studiorum
November 2011
Name:
Date of Birth:
Place of Birth:
Nationality:
Address:
Telephone (Work):
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Cristian Secchi
February 4th, 1975
Montecchio Emilia (RE), Italy
Italian
Via E. De Amicis 10/1
42020 Quattro Castella
Reggio Emilia - Italy
+39 0522 522235
+39 328 0462016
[email protected]
http://www.dismi.unimore.it/index.php?q=secchi
Personal Education
1989-1994
Scientific Diploma degree
60/60
1994-2000
University of Bologna (Degree in Computer Science Engineer- M.Sc. 99/100
ing, majors in Robotics and Automation)
2000
Delft University of Technology, NL with a scholarship from
the University of Bologna (I)
2001
Italian Professional Degree
2001-2004
Ph.D Student on Information Engineering, with majors in Au- Ph.D.
tomation, at the University of Modena and Reggio Emilia (I).
Ph.D Thesis entitled “Control of Interactive Robotic Interfaces: a port-Hamiltonian approach”.
International Experiences
2000
Delft University of Technology (NL) as a visiting scientist
2001-2002
University of Twente (NL) as a visiting scholar
2005
Invited scientist at the University of Twente (NL)
2010
Invited scientist at the Max Planck Institute for Biological Cybernetics (DE)
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Languages
Italian
mother tongue
English
fluently written and spoken
French
Good written and spoken
Brief Biography
Cristian Secchi received the M.Sc. in Computer Science Engineering in July 2000 from
the University of Bologna (I) and the Ph.D. in Information Engineering, curriculum Automation, in 2004 from the University of Modena and Reggio Emilia (I). Between the two
degrees he has been working as a visiting scientist at the Delft University of Technology.
Since January 2005 he is faculty member as assistant professor (Ricercatore) at the Department of Sciences and Methods of Engineering (DISMI) of the University of Modena
and Reggio Emilia (I). He is member of the IEEE since 2001, first as a student and then
as a regular member. He is author of the book “Control of interactive robotic interfaces:
a port-Hamiltonian approach” (Springer,ISBN:3540497129).
On March 18th, 2006 he has been selected as a finalist for the 5th Edition of the EURON
Georges Giralt Award for the best PhD thesis on robotics defended in Europe in 2004. He
has participated to the CROW (Coordination of AGVs in automatic warehouses) project
that has been selected as one of the six finalists of the 2010 EURON-EUROP Technology
Transfer Award, awarding the best technology transfer project in Europe.
He has been Associate Editor of the IEEE Robotics and Automation Magazine from January 2005 to December 2008. Since May 2007 he is co-chair of the IEEE Robotics and
Automation Society Technical Committee on Telerobotics.
He is involved in research projects related to robotics, factory automation and real-time
software. He has been teaching basic courses on control and system theory, industrial
automation and robotics.
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Education and Organization
Prepared Courses
2001-2004
Automatic Control
Teaching assistant for the course for Management Engineering at the University of Modena and Reggio
Emilia (I)
2004
System Theory
M.Sc. Course for Management Engineering and
Mechatronic Engineering at the University of Modena
and Reggio Emilia (I)
2005-
Automatic Control
Teaching assistant of the course for Mechatronic Engineering at the University of Modena and Reggio
Emilia (I)
2005-
Control of Robotic Systems
M.Sc. Course for Mechatronic Engineering at the
University of Modena and Reggio Emilia (I)
2006-2008
Control Systems
M.Sc. Course for Mechanical and Vehicle Engineering
at the University of Modena and Reggio Emilia (I)
2006-2009
Engineering and Technol- M.Sc. Course for Mechatronic Engineering at the
ogy of Control Systems
University of Modena and Reggio Emilia (I)
2010- 2011
Digital Control
M.Sc. Course for Mechatronic Engineering at the
University of Modena and Reggio Emilia (I)
Supervised M.Sc. students
He has supervised more than 50 M.Sc.and B.Sc. students (starting from January 2005) in
the Mechatronics Engineering curriculum and in the Management Engineering curriculum
at the University of Modena and Reggio Emilia. Almost half of the M.Sc. projects have
been carried on with companies on applied research and technological innovation topics.
Supervised post-graduate students and PhD students
2005
Luca Bassi
Object oriented modeling of complex manufacturing plants
2007-2010
Roberto Olmi
Traffic Control of AGVs in automatic warehouses (Ph.D. Student)
2008-
Lorenzo Sabattini
Distributed Control of multi-robot systems
2010
Davide Ronzoni
SLAM for AGVs in automatic warehouses
2011
Federica Ferraguti
Autonomous Tasks in Surgical Robotics
2011-
Alessio Levratti
SLAM for robotic lawnmowers (Ph.D. student)
2011-
Dino Giuseffi
Experiments on Traffic Control for AGVs in automatic warehouses
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Ph.D Committee
2008 He has been in the PhD committee of Emmanuel Nuño, PhD candidate at the
Universitat Politecnica de Catalunya, Barcelona, Spain under the supervision of
Prof. Luis Basañez. He defended a thesis titled “Nonlinear bilateral control of
teleoperators with transmission time delays”.
2010 He has been in the PhD committee of Davide Zerbato, PhD candidate at the University of Verona, Italy, under the supervision of Prof. Paolo Fiorini.
2010 He has been in the PhD committee of Stefano Galvan, PhD candidate at the University of Verona, Italy, under the supervision of Prof. Paolo Fiorini.
2011 He has been reviewer of he PhD thesis of Jorge Barrio, PhD candidate at the
Politechnical University of Madrid, under the supervision of Prof. Manuel Ferre.
Management
2005- Member of the Committee for the access test at the School of Engineering II of the
University of Modena and Reggio Emilia (I)
2005- Member of the Council of the School of Engineering II of the University of Modena
and Reggio Emilia
2006-2010 Member of the Committee for Ph.D. of the School of Engineering II of the University
of Modena and Reggio Emilia (I)
2010- Member of the Council of the PhD School of Industrial Innovation Engineering of
the University of Modena and Reggio Emilia (I)
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Projects
2011-2014
ISUR (FP7-GA 270396)
Intelligent Robotics Surgery (coordinator of
the local unit)
2011-2013
DIRO (Regional Project)
Mobile Robotics for Industrial Applications
2010-2013
INTERMECH (Regional Project)
Advanced Mechatronic Systems
2010-2012
ECHORD (FP7-GA 231143)
Traffic Control of AGVs in Automatic Warehouses(coordinator of the TRAFCON experiment)
2010-2011
Tetra Pak Carton Ambient s.p.a
Development of a SysML modeling strategy
for an automatic machine
2008-2010
CROW (Elettric80 s.p.a)
Development of an efficient coordination
strategy for AGVs in automatic warehouses
2007-2010
Tetra Pak Carton Ambient s.p.a
Predictive Maintenance of rolling bearings
faults in an automatic machine for packaging
2005-2008
Tetra Pak Carton Ambient s.p.a.
Object oriented modeling of a manufacturing
system
2005-2008
Pro-Tract (Regional Project)
Distributed Control for ECs on board of off
road tractors
2005-2007
OOMM (National Project)
Object Oriented Methods for Mechatronic
system modeling
2005-2007
Tecno Effe S.r.l.
Visual Servoing for a mosaic builder robot
2003-2005
OASYS (National Project)
Open source software for industrial Automation and distributed SYstemS
2002-2006
GEOPLEX (IST-2001-34166)
Geometric Network Modeling and Control of
Complex Physical Systems
2005-
EURON
Contact person for the University of Modena
and Reggio Emilia (I)
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Research
Collaborations
2000200020012002
20032003
2004-2007
200520052007-2010
20072007-2010
2007200720102010-
Prof. Claudio Melchiorri
Prof. Stefano Stramigioli
Prof. Cesare Fantuzzi
Prof. Arjan van der Schaft
Dr. Alessandro Macchelli
Dr. Antonio Visioli
Dr. Riccardo Morselli
Dr. Marcello Bonfé
Prof. Riccardo Rubini
Dr. Debora Botturi
Prof. Paolo Fiorini
Prof. Manuel Ferre
Dr. Angelika Peer
Dr. Nikhil Chopra
Dr. Paolo Robuffo Giordano
Dr. Antonio Franchi
University of Bologna (I)
University of Twente (NL)
University of Modena and Reggio Emilia (I)
University of Twente (NL)
University of Bologna (I)
University of Brescia (I)
University of Modena and Reggio Emilia (I)
University of Ferrara (I)
University of Modena and Reggio Emilia (I)
University of Verona (I)
University of Verona (I)
Politechnical University of Madrid (E)
Technical University of Munich (DE)
University of Maryland (USA)
Max Planck Institute for Biological Cybernetics (DE)
Max Planck Institute for Biological Cybernetics (DE)
Prizes and Acknowledgments
He has received the following acknowledgments for scientific merits:
• The paper Transparency in port-Hamiltonian Telemanipulation, co-authored with
Cesare Fantuzzi and Stefano Stramigioli, has been nominated for the best paper
award at the IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS) in 2005
• On march 2006, during the Euron Meeting, he has been selected as one of the three
finalists for the fifth edition of the Georges Giralt PhD Award, that awards the best
thesis on Robotics defended in Europe in the year 2004.
• The paper Variable Delay in Scaled port-Hamiltonian telemanipulation, co-authored
with Cesare Fantuzzi and Stefano stramigioli, has been selected among the best
seven papers presented at the IFAC Symposium on Robot Control (SYROCO) 2006.
• The project CROW (Coordination of AGVs in automatic warehouses) has been
selected as one of the six finalists for the 2010 EURON/EUROP Technology Transfer
Award.
• The work Decentralized and Passivity based Teleoperation of a Group of UAVs with
Time-Varying Topology, co-authored with Paolo Robuffo Giordano and Antonio
Franchi, has been selected as one of the five finalists for the best paper at the
National Conference AUTOMATICA.IT 2011 at Pisa (I)
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Invited Speaker
2000
Delft University of Technology (NL)
Geometric Grasping and Telemanipulation
2000
University of Bologna (I)
Geometric Grasping and Telemanipulation
2001
University of Modena and Reggio Emilia (I)
Mini-course on bond-graphs
2002
University of Twente (NL)
Sampled port-Hamiltonian systems
2004
University of Verona (I)
Bilateral Telemanipulation:
Hamiltonian approach
2008
Technical University of Munich (DE)
Modeling and Control of bilateral teleoperation systems through the port-Hamiltonian
Approach
2010
Max Planck Institute, Tübingen (DE)
Being there without being there: the challenge of telerobotics
2010
Summer School on Telerobotics (Munich, DE))
A port-Hamiltonian Approach to Bilateral
Teleoperation
2010
University of Roma Tre (I)
Telerobotics: Extending Action and Perception
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a
port-
Visited Conferences and Workshops
2001
IEEE/RSJ International Conference on Intelligent
Maui, Hawaii
Robots and Systems (IROS)
2002 CIRA National Conference
Perugia (I)
2002
IEEE/RSJ International Conference on Intelligent
Lausanne, Switzerland
Robots and Systems (IROS)
2002
Tutorial “Towards Intelligent Robotic Manipulation”
2003
IEEE/RSJ International Conference on Intelligent
Las Vegas, Nevada
Robots and Systems (IROS)
2003
7th IFAC Symposium on Robot Control (SYROCO)
Lausanne, Switzerland
Wroclaw, Poland
2003 CIRA National Conference
Modena (I)
2004 CIRA National Conference
Cagliari (I)
2004
Workshop on Robotics and Neuroscience
Siena (I)
2005
IEEE International Conference on Robotics and AuBarcelona, Spain
tomation (ICRA)
2005
IEEE Conference on Automation Science and Engineering (CASE)
2005
IEEE/RSJ International Conference on Intelligent
Edmonton, Canada
Robots and Systems (IROS)
2005
IEEE Conference on Control Application (CCA)
Toronto, Canada
2006
Geometric Methods for Applications and Industry
(MEGAI 2006)
Bologna, Italy
2006
EURON Annual Meeting
Palermo, Italy
2006
IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control (LHMNLC)
Nagoya, Japan
2006
IEEE International Conference on Industrial InformatSingapore
ics (INDIN)
2006
8th International IFAC Symposium on Robot Control
(SYROCO)
2006 CIRA National Conference
2007
IFAC International Conference on Nonlinear Control
Systems (NOLCOS)
8
2007 SIDRA National Conference
Edmonton, Canada
Bologna, Italy
Milano (I)
Pretoria (South Africa)
Genova (I)
2007
IEEE International Conference on Decision and Control
(CDC)
2008
IEEE International Conference on Robotics and AuPasadena, USA
tomation (ICRA)
2008
IFAC World Congress
New Orleans (USA)
Seoul, South Korea
2007 SIDRA National Conference
Vicenza (I)
2009
IEEE International Conference on Robotics and AuKobe, Japan
tomation (ICRA)
2009
IEEE/RSJ International Conference on Intelligent
St. Louis (USA)
Robots and Systems (IROS)
2010
IEEE International Conference on Robotics and AuAnchorage (USA)
tomation (ICRA)
2010
IFAC Intelligent Autonomous Vehicles Conference
(IAV)
2010
IEEE/RSJ International Conference on Intelligent
Taipei (Taiwan)
Robots and Systems (IROS)
2011 Eurobotics
Lecce (I)
Vasteras (Sweden)
2011
IEEE International Conference on Robotics and AuShanghai (China)
tomation (ICRA)
2011
IEEE/RSJ International Conference on Intelligent
San Francisco (USA)
Robots and Systems (IROS)
2011 AUTOMATICA.IT National Conference
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Pisa (I)
Editorial Activities and contribution to international organizations
2005-2008 Associate Editor of the IEEE Robotics and Automation Magazine
2007- Co-Chair of the IEEE-RAS Technical Committee on Telerobotics
2008 Co-organizer of the invited session “Putting energy back in robotics”, that has been
held at the IFAC World Congress in Seoul (South Korea), in July 2008
2008 Co-organizer of the Workshop “New Vistas and Challenges in Telerobotics”, held on
May 20th 2008, in correspondence of the IEEE International Conference on Robotics
and Automation (Pasadena, USA)
2010 Guest Editor of the Special Issue on Design and Control Methodologies in Telerobotics that has been published on the Elsevier Mechatronics Journal 20(7) , October 2010
2010 Co-organizer of the Summer School on Telerobotics, held in Munich (DE) from July
26th to July 30th 2010.
2010 Co-organizer of the invited session “Advanced teleoperation control architectures”
held at the IEEE/RSJ International Conference on Intelligent Systems and Robots
(Taipei, Taiwan) in October 2010
2010 Member of the IPC of the 1st International Conference on Applied Bionics and
Biomechanics, ICABB-2010, held in Venice (I) in October 2010.
2011 Co-organizer of the Tutorial “Control Issues in Haptic Teleoperation”, held in correspondance of the Worldhaptics International Conference
2011 Co-organizer of the “Symposium on Telerobotics” held in correspondence of the
IEEE/RSJ International Conference on Intelligent Robots and Systems 2011 in San
Francisco (USA).
He has been a Reviewer for the following Journals and International Conferences:
Journals
• IEEE Transactions on Robotics and Automation
• IEEE Transactions on Robotics
• IEEE Transactions on Haptics
• IEEE Transactions on Automatic Control
• IEEE Transactions on Control System Technology
• IEEE Transactions on Automation Science and Engineering
• IEEE Transactions on Parallel and Distributed Systems
• IEEE Transactions on Industrial Electronics
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• ASME Journal of Dynamical Systems
• IEEE/ASME Transactions on Mechatronics
• Elsevier, Automatica
• Elsevier, Mechatronics
Conferences
• IEEE International Conference on Robotics and Automation
• IEEE/RSJ Conference on Intelligent Robots and Systems
• IEEE Conference on Decision and Control
• American Control Conference
• IEEE Conference on Control Applications
• IFAC Symposium on Robot Control
• IEEE International Conference on Industrial Informatics
• IFAC World Congress
• IFAC Symposium on Nonlinear Control Systems
Current Research Topics
In the field of teleoperation, novel energy-based control structure are sought to bridge
the gap between passivity and transparency. In this way it would be possible to obtain a
teleoperation system that are at the same time intrinsically safe for the users and capable
to reproduce with a high fidelity the impedance of the remote environment at the user’s
side. At the moment we have obtained some very promising results using a two layer
approach where a lower level takes care to ensure a passive energy transfer and the upper
level takes care to shape the energy transfer in order to ensure transparency.
Another line of research, exploiting these concept coupled with distributed control techniques, deals with the teleoperation of a swarm of autonomous robots where the group is
teleoperated while maintaining some autonomy for low level maneuvers.
In the field of mobile robotics, three main research projects are active: traffic control of AGVs, distributed coordination of mobile robots and SLAM for lawnmowers.
An efficient traffic control strategy, based on coordination diagrams, for coordinating
AGVs in automatic warehouses has been developed. A traffic dependent (re-)routing
strategy has been developed and the experimental phase on real AGVs has started.
Distributed control strategies for allowing a group of robots to autonomously perform a
complex tasks are being studied. It is aimed to couple passivity based approaches and
graph theory for obtaining robust and distributed cooperating structures.
Exploiting low costs sensors and moving the complexity to the control, we are developing,
in cooperation with a company, a robotic lawnmower capable of localizing itself and of
efficiently covering a generic garden.
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In the field of surgical robotics, within the ISUR project, novel modeling and control
strategies are being explored for making automatic some surgical actions in a realistic
setting (e.g. unexpected events can take place and the operating environment is variable
and partly unknown). At the moment, our work is devoted to the translation of the
knowledge of the surgeons into a formal language (e.g. UML) that can be understood
and replicated by a robotic system.
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Publications
Books
B1 Secchi C., Stramigioli S., Fantuzzi, C., Control of Interactive Robotic Interfaces: a
port-Hamiltonian approach, Springer Tracts in Advanced Robotics (STAR), Springer,
ISBN:3540497129, Marzo 2007
Patents
P1 Cocconcelli M., Bassi L., Borghi D., Rubini R., Secchi C., Predictive Rolling Bearing
Maintenance, International Patent number WO 2010100253 (A1), September 10th,
2010
Journals
J1 Stramigioli, S., Secchi, C., van der Schaft, A.J., Fantuzzi, C., Sampled Data Systems
Passivity and Sampled port-Hamiltonian Systems, IEEE Transactions on Robotics,
21(4):574-587, August 2005
J2 Bonfé M., Fantuzzi C., Secchi C., Behavioral inheritance in object-oriented models
for mechatronic system, International Journal on Manufacturing Research, 1(4):421441, 2006
J3 Secchi C., Bonfé M., Fantuzzi C., On the use of UML for modeling mechatronic
systems, IEEE Transactions on Automation Science and Engineering, 4(1):105-113,
2007
J4 Bonfé M., Fantuzzi C., Secchi C., Simani S., Modelli orientati agli oggetti per sistemi con dinamiche ibride, Automazione e Strumentazione, Anno LV, n. 4, VNU
Businness Publication, April 2007
J5 Secchi C., Bonfé M., Fantuzzi C., Borsari R., Borghi D., Object-Oriented Modeling
of Complex Mechatronic Components for the Manufacturing Industry, IEEE/ASME
Transactions on Mechatronics, 12(6): 696-702, 2007
J6 Secchi C., Stramigioli S., Discussion on ”On preserving passivity in sampled-data
linear systems”, European Journal of Control, December 2007
J7 Secchi C., Stramigioli S., Fantuzzi C., Transparency in port-Hamiltonian based Telemanipulation, IEEE Transactions on Robotics, 24(4):903-910, August 2008
J8 Secchi C., Bonfé M., Fantuzzi C., Borsari R., Borghi D., Authors’ reply to ”Comments on ’Object-Oriented Modeling of Complex Mechatronic Components forthe
Manufacturing Industry’”, IEEE/ASME Transactions on Mechatronics, 13(4):487489, August 2008
J9 Secchi C., Stramigioli S., Fantuzzi C., Variable Delay in Scaled Port-Hamiltonian
Telemanipulation, Elsevier Mechatronics, 18(7):357-363, September 2008
J10 Botturi D., Vicentini M., Righele M., Secchi C., Perception-centric Scaling in Bilateral Teleoperation, Elsevier Mechatronics, 20(7):802-811, October 2010
13
J11 Olmi R., Secchi C., Fantuzzi C., Coordination of Industrial AGVs, International
Journal of Vehicle Autonomous Systems, 9(1/2), 2011
J12 Sabattini L., Secchi C., Fantuzzi C., Arbitrary shaped formations of mobile robots:
Artificial Potential fields and coordinate transformation, Autonomous Robots 30(4):385397, May 2011
J13 Bassi L., Secchi C., Fantuzzi C., Bonfé M., A SysML based methodology for manufacturing system modeling and design, IEEE/ASME Transactions on Mechatronics,
16(6):1049-1069, 2011.
J14 Franken M., Stramigioli S., Misra S., Secchi C., Macchelli A., Bilateral Telemanipulation with time delays: A two-layer approach combining passivity and transparency,
IEEE Transactions on Robotics, 27(4):741-756, August 2011
J15 Cocconcelli M., Bassi L., Secchi C., Rubini R., Fantuzzi C., An algorithm to diagnose ball bearing faults in servomotors running arbitrary motion profiles, Mechanical
Systems and Signal Processing, 2011, in press
J16 Secchi C., Stramigioli S., Fantuzzi C., Steady State Kinematic Compensation in
Scattering based teleoperation, IEEE Transactions on Haptics, 2011, submitted
J17 Sabattini L., Chopra N., Secchi C., Decentralized connectivity maintenance for cooperative control of mobile robotic systems, Automatica, 2011, submitted
J18 Bonfé M., Fantuzzi C., Secchi C., Design Patterns for Model-Based Automation
Software Design and Implementation, Control Engineering Practice, 2011, submitted
J19 Franchi A., Secchi C., Son H.I., Bülthoff H., Robuffo Giordano P., Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology, IEEE Transactions
on Robotics, submitted
Book Chapters
BC1 Secchi C., Stramigioli S., Fantuzzi C., Power scaling in port-Hamiltonian telemanipulation over packet switched networks, in “Advances in Telerobotics” (M.
Ferre, M.Buss, R.Aracil, C. Melchiorri Eds.), Springer Tracts in Advanced Robotics
(STAR) Series, Vol. 31, pp.233-256, ISBN: 978-3-540-71363-0, Springer, Luglio 2007
BC2 Secchi C., Stramigioli S., Fantuzzi C., Kinematic Compensation in Port-Hamiltonian
Telemanipulation, in “Lagrangian and Hamiltonian Methods in Nonlinear Control
2006” (F. Bullo, K. Fujimoto Eds.), Lecture Notes in Control and Information Sciences (LNCIS), Vol. 366, pp.99-100, ISBN: 978-3-540-73889-3, Springer, 2007
BC3 Lefemine G., Pedrini G., Secchi C., Tesauri F., Marzani S., Virtual Fixtures for
Secondary Tasks, in “Human-Computer Interaction Symposium”, pp. 67-81, ISBN:
978-0-387-09677-3, Springer Boston, 2008
BC4 Secchi C., Fantuzzi C., Formation Control over Delayed Communication Networks,
in “Modeling, Estimation and Control of Networked Control Systems”, Understanding Complex Systems, Springer, ISBN: 978-3642031984, 2009
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BC5 Franken M., Stramigioli S., Reilink R., Secchi C., Macchelli A., Bridging the gap
between passivity and transparency, in “Robotics: Science and Systems V”, MIT
Press, ISBN: 978-0-262-51463-7, October 2010
International Conferences
Invited Papers
CI1 C. Secchi, C. Fantuzzi, M. Bonfé, On the use of UML for modeling physical system, International Conference on Robotics and Automation (ICRA), April 2005,
Barcelona, Spain. Invited paper in the session entitled “Object-oriented modelling
and formal validation methodologies in manufacturing and automation”
CI2 C. Secchi, S. Stramigioli, C. Fantuzzi, The problem of packets loss in scaled digital
port-Hamiltonian based bilateral telemanipulation, Proceedings of the IEEE International Conference on Control Applications (CCA), August 2005, Toronto, Canada.
Invited paper in the session entitled “Control of Telerobotic Systems”.
CI3 M. Bonfé, C. Fantuzzi, C. Secchi, Verification of Fault Tolerance of Discrete-Event
Object-Oriented Models using Model Checking, Proceedings of the IFAC World
Congress, July 2008, Seoul, South Korea. Invited paper in the session entitled
“Dependable Control of Discrete Event Systems”.
CI4 C. Secchi, S. Stramigioli, C. Fantuzzi, Compensation of position errors in passivity
based teleoperation over packet switched communication networks, Proceedings of
the IFAC World Congress, July 2008, Seoul, South Korea. Invited paper in the
session entitled “Putting Energy back in Robotics”.
CI5 C. Fantuzzi, M. Bonfé, C. Secchi, A Design Pattern for Model Based Software Development for Automatic Machinery, Proceedings of the 13th IFAC Symposium on
Information Control Problems in Manufacturing (INCOM09), June 2009, Moscow,
Russia. Invited paper in the session entitled ”Advanced Software Engineering in
Industrial Automation”.
CI6 C. Fantuzzi, F. Fanfoni, C. Secchi, M. Bonfé, ”An engineering process for the mechatronic development of industrial automation systems”, Proceedings of the IEEE
International Conference on Industrial Informatics (INDIN10), July 2010, Osaka,
Japan. Invited paper in the session entitled ”Advanced Software Engineering in
Industrial Informatics and Factory Automation”.
CI7 C. Fantuzzi, M. Bonfé, F. Fanfoni, C. Secchi, A Design Pattern for translating
UML software models into IEC 61131-3 Programming Languages, Proceedings of
the IFAC World Congress, Milano, Italia, September 2011. Invited paper in the
session entitled “Model Based Engineering in Industrial Plant Automation”
CI8 P. Robuffo Giordano, A. Franchi, C. Secchi, H. H. Bülthoff, Experiments of PassivityBased Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity
Synchronization, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, September 2011. Invited
paper in the Symposium on Telerobotics.
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CI9 C. Secchi, Traffic Control of AGVs in Automatic Warehouses: the TRAFCON Experiment, Workshop on European Efforts in Strengthening the Academia-Industry
Collaboration in correspondence of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, September 2011.
Regular Papers
C1 Secchi, C., Stramigioli, S., Melchiorri, C., Geometric Grasping and Telemanipulation, Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems
(IROS), October 2001, Maui, Hawaii (USA)
C2 Stramigioli, S., Secchi, C., van der Schaft, A.J., Fantuzzi, C., A Novel Theory
for Sample Data Systems, Proceedings of the IEEE/RSJ Conference on Intelligent
Robots and Systems (IROS), September 2002, Lausanne (Switzerland)
C3 Secchi, C., Stramigioli, S., Fantuzzi, C., Digital Passive Geometric Telemanipulation, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), September 2003, Taipei (Taiwan).
C4 Fantuzzi, C., Secchi, C., Visioli, A., On the Fault Detection and Isolation of Industrial Robot Manipulators, Proceedings of the 7th International IFAC Symposium on
Robot Control (SYROCO), September 2003, Wroclaw (Poland)
C5 Macchelli, A., Melchiorri, C., Secchi, C., Fantuzzi, C., A Variable Structure Approach to Energy Shaping, Proceedings of the European Control Conference (ECC),
September 2003, Cambridge (UK)
C6 Secchi, C., Stramigioli, S., Fantuzzi, C., Delayed Virtual Environments: a portHamiltonian Approach, Proceedings of the IEEE/RSJ Conference on Intelligent
Robots and Systems (IROS), October 2003, Las Vegas, Nevada (USA)
C7 Secchi, C., Stramigioli, S., Fantuzzi, C., Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation, Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), October 2003, Las Vegas, Nevada (USA)
C8 Secchi C., Fantuzzi C., Gianotti A., Control of an Industrial Robot Using RTAI
Linux, Fifth Real-time Linux Workshop, November 2003, Valencia (Spagna)
C9 Fantuzzi C., Secchi C., Energetic Approach to Parametric Fault detection and Isolation, American Control Conference (ACC), July 2004, Boston, Massachusetts (USA)
C10 C. Secchi, C. Fantuzzi, M. Bonfé, Unified modeling of control software and physical
plants, 16th IFAC World Congress, July 2005, Praha, Czech Republic
C11 M. Bonfé, C. Fantuzzi, C. Secchi, Inheritance of Behavior in Object-Oriented Designs for industrial control systems, 16th IFAC World Congress, July 2005, Praha,
Czech Republic
C12 M. Bonfé, C. Fantuzzi, C. Secchi, Verification of Behavioral Substitutability in
Object-oriented Models for Industrial Controllers, International Conference on Robotics
and Automation (ICRA), April 2005, Barcelona, Spain
16
C13 M. Bonfé, C. Fantuzzi, C. Secchi, Object-Oriented Modeling of Multi-Domain Systems, Conference on Automation Science and Engineering (CASE), August 2005,
Edmonton, Canada
C14 C. Secchi, S. Stramigioli, C. Fantuzzi, Power Scaling in port-Hamiltonian based
Telemanipulation, IEEE-RSJ International Conference on Intelligent Robots and
Systems (IROS), August 2005, Edmonton, Canada
C15 C. Secchi, S. Stramigioli, C. Fantuzzi, Transparency in port-Hamiltonian based Telemanipulation, IEEE-RSJ International Conference on Intelligent Robots and Systems (IROS), August 2005, Edmonton, Canada. This paper has been nominated for the best paper award
C16 M. Bonfé, C. Fantuzzi, C. Secchi, Unified Modeling and Verification of Logic Controllers for Physical Systems, IEEE Conference on Decision and Control (CDC),
December 2005, Seville, Spain
C17 M. Bonfé, C. Fantuzzi, C. Secchi, UML come linguaggio di modellazione unificato
per sistemi meccatronici, ANIPLA Congress on the Automation for the development
of competitivity of SME, November 2005, Napoli (I)
C18 C. Landi, A. Prati, C. Secchi, Image analysis and automatic composition of ceramic
mosaics, VIII Congresso SIMAI, May 2006, Ragusa, Italy
C19 C. Secchi, S. Stramigioli, C. Fantuzzi, Kinematic Compensation in Port-Hamiltonian
Telemanipulation, IFAC Workshop on Lagrangian and Hamiltonian Methods for
Nonlinear Control (LHMNLC), July 2006, Nagoya, Japan
C20 C. Fantuzzi, M. Ruggeri, S. Marzani, C. Secchi, A Distributed Embedded Control
System for Agricultural Machines, Proceedings of the 4th IEEE International Conference on Industrial Informatics, August 2006, Singapore
C21 C. Secchi, S. Stramigioli, C. Fantuzzi, Variable delay in scaled port-Hamiltonian
telemanipulation, IFAC Symposium on Robot Control (SYROCO), September 2006,
Bologna, Italy. This paper has been selected as one of the best 7 publications of the symposium.
C22 C. Secchi, M. Bonfé, C. Fantuzzi, A coalgebraic approach to behavioral inheritance
in Dynamical Systems, Proceedings of the International Symposium on Nonlinear
Theory and its Applications (NOLTA), September 2006, Bologna, Italy
C23 C. Secchi, S. Stramigioli, C. Fantuzzi, Intrinsically Passive Force Scaling in Haptic
Interfaces, Proceedings of the IEEE-RSJ International Conference on Intelligent
Robots and Systems (IROS), October 2006, Beijing, China
C24 C. Secchi, S. Stramigioli, C. Fantuzzi, Position Drift Compensation in port-Hamiltonian
Telemanipulation, Proceedings of the IEEE-RSJ International Conference on Intelligent Robots and Systems (IROS), October 2006, Beijing, China
C25 L. Bassi, C. Secchi, C. Fantuzzi, M. Bonfé, An object-oriented approach to manufacturing systems modeling, Proceedings of the IEEE Conference on Automation
Science and Engineering (CASE), October 2006, Shangai, China
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C26 C. Secchi, C. Fantuzzi, Inheritance for Dynamical Systems, Proceedings of the International Congress ANIPLA 2006, November 2006, Rome, Italy
C27 D. Zanichelli, C. Secchi, R. Rubini, C. Fantuzzi, M. Bonfé, D. Borghi, R. Borsari,
E. Sacchetti, Towards Object-Oriented Modeling of Complex Mechatronic Systems
for the Manufacturing Industry, Proceedings of the ASME International Mechanical
Engineering Congress and Exposition, November 2006, Chicago, USA
C28 C. Secchi, M. Bonfé, C. Fantuzzi, Design by Extension and Inheritance of behavior
in Dynamical Systems, Proceedings of the IEEE Conference on Decision and Control
(CDC), December 2006, San Diego, USA
C29 C. Secchi., S. Stramigioli, C. Fantuzzi, Port-contact systems in bilateral telemanipulation, 7th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2007),
August 2007, Pretoria, South Africa
C30 C. Secchi, C. Fantuzzi, Energy Shaping over Networks for Mechanical Systems, Proceedings of the IEEE Conference on Decision and Control (CDC), December 2007,
New Orleans, USA
C31 C. Secchi, C. Fantuzzi, Formation Control Over Delayed Communication Networks,
Proceedings of the IEEE International Conference on Robotics and Automation
(ICRA), May 2008, Pasadena, CA, USA
C32 R. Olmi, C. Secchi, C. Fantuzzi, Coordination of Multiple AGVs in an Industrial
Application, Proceedings of the IEEE International Conference on Robotics and
Automation (ICRA), May 2008, Pasadena, CA, USA
C33 E. Gebennini, A. Grassi, C. Secchi, C. Fantuzzi, An Analytical Model for Automated
Packaging Lines Design, Proceedings of the American Control Conference, June
2008, Seattle, WA, USA
C34 D. Botturi, S. Galvan, C. Secchi, A Force Dependent Scaling for Improving the Human Perception in Bilateral Teleoperation, Workshop on New Vistas and Challenges
in Telerobotics, Proceedings of the IEEE International Conference on Robotics and
Automation (ICRA), May 2008, Pasadena, California, USA
C35 M. Cocconcelli, C. Secchi, R. Rubini, C. Fantuzzi, L. Bassi, Predictive maintenance
of ball bearings for machines rotating with arbitrary velocity profiles, Proceedings
of the ISMA2008 International Conference on Noise and Vibration Engineering,
September 2008, Leuven, Belgium
C36 M. Cocconcelli, C. Secchi, R. Rubini, C. Fantuzzi, L. Bassi, Comparison Between
Time-Frequency Techniques to Predict Ball Bearing Fault in Drives Executing Arbitrary Motion Profiles, Proceedings of the ASME International Mechanical Engineering Congress & Exposition (IMECE), November 2008, Boston, Massachusetts,
USA
C37 D. Botturi, S. Galvan, M. Vicentini, C. Secchi, Perception-Centric Force Scaling
Function for Stable Bilateral Interaction, Proceedings of the IEEE International
Conference on Robotics and Automation (ICRA), May 2009, Kobe, Japan
18
C38 M. Franken, S. Stramigioli, R. Reilink, C. Secchi, A. Macchelli, Bridging the gap
between passivity and transparency, Proceedings of the 2009 Robotics: Science and
Systems Confeernce (RSS09), July 2009, Seattle, WA, USA
C39 R. Olmi, C. Secchi, C. Fantuzzi, A Coordination Technique for Automatic Guided
Vehicles in an Industrial Application, Proceedings of the 9th International IFAC
Symposium on Robot Control (SYROCO), September 2009, Gifu, Japan
C40 C. Fantuzzi, G. Perrica, C. Secchi, A way to reduce model complexity for Non Linear
System Approximators, Proceedings of the 4th International Conference on Physics
and Control (PhysCon2009), September 2009, Catania, Italy
C41 L. Sabattini, C. Secchi, C. Fantuzzi, Potential Based Control Strategy for Arbitrary
Shape Formations of Mobile Robots, Proceedings of the IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS), October 2009, Saint Louis,
USA
C42 R. Olmi, C. Secchi, C. Fantuzzi, Coordinating the motion of multiple AGVs in automatic warehouses, Workshop on Robotics and Intelligent Transportation Systems,
Proceedings of the IEEE International Conference on Robotics and Automation,
May 2010, Anchorage, Alaska, USA.
C43 R. Olmi, C. Secchi, C. Fantuzzi, Coordinating multiple robots with assigned paths,
Proceedings of the 7th IFACSymposium on Intelligent Autonomous Vehicles 2010,
September 2010, Lecce, Italia.
C44 M. Bonfé, E. Piccinini, C. Secchi, SaBot: A scalable architecture for Web-enabled
Mobile Robots, Proceedings of the 7th IFAC Symposium on Intelligent Autonomous
Vehicles 2010, September 2010, Lecce, Italia.
C45 L. Sabattini, C. Secchi, C. Fantuzzi, A. Stefani, Bird’s - Eye View Image for the
Localization of a Mobile Robot by Means of Trilateration, Proceedings of the 7th
IFAC Symposium on Intelligent Autonomous Vehicles 2010, September 2010, Lecce,
Italia.
C46 L. Bassi, M. Cocconcelli, C. Secchi, R. Rubini, C. Fantuzzi, An algorithm to diagnose
ball bearings faults in servomotors running arbitrary motion profiles, Proceedings
of the ISMA2010 International Conference on Noise and Vibration Engineering,
September 2010, Leuven, Belgium
C47 L. Sabattini, C. Secchi, C. Fantuzzi, D. de Macedo Possamai, Tracking of ClosedCurve Trajectories for Multi-Robot Systems, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October
2010
C48 M. Bonfé, C. Secchi, Online Smooth Trajectory Planning for Mobile Robots by Means
of Nonlinear Filters, Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems, Taipei, Taiwan, October 2010
C49 P. Robuffo Giordano, A. Franchi, H.I. Son, C. Secchi, D.J. Lee, H.H. Buelthoff, Towards Bilateral Teleoperation of Multi-Robot Systems, Proceedings of the 3rd Workshop for Young Researchers on Human-Friendly Robotics, Tuebingen, Germany,
October 2010
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C50 A. Franchi, P. Robuffo Giordano, C. Secchi, H.I. Son, H.H. Buelthoff, A PassivityBased Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs
with Switching Topology, Proceedings of the IEEE International Conference on
Robotics and Automation (ICRA), Shanghai, China, May 2011
C51 D. Ronzoni, R. Olmi, C. Secchi, C. Fantuzzi, AGV Global Localization Using Indistinguishable Artificial Landmarks, Proceedings of the IEEE International Conference
on Robotics and Automation (ICRA), Shanghai, China, May 2011
C52 R. Falconi, L. Sabattini, C. Secchi, C. Melchiorri, C. Fantuzzi, A Graph-Based
Collision- Free Distributed Formation Control Strategy, Proceedings of the IFAC
World Congress, Milano, Italy, September 2011
C53 P. Robuffo Giordano, A. Franchi, C. Secchi, H.H. Buelthoff, Passivity-Based Decentralized Connectivity Maintenance in the Bilateral Teleoperation of Multiple UAVs,
Proceedings of the Robotics: Science and Systems Conference, Los Angeles, USA,
June 2011
C54 R. Olmi, C. Secchi, C. Fantuzzi, An Efficient Control Strategy for the Traffic Coordination of AGVs, Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), San Francisco, USA, September 2011
C55 L. Sabattini, N. Chopra, C. Secchi, Distributed Control of Multi-Robot Systems with
Global Connectivity Maintenance, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, September
2011
C56 L. Sabattini, N. Chopra, C. Secchi, On Decentralized Connectivity Maintenance for
Mobile Robotic Systems, Proceedings of the IEEE/RSJ International Conference on
Decision and Control (CDC), Orlando, USA, December 2011
National Conferences
CN1 C. Secchi, C. Fantuzzi, An Energetic Approach to Fault Detection and Isolation,
Convegno Nazionale CIRA, September 2002, Perugia.
CN2 C. Secchi, Intrinsically passive control of telemanipulation systems, Convegno Nazionale
CIRA, September 2003, Modena.
CN3 C. Secchi, Transparency in bilateral telemanipulation, Convegno Nazionale CIRA,
September 2004, Cagliari.
CN4 C. Secchi, S. Stramigioli, C. Fantuzzi, Position drift compensation in port-Hamiltonian
telemanipulation, Convegno Nazionale CIRA, September 2006, Milano.
CN5 C. Fantuzzi, C. Secchi, Inheritance in Object-Oriented Modeling of Dynamical Systems, Convegno Nazionale CIRA, September 2006, Milano.
CN6 C. Secchi, S. Stramigioli, C. Fantuzzi, On the compensation of position errors in
passivity based teleoperation, Convegno Nazionale SIDRA, September 2007, Genova
CN7 C. Secchi, C. Fantuzzi, On the Use of UML for Modeling Mechatronic Systems,
Convegno Nazionale SIDRA, September 2007, Genova
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CN8 C. Secchi, C. Fantuzzi, Formation Control over Delayed Communication Networks,
Convegno Nazionale SIDRA, September 2008, Vicenza.
CN9 C. Secchi, C. Fantuzzi, S. Stramigioli, Compensation of position errors in passivity based teleoperation over packet switched communication networks, Convegno
Nazionale SIDRA, September 2008, Vicenza.
CN10 R. Olmi, C. Secchi, C. Fantuzzi, Multiple AGVs Coordination, Convegno Nazionale
SIDRA,September 2008, Vicenza.
CN11 L. Sabattini, C. Secchi, Formation Control and Obstacle Avoidance, Convegno Nazionale
SIDRA,September 2008, Vicenza.
CN12 R. Olmi, C. Secchi, C. Fantuzzi, A Coordination Technique for Automatic Guided
Vehicles in an Industrial Application, Convegno Nazionale SIDRA, September 2009,
Siracusa, Italia.
CN13 L. Sabattini, C. Secchi, C. Fantuzzi, Potential Based Control Strategy for Arbitrary
Shape Formations of Mobile Robots, Convegno Nazionale SIDRA, September 2009,
Siracusa, Italia.
CN14 C. Secchi, P. Robuffo Giordano, A. Franchi, Decentralized and Passivity based Teleoperation of a Group of UAVs with Time-Varying Topology, AUTOMATICA.IT
2011 conference, Pisa, Italy, September 2011. This work has been selected as
one of the five finalists for the best paper
Theses and Technical Report
T1 Secchi C., Controllo basato su passivitá di sistemi robotici di telemanipolazione con
ritardo, Tesi di Laurea, DEIS, University of Bologna, July 2000. Supervisor: Prof.
C. Melchiorri. In Italian.
T2 Secchi C., Geometric Grasping and Telemanipulation, Technical Report, Delft University of Technology, December 2000. Supervisor: Prof. S. Stramigioli.
T3 Secchi C., Stramigioli S. , Fantuzzi C., Digital Passive Geometric Telemanipulation, Technical Report number 36 of the Department of Sciences and Methods of
Engineering (DISMI) of the University of Modena and Reggio Emilia.
T4 Macchelli A., Melchiorri C., Secchi C., Fantuzzi C., A variable structure approach
to energy shaping, Technical Report number 37 of the Department of Sciences and
Methods of Engineering (DISMI) of the University of Modena and Reggio Emilia.
T5 Secchi C., Stramigioli S. , Fantuzzi C., Dealing with Unreliabilities in Digital Passive
Geometric Telemanipulation, Technical Report number 38 of the Department of
Sciences and Methods of Engineering (DISMI) of the University of Modena and
Reggio Emilia.
T6 Secchi C., Stramigioli S. , Fantuzzi C., Delayed virtual environments: a port-Hamiltonian
approach, Technical Report number 39 of the Department of Sciences and Methods
of Engineering (DISMI) of the University of Modena and Reggio Emilia.
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T7 Fantuzzi C., Secchi C., Visioli A., On the fault detection and isolation of industrial
robot manipulators, Technical Report number 40 of the Department of Sciences and
Methods of Engineering (DISMI) of the University of Modena and Reggio Emilia.
T8 Secchi, C., Control of Interactive Robotic Interfaces: a port-Hamiltonian Approach,
PhD thesis, Information Science Doctoral School, University of Modena and Reggio
Emilia. Supervisor: Prof. C. Fantuzzi.
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