Studying at the University of Verona
Here you can find information on the organisational aspects of the Programme, lecture timetables, learning activities and useful contact details for your time at the University, from enrolment to graduation.
Study Plan
The Study Plan includes all modules, teaching and learning activities that each student will need to undertake during their time at the University.
Please select your Study Plan based on your enrollment year.
1° Year
| Modules | Credits | TAF | SSD |
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Compulsory activities for Embedded & Iot SystemsCompulsory activities for Smart Systems & Data Analytics2° Year activated in the A.Y. 2022/2023
| Modules | Credits | TAF | SSD |
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Compulsory activities for Embedded & Iot SystemsCompulsory activities for Robotics SystemsCompulsory activities for Smart Systems & Data Analytics| Modules | Credits | TAF | SSD |
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Compulsory activities for Embedded & Iot SystemsCompulsory activities for Smart Systems & Data Analytics| Modules | Credits | TAF | SSD |
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Compulsory activities for Embedded & Iot SystemsCompulsory activities for Robotics SystemsCompulsory activities for Smart Systems & Data Analytics| Modules | Credits | TAF | SSD |
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3 modules among the followingLegend | Type of training activity (TTA)
TAF (Type of Educational Activity) All courses and activities are classified into different types of educational activities, indicated by a letter.
Physical human-robot interaction (2022/2023)
Teaching code
4S009007
Academic staff
Coordinator
Credits
6
Language
English
Scientific Disciplinary Sector (SSD)
ING-INF/05 - INFORMATION PROCESSING SYSTEMS
Period
Semester 1 dal Oct 3, 2022 al Jan 27, 2023.
Learning objectives
The course aims to provide the following knowledge: theoretical foundation of physical human-robot interaction (e.g. bilateral teleoperation and force control), with particular attention to the design of control architectures capable of guaranteeing stability even in the presence of uncertainties and communication delays. At the end of the course the student will have to demonstrate that s/he has the following skills to apply the acquired knowledge: analyze the technical characteristics and structural properties of a control system for direct or teleoperated interaction with the environment; derive the mathematical model of the physical robot-environment interaction (direct or teleoperated); design a control architecture to ensure stability, performance and safety; implement the control architecture in simulators (e.g. Matlab/Simulink) and in operating systems tailored to robotic application (e.g. ROS). Student must also have the ability to define the technical specifications for a physical human robot-interaction system a (direct or teleoperated) and the ability to choose the most appropriate way to design the control architecture. Student will have to be able to deal with other engineers (e.g. electronic, automatic, mechanical) to design advanced control architectures for complex physical human-robot interaction systems. Student will have to show ability to continue its studies independently in the context of the design of architectures based on non-linear and adaptive techniques.
Prerequisites and basic notions
Dynamic systems, Robotics
Program
Topics that will be addressed during the course:
- passivity theory
- advanced algorithms for teleoperation
- communication time delay compensation
- physical human-robot interation
Topics that will be addressed during the lab activity:
- Tuning of PID controllers
- Implementation of velocity estimators
- Data-driven system identification
- Implementation of bilateral teleoperation algorithms in ROS/Matlab-Simulink
Bibliography
Didactic methods
Frontal lessons for the theoretical part; Lectures with the active involvement of students for the laboratory part.
Learning assessment procedures
The exam will consist in the discussion of the homework (HWs) assigned during the semester on the topics developed during the course.
Evaluation criteria
To pass the exam, the student must demonstrate:
- to have understood the principles related to the design of a teleoperation system,
- to be able to use the knowledge acquired during the course to solve the assigned problems,
- to be able to describe their work by explaining and motivating the design choices.
Criteria for the composition of the final grade
The final mark will be the composition of the mark on the homework (correctness and quality of the presentation) and on their exposure during the oral exam.
Exam language
Italian or English
