june 2014

Cari colleghi,

vi inoltro la newsletter della I-RAS.

Cordiali saluti,




x. Votazioni nuovo chair
x. Cena I-RAS
x. PhD Programme in Perceptual Robotics at Scuola Superiore Sant’Anna
x. Workshop on Embedded Optimization (EMBOPT 2014) September 8-9, 2014, IMT Lucca, Italy
x. Summer School on Screw-Theory Based Methods in Robotics 2014 - Second Announcement
x. Workshop "Robustness in Identification, Control ... and Beyond!" - Siena, 25-26 settembre 2014
x. IROS 2014 Workshop: Real-time Motion Generation and Control


x. Votazioni nuovo chair

Per un intoppo tecnico con la IEEE non sono riuscito ad attivare la votazione elettronica in tempo utile. Appena risolto il problema vi inviero' una comunicazione.



x. Cena I-RAS

La cena I-RAS e' fissata per il giorno 8 settembre 2014 durante il convegno Automatica.it 2014


Ringrazio Fabio Previdi e tutto il gruppo di Bergamo per l'aiuto, per facilitare la logistica vi chiedo cortesemente una mail di adesione a: antonelli@unicas.it con eventuali vincoli alimentari.

Il costo della cena si aggirera' intorno ai 50 euro a persona.

Anticipo le domande che ricevo ad ogni riunione, la cena non e' un ritrovo di "carbonari robotici", tutti gli amici e colleghi del convegno e le eventuali famiglie al seguito sono benvenute. Per i bambini chiederemo un menu apposito.



x. PhD Programme in Perceptual Robotics at Scuola Superiore Sant’Anna

A three-year residential PhD programme on Digital Emerging Technologies and
Perceptual Robotics is available at the TeCIP institute of Scuola Superiore
Sant’Anna in Pisa, Italy.

The programme, starting on November, 3rd 2014, will be opened for 26
PhD position of which:

- 11 Fully granted with scholarship;
- 3 with reduced financial support;
- 3 Industrial PhDs
- 9 PhD apprenticeship

The research area of Perceptual Robotics offers the opportunity to
undertake in-depth research on themes of Advanced Robotic, Haptics, Teleoperation and
Presence for the interaction in Real, Augmented and Virtual Environments. For the
curriculum in “Perceptual Robotics”, the applications are solicited in the following

- PAC: Perception, Action and Cognition
- IAS: Intelligent Automation Systems
- HRI: Human Robot Interaction
- CGVE: Computer Graphics and Virtual Environment
- SEES: Safety, Environment, Energy and Security

All teaching and research activities will be carried out in English.
Research will be performed in the framework of relevant European, International
and Industrial projects and will be supported by the computing, robotic,
and VR facilities available at PERCRO laboratory (http://www.percro.org).

We are soliciting National, European and International students motivated
to apply for the PhD program in "Perceptual Robotics".

Application should be submitted online by July 7th, 2014.

Detailed information about the PhD program as well as the full text of
the call for participation is available on the institutional website at:


Questions on the scientific domains can be addressed to the following contacts:

- PAC: Prof. M. Bergamasco, m.bergamasco@sssup.it
- IAS: Prof. C.A. Avizzano, Dr. E. Ruffaldi
c.avizzano@sssup.it, e.ruffaldi@sssup.it
- HRI: Prof. A. Frisoli, Dr. M. Solazzi
a.frisoli@sssup.it, m.solazzi@sssup.it
- CGVE: Dr. F. Tecchia, Dr. M. Carrozzino
f.tecchia@sssup.it, m.carrozzino@sssup.it
- SEES: Dr. M. Fontana, Dr. R. vertechy
m.fontana@sssup.it, r.vertechy@sssup.it

Kind Regards,

Carlo Alberto Avizzano
Director of PERceptual RObotics
TeCIP Institute
Scuola Superiore Sant'Anna


x. Workshop on Embedded Optimization (EMBOPT 2014) September 8-9, 2014, IMT Lucca, Italy

This workshop focuses on recent advances, various aspects and new ideas on embedded optimization with a particular emphasis on control applications. Topics covered in the workshop include platform-aware embedded optimization, embedded model predictive control and large scale, distributed convex optimization. This is a registration-free event, open to students and researchers in the field.

List of invited speakers and tentative titles:
Alberto Bemporad, IMT Lucca Embedded Optimization for Model Predictive Control: New Algorithms and Performance Comparisons in Hardware Platforms
Stephen Boyd, Stanford University A Splitting Method for Embedded Optimal Control
Matthew Brand, Mitsubishi Electric, Multiplicative Fixpoints for Some Large-Scale Parallel Convex Optimizations
Alex Domahidi, ETH Zürich, Embedded Optimization for Mixed Logic Dynamical Systems
Nick Freris, EPFL, Optimal data mining on compressed data
Edward Hartley, University of Cambridge Model Predictive Control on an FPGA: Aerospace & Spacecraft Scenarios
Pontus Giselsson, Stanford University Metric selection in fast dual forward backward splitting
Mikael Johansson, KTH Royal Institute of Technology, Asynchronism and convergence rates in distributed optimization
Ion Necoara, Politehnica University of Bucharest Iteration complexity analysis of dual gradient methods: applications to embedded and distributed MPC
Yurii Nesterov, CORE/UCL Primal-dual methods for convex problems with functional constraints.
Panagiotis Patrinos, IMT Lucca Splitting Envelopes: Accelerated second-order proximal methods
Arvind Raghunathan, Mitsubishi Electric, ADMM Algorithm for General Convex QP - Optimal Step-Size Selection, Infeasibility Detection and Convergence Acceleration

Scientific Committee:
Alberto Bemporad, IMT Lucca
Panagiotis Patrinos, IMT Lucca
Stefano Di Cairano, Mitsubishi Electric

EMBOPT Website: www.imtlucca.it/embopt-14
For further information please contact: commev@imtlucca.it

Cordiali saluti,
Panagiotis Patrinos
Assistant Professor
Dynamical Systems, Control & Optimization Unit
IMT-Institute for Advanced Studies Lucca (LU), Italy
t: +39 05834326 608


x. Summer School on Screw-Theory Based Methods in Robotics 2014 - Second Announcement

Dear colleagues,

We are renewing our invitation for participants in

The Fifth International Summer School on Screw-Theory Based Methods in Robotics

3 -- 11 September 2014

University of Bologna, Bologna, Italy


In the short time since our first call, we have received many registrations. A limited number of places is still available, so we urge those who wish to participate to register without delay. The deadline is June 30, 2014.

For its fifth edition, our summer school on screw theory comes to the world's oldest university: Bologna's Alma Mater Studiorum.
The enthusiastic feedback from each of the first four very successful Summer Screws events (in Genoa, Italy, in Shanghai, China, again in Genoa, and in Florianopolis, Brazil) proves that this initiative continues to provide a service that the robotics community values.

Summer Screws 2014 will gather six experts in the robotics applications of screw theory and up to 40 participants at the University of Bologna from 3 to 11 September.
The School will teach attendees how to apply existing methods and empower them to develop new ones in their own research.
The basic theoretical notions will be introduced in a rigorous manner, with emphasis on examples, applications, and exercises.

The main topics will be:

1. Basic vector-space properties of twists and wrenches: physical interpretation of the linear operations; linear dependence and independence, subspaces; bases and coordinates. (Lecturer: Dimiter Zlatanov)

2. Scalar products, dual spaces, reciprocity. Constraint and freedom in mechanisms. Constraint analysis, type synthesis of single-loop mechanisms, type synthesis of parallel manipulators. (Lecturer: Xianwen Kong)

3. Velocity and singularity analysis of parallel and interconnected-chain mechanisms. Derivation of input-output velocity equations and singularity conditions. (Lecturers: Matteo Zoppi and Dimiter Zlatanov)

4. Mappings between screw spaces, stiffness and inertia. Structure of robot compliance. Eigenvalue problems and eigenscrews. Synthesis with springs. (Lecturer: Harvey Lipkin)

5. 6D formulation of the dynamics of individual rigid bodies and rigid-body systems. Equations of motion. Dynamics algorithms. (Lecturer: Roy Featherstone)

6. Basic Lie-group theory, matrix representations of the group of rigid-body displacements. Lie algebras as related to screw theory. The exponential map and its applications in modern robotics. (Lecturer: Jon Selig)

Marco Carricato will be this year's invited lecturer, with a talk about persistent screw systems.

Up to 40 registrations are accepted at the price of 300 Euro, no later than 30 June, 2014.
For details, see the registration page, http://summerscrews2014.ing.unibo.it/registration.html, of the University of Bologna's Summer Screws site.

Summer Screws 2014 is organized by the Group of Robotics and Articular Biomechanics (GRAB), at the Department of Industrial Engineering of the University of Bologna, Italy, and the Laboratory of Design and Measurement for Automation and Robotics (PMAR), at the Department of Mechanical, Energy, Industrial, and Transport Engineering of the University of Genoa, Italy.
It is endorsed by IFToMM, the Robotics and Automation Society of the IEEE, the Italian Robotics and Automation Association (SIRI), the Bologna Society of Engineers, and the City of Bologna.
We gratefully acknowledge the financial support of IMA Industries, the Department of Industrial Engineering and the School of Engineering and Architecture of the University of Bologna, as well as of the IFToMM Young Delegates Program.

For more information visit the School's web pages:


Sincerely yours,

Dimiter Zlatanov, Marco Carricato, Vincenzo Parenti-Castelli
Matteo Zoppi, and Rezia Molfino


x. Workshop "Robustness in Identification, Control ... and Beyond!" - Siena, 25-26 settembre 2014

Cari Colleghi,

vi segnaliamo che il 25-26 settembre 2014 si terrà a Siena il Workshop

Robustness in Identification, Control ... and Beyond!
A workshop on the Occasion of Antonio Vicino's 60th Birthday

L'elenco degli invited speakers e il programma sono disponibili nella pagina web:

Siete tutti invitati a partecipare. L'iscrizione e' gratuita, per motivi organizzativi si richiede ai partecipanti di registrarsi sul sito del workshop, entro il 10 settembre 2014.

Un cordiale saluto,

Andrea Garulli
Graziano Chesi
Domenico Prattichizzo

Andrea Garulli
Dipartimento di Ingegneria dell'Informazione e Scienze Matematiche
Universita' di Siena
Via Roma 56, 53100 SIENA (Italy)
Tel.: (39) 0577 234850 Int. Voip 1036
Fax: (39) 0577 233602
E-mail: garulli@ing.unisi.it
Web: http://www.dii.unisi.it/~garulli/


x. IROS 2014 Workshop: Real-time Motion Generation and Control

Call for Papers IROS 2014 Workshop

Real-time Motion Generation and Control: Constraint-based Robot

Chicago, Illinois, USA
September 18, 2014


Important Dates
Jul 15, 2014 Deadline of paper submissions
Aug 15, 2014 Notification of acceptance
Sep 7, 2014 Deadline of final paper submissions
Sep 18, 2014 Workshop

Scope and Topics
The workshop's topics cover, but are not limited to:

- Real-time trajectory generation and control
- Constraint modeling and arising from particular applications
- Unified frameworks for planning and control
- Novel constraint-based planning/control algorithms
- Methodology for reactive behaviors
- Numerical algorithms for solving large-scale optimization problems
- Applications of constraint-based programming and control
- Task-level motion planning
- Motion planning layers and connections/interrelations between them
- Human motion synthesis and analysis
- (Self-)Collision avoidance for single- and multi-robot systems
- Collision avoidance in dynamic environments

Papers should be 4-6 pages in length, optionally accompanied by a video.
All submissions will be reviewed for relevance to the topic of the
workshop as well as scientific merit. Survey papers are welcome! Please
follow the IEEE RAS Manuscript Preparation Guidelines and submit your pdf
file to gianni.borghesan@mech.kuleuven.be, t@kroe.org, or
andreamaria.zanchettin@polimi.it .

The new generation of robots, such as redundant manipulators, mobile
manipulators and eventually humanoids, is challenging the robotics
community to provide robust, reliable and fast motion planning and control
algorithms to better integrate such robots in highly unstructured
environments. These new robots are expected to promptly react to
unpredictable modifications of the environment, as we, humans, do.
Integration of planning and control capabilities into a unique holistic
and real-time framework is then the challenge to be address in current and
future robotic research. A relatively new and lively research trend
focused on such hyper-redundant robotic systems relies on declarative and
constraint-based task and motion specification. The availability of
sophisticated solvers and real-time capable numerical algorithms seems to
open the door to a new paradigm in motion planning and control. Most of
these approaches are also essential for autonomous execution of complex
tasks requiring reactive on-line motion generation to enable-for
instance-safe robot motions during interactions with humans. As many of
the approaches are separated from each other, a
unifying holistic concept is still missing. It especially requires
systematic combinations of higher level constraints enabling cognitive
capabilities and underlying lower-level constraints for fast robot
reactions. This workshop is intended to encourage discussion between
robotic researchers actively working in constraint-based motion planning
and control, covering various aspects of this problem.

Organizing Committee
Gianni Borghesan, Katholieke Universiteit Leuven, Belgium
Torsten Kroeger, Stanford University, USA
Andrea Maria Zanchettin, Politecnico di Milano, Italy


Andrea Zanchettin, PhD
Fixed-term Assistant Professor

Politecnico di Milano
Dipartimento di Elettronica, Informazione e Bioingegneria
via Ponzio 34/5 - 20133 Milano (Italy)
Email: andreamaria.zanchettin@polimi.it
Webpage: http://home.deib.polimi.it/zanchettin
Lab: http://merlin.elet.polimi.it/
IEEE RAS TC: http://www.robotmotion.org/
Office: (+39 02 2399) 4037
Mobile: +39 349 8384208
Skype: andrea.zanchettin