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eng. Vanni Zanotto
Assistant Professor
centre: UniUd - DIEGM

vanni.zanotto@uniud.it

Vanni Zanotto was born in Treviso on May 4, 1975. In March 2000 Zanotto obtained the Master Degree in Electronic Engineering at the University of Padua. He discussed a thesis concerning the Haptic Interfaces Stability. February 2004: He obtained the Ph.D. Degree in Applied Mechanics by discussing a final dissertation concerning the master-slave haptic systems for minimally-invasive neurosurgery. Since June 2005 Zanotto has been carrying out his research activity at the University of Udine, as Assistant Professor in Applied Mechanics. He teaches Fundamentals of Theoretical and Applied Mechanics, Machine Mechanics and Mechatronics. His research interests include modeling, design and control of mechanical systems. He is author or co-author of more than 40 scientific papers published in international journals and international conference proceedings. Moreover he is co-author of 3 international patents. Most of the research activity has been carried out within the frame of local and national research projects. In particular the research activity is focused on the following fields: -Medical robotics -Kinematic analysis of complex closed chain spatial mechanisms -Modeling and control of flexible link mechanism -Motion planning -Haptic interfaces As far as medical robotics is concerned, Vanni Zanotto has developed two haptic master-slave tele-robotic systems for minimally invasive neurosurgery, named LANS (Linear Actuator for Neurosurgery) and DAANS (Double Action Actuator for Neurosurgery) respectively. These devices have been validated on pre-clinical tests at the Neurosurgical Department of the University of Florence. The LANS Project was the winner of the Veneto Innovazione Award 2004. Currently, Zanotto is developing a new 6 axes manipulator for neurosurgery. The research activity on mechanisms kinematic is focused on the spatial closed chain systems. The results of this research have yielded the formulation of a new algorithm for the inverse kinematic problem in medical robotics. At the same time, this research let to the solution of the positioning problems for a complex spatial closed chain industrial machine in a high efficient way. The innovation of the proposed solution allowed the registration of an international patent. A great amount of the research activity of Zanotto concerns the modeling and control of flexible link mechanisms. First the dynamic models have been analyzed, and then the control techniques for vibration reduction have been formulated and validated. Moreover, new accurate dynamic models for HIL simulations and suitable algorithm for motion planning have been developed. A special interest of Zanotto concerns the haptic devices and the definition of design indices for the optimization of their dynamic performances. Moreover, an innovative force reflecting position based control scheme which allows to improve the safety of surgical tele-operated robotic procedures has been conceived and validated.


Publications

[1] P. Boscariol, A. Gasparetto, R. Vidoni, V. Zanotto
A delayed force reflecting haptic controller for master-slave neurosurgical robots
Advanced Robotics 19 (2), pp. 127-138 (2015)

[2] P. Boscariol, V. Zanotto
Design of a controller for trajectory tracking for compliant mechanisms with effective vibration suppression
Robotica, Volume 30, pp. 15–29 (2012)

[3] A. Gasparetto, A.Lanzutti, R.Vidoni, V.Zanotto
Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning
Robotics and Computer-Integrated Manufacturing, Volume 28, Issue 2, April 2012, pp. 164-181, DOI: 10.1016/j.rcim.2011.08.003

[4] P. Boscariol, A. Gasparetto, V. Zanotto
Simultaneous position and vibration control system for flexible link mechanisms
Meccanica, vol. 46 (4), August 2011, pp. 723-737, DOI: 10.1007/s11012-010-9333-9

[5] V. Zanotto, P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, N. Di Lorenzo, P. Gallina, A. Dalla Via , A. Rossi
A master-slave haptic system for neurosurgery
Applied Bionics and Biomechanics 8 (2011), pp- 209-220

[6] P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Neumesy: A special robot for neurosurgery
Annals of Faculty Engineering Hunedoara – International Journal of Engineering. Vol. IX-2 pp. 65-72 (2011)

[7] P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Experimental validation of minimum time-jerk algorithms for industrial robots
Journal of Intelligent & Robotic Systems, Volume 64, Number 2, November 2011, pp. 197-219, DOI: 10.1007/s10846-010-9533-5

[8] P. Boscariol, A. Gasparetto, V. Zanotto
A HIL simulator of Flexible-Link Mechanisms
Journal of Intelligent & Robotic Systems, Volume 64, Number 3-4, December 2011, pp. 427-446, DOI: 10.1007/s10846-011-9547-7

[9] A. Gasparetto A. Lanzutti R. Vidoni V. Zanotto
Validation of minimum time-jerk algorithms for trajectory planning of industrial robots
Journal of Mechanism and Robotics (Transactions of the ASME), Volume 3, Issue 3, n. 031003 (12 pages), August 2011, DOI: 10.1115/1.4004017

[10] P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Sistema di controllo Real-Time per un robot cartesiano
Proc. of NIDays2011, Milano, 23 Febbraio 2011

[11] P. Boscariol, A. Gasparetto, M. Giovagnoni, A. Lanzutti, R. Vidoni, V. Zanotto
Receding horizon control of a compliant manipulator: experimental analysis
Proceedings of the 13th IFToMM World Congress in Mechanism and Machine Science, Guanajuato (Mexico), June 19-25, 2011, pp.1-10

[12] P. Boscariol, A. Gasparetto, V. Zanotto
Model Predictive Control of a Flexible Links Mechanism
Journal of Intelligent & Robotic Systems: Volume 58, Issue 2 (May 2010), Page 125-147

[13] A. Gasparetto and V. Zanotto
Toward an optimal performance index for neurosurgical robot's design
Robotica (2010), volume 28, issue 02, pp. 279-296

[14] P. Boscariol, A.Gasparetto and Vanni Zanotto
Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control
ASME Journal of Dynamic Systems, Measurement, and Control, January 2010, Vol. 132, DOI: 10.1115/1.4000658

[15] A.Gasparetto and V.Zanotto
Optimal trajectory planning for industrial robots
Advances in Engineering Software, Volume 41, Issue 4, April 2010, Pages 548-556

[16] P. Boscariol, V. Zanotto, A. Gasparetto, F. Parere, O. Toscano, D. Baggio
Hardware-in-the-Loop Simulator for the rapid development of domestic dryers
Proceedings of the NIDays 2010. Roma, 24 febbraio 2010, pp. 61-62

[17] V. Zanotto, A. Gasparetto, P. Boscariol, A. Lanzutti, R. Vidoni, A. Rossi
Sistema aptico master-slave per neurochirurgia robotizzata basato su NI CompactRIO e NI LabVIEW
Proceedings of the NIDays 2010. Roma, February, 24 (2010), pp. 63-64 (2010 Best Appl. 'N.Chiari' Award Winner)

[18] P. Boscariol, A. Gasparetto, V. Zanotto
Trajectory Following and Vibration Control for Flexible-link Manipulators
Proceedings of the 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control - Romansy 2010 July 5-8, 2010 pp. 299-306

[19] P. Boscariol, A. Gasparetto, V. Zanotto
Design and Experimental Validation of a Hardware-In-the-Loop Simulator for Mechanisms with Link Flexibility
Proceedings of the 10th Biennial Conference on Engineeing and System Design and Analysis - ESDA2010-24254, July 12-14

[20] Albano Lanzutti, Alessandro Gasparetto, Renato Vidoni, Vanni Zanotto
Trajectory planning for manufacturing robots: algorithm definition and experimental results
Proceedings of the 10th Biennial Conference on Engineeing and System Design and Analysis - ESDA2010-24260, July 12-14

[21] A. Gasparetto, R. Vidoni, V. Zanotto
DFORCE: Delayed FOrce ReferenCE control for master–slave robotic systems
Mechatronics, Volume 19, Issue 5, August 2009, Pages 639-646

[22] Boscariol, P. Gasparetto, A. Zanotto, V.
Vibration reduction in a flexible link mechanism through the synthesis of an MPC controller
ICM 2009 - IEEE International Conference on Mechatronics, 14-17 April 2009 pp. 1-6 DOI 10.1109/ICMECH.2009.4957182

[23] A. Antoniolli, P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Sistema meccatronico intelligente per dispositivi di apertura e chiusura automatici
Proceedings of NIDays 09 - Forum Tecnologico sulla Progettazione Grafica di Sistemi, Milano 25 Febbraio 2009

[24] P. Boscariol, A. Gasparetto, M. Giovagnoni, A. Lanzutti, R. Vidoni, V. Zanotto
Innovative Control Techniques for Mechatronic Systems
XIX Congresso Aimeta - Ancona 14-17 settembre 2009

[25] A.Gasparetto and V.Zanotto
A technique for time-jerk optimal planning of robot trajectories
Robotics and Computer-Integrated Manufacturing, Volume 24, Issue 3, June 2008, Pages 415-426

[26] G. Boschetti, A. Gasparetto, V.Zanotto
Singularity analysis and performance indexes for parallel manipulators
Acta Mechanica Slovaca, vol. 2-A, June 2008, pp.95-104

[27] G.Boschetti, A. Dalla Via, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
New Trends in Robotic Neurosurgery
Acta Mechanica Slovaca, vol. 2-A, June 2008, pp. 213-224

[28] A. Dalla Via, G. Boschetti, P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
FLIMHILS: A Hardware-in-the-Loop Simulator of Flexible Links Mechanisms
Acta Mechanica Slovaca vol 12 no. 2 A, 2008, pp. 81-94

[29] L. Baldessin, G.Boschetti, A. Gasparetto, R. Vidoni, V. Zanotto
A New Kinematic Performance Index for Surgical Robots Design
Acta Mechanica Slovaca, vol. 2-A, June 2008, pp. 55-68

[30] A. Gasparetto, R. Vidoni, V. Zanotto
Optimal planning of Robotic Trajectories
Proceedings of the 8th International Conference on Advanced Manufacturing Systems and Technology AMST '08, Udine, June 12-13 2008

[31] A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
An intelligent mechatronic system for safe opening devices
Proceedings of the 8th International Conference on Advanced Manufacturing Systems and Technology AMST '08, Udine, June 12-13 2008

[32] A. Gasparetto, M. Giovagnoni, A. Lanzutti, R. Vidoni, V. Zanotto
Education and Research in Mechatronics at the University of Udine, Italy
Proceedings of the 9th International Workshop on Research and Education in Mechatronics (REM 2008), Bergamo, September 18-19 2008

[33] A. Gasparetto, R. Vidoni, V. Zanotto
NEUROBUD: a Novel Robot for Neurosurgery
Proceedings of the the 16th International Workshop in Alpe-Adria Danube Region (RAAD 2007), Ljubljana (Slovenia), June 7-9, 2007

[34] A. Gasparetto, R. Vidoni, V. Zanotto
Design of a Mechatronic System for the Control of a Spatial Mechanism in a Tunnel Digging Machine
Proceedings of the the 16th International Workshop in Alpe-Adria Danube Region (RAAD 2007), Ljubljana (Slovenia), June 7-9, 2007

[35] A.Gasparetto, R.Vidoni, and V.Zanotto
A robotic teleoperation system based on Force Reflecting and Delayed Reference Control
Proceedings of the the 12th IFToMM World Congress in Mechanism and Machine Science, Besançon (France), June 17-21, 2007

[36] A. Gasparetto, M. Giovagnoni, R. Vidoni, V. Zanotto
Progetto di un sistema meccatronico per il controllo di un cinematismo spaziale in una macchina per scavo di gallerie
Atti del XVIII Congresso Nazionale AIMETA, Brescia, 11-14 settembre 2007

[37] A. Gasparetto, R. Vidoni, V. Zanotto
Controllore ibrido per un sistema robotico master-slave per neurochirurgia
Atti del XVIII Congresso Nazionale AIMETA, Brescia, 11-14 settembre 2007

[38] A. Gasparetto and V. Zanotto
A new method for smooth trajectory planning of robot manipulators
Mechanism and Machine Theory, Volume 42, Issue 4, April 2007, Pages 455-471

[39] Alessandro Gasparetto and Vanni Zanotto
Vibration reduction in a flexible-link mechanism through synthesis of an optimal controller
Meccanica, Volume 41, Number 6, December 2006, pp. 611-622

[40] A. Rossi, A. Trevisani, and V. Zanotto
A telerobotic haptic system for minimally invasive stereotactic neurosurgery
Int. J. Medical Robotics and Computer Assisted Surgery, Robotic Publications Ltd.,1(2):64-75, 2005

[41] R. Caracciolo, D. Richiedei, A. Trevisani and V. Zanotto
Robust mixed-norm position and vibration control of flexible link mechanisms
Mechatronics, Volume 15, Issue 7, September 2005, Pages 767-791

[42] A. Biason, G. Boschetti, A. Gasparetto, M. Giovagnoni and V. Zanotto
A force-torque sensor for applications in medical robotics
Accepted for publication in Proceedings of the 7th Int. conf. AMST Advanced Manufacturing Systems and Technology 9-10 June 2005 in Udine - Italy

[43] A. Biason, G. Boschetti, A. Gasparetto, A. Puppatti and V. Zanotto
Design of a robotic vision system
Accepted for publication in Proceedings of the 7th Int. conf. AMST Advanced Manufacturing Systems and Technology 9-10 June 2005 in Udine - Italy

[44] Trevisani, A.; Rossi, A.; Zanotto, V.
Design and implementation of a mechatronic device for robot-assisted neurosurgery
Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.

[45] A. Rossi, M. Andreolli, G. Boschetti, A. Dalla Via, G. Rosati, A. Trevisani, and V. Zanotto
Man-machine interaction by haptic systems
In Proceedings of the Japan-Italy Workshop on The Man and the Robot: Italian and Japanese Approaches, Tokyo, Japan, September 2005

[46] A. Rossi, M. Andreolli, G. Boschetti, A. Dalla Via, G. Rosati, A. Trevisani, and V. Zanotto
Haptic systems in robotic surgery applications
In Proc. of the Israel-Italy Workshop on Advanced Computer Aided Surgery & Biomedical Image Processing, pages 36-47, Tel Aviv, Israel, June 1 2005

[47] R. Caracciolo, A. Gasparetto, A. Trevisani and V. Zanotto
On the Design of State Observers for Flexible Link Mechanisms
IASME Transactions, 1(1):125–130, 2004

[48] S. Bortolatto, A. Gasparetto, A. Trevisani, and V. Zanotto
Towards a model of the human hand: Linear system identification of the human grasp
IASME Transactions, 1(1):131–136, 2004

[49] G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
A control scheme for 5 d.o.f. haptic feedback guided teleoperation
IASME Transactions, 1(1):53–58, 2004

[50] A. Rossi, P. Gallina, G. Rosati, and V. Zanotto
Rate-to-force control in admittance mode bilateral teleoperation
In Proceedings of the 11th World Congress in Mechanism and Machine Science IFToMM2004, pages 1373–1379, Tianjin, China, April 2004

[51] A.Rossi, A.Gasparetto, A.Trevisani, and V.Zanotto
A robotic approach to stereotactic radio-surgery
ASME 7th Biennial Conference on Engineering Systems Design and Analysis (ESDA2004) July 19–22, 2004 , Manchester, England Volume 3 ISBN: 0-7918-4175

[52] R. Caracciolo, A. Gasparetto, A. Trevisani and V. Zanotto
On the Design of State Observers for Flexible Link Mechanisms
In Proceedings of the 1st IASME International Conference on Advances in Mechanics and Mechatronics (483-144), Udine, Italy, March 2004

[53] S. Bortolatto, A. Gasparetto, A. Trevisani, and V. Zanotto
Towards a model of the human hand: Linear system identification of the human grasp
In Proceedings of the 1st IASME International Conference on Advances in Mechanics and Mechatronics (483-144), Udine, Italy, March 2004

[54] G. Boschetti, G. Rosati and V. Zanotto
A network control server for haptic teleoperation
In Proceedings of the 7th Int. Conf. ROBTEP 2004 - Automation/Robotics in theory and practice, pages 59–65, Vysn Ruzbachy, Slovak Republic, May 2004

[55] G. Boschetti, A.Trevisani, and V.Zanotto
Improving control design of haptic interfaces: a model for the users mechanical impedance
Accepted for publication in the 7th Int. Conf. ROBTEP 2004 - Automation / Robotics in theory and practice, Vysn Ruzbachy, Slovak Republic, May 2004.

[56] G. Boschetti, A. Dalla Via, G. Rosati, and V. Zanotto
Safety issues in neurosurgical robotic applications: improving fail safe design
In Proceedings of the 7th Int. Conf. ROBTEP 2004 - Automation/Robotics in theory and practice, pages 50–58, Vysn Ruzbachy, Slovak Republic, May 2004

[57] A.Biason, A.Gasparetto, M.Giovagnoni, A.Trevisani, and V.Zanotto
Design and implementation of a control system for a flexible planar manipulator
Proc. ofthe 7th Biennial ASME Conference Engineering Systems Design and Analysis, Manchester, UK, 19-22 July 2004.

[58] G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
A control scheme for 5 d.o.f. haptic feedback guided teleoperation
In Proceedings of the 1st IASME International Conference on Advances in Mechanics and Mechatronics (483-145), Udine, Italy, March 2004

[59] V. Zanotto
Studio di sistemi aptici master-slave per applicazioni di neurochirurgia mini-invasiva
PhD Thesis, Università degli Studi di Brescia - DIM, 2004

[60] G. Rosati, A. Rossi, and V. Zanotto
Lans: a haptic system for minimally invasive radio-surgery
International Journal of Mechanics and Control, 4(2):45–50, 2003

[61] G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
A novel approach to haptic/telerobotic spine surgery
In Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD03, Cassino (FR), Italy, May 2003

[62] G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
Design of an innovative water filter for Total Body Irradiation
In Proceedings of IASTED Intenational Conference on Biomedical Engineering BioMED2003, pages 243-248, Salzburg, Austria, June 2003

[63] G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
ROBOGA: an obstacle avoidance system for blind people
In Proceedings of IASTED Intenational Conference on Biomedical Engineering BioMED2003, pages 237-242, Salzburg, Austria, June 2003

[64] A. Gasparetto, M. Giovagnoni, G. Rosati, A. Trevisani, and V. Zanotto
Design and construction of a slave robot for telerobotic spine surgery
In Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD03, Cassino (FR), Italy, May 2003

[65] G. Rosati, A. Rossi, and V. Zanotto
Lans: a haptic system for minimally invasive radio-surgery
In Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD03, Cassino (FR), Italy, May 2003

[66] N. De Rossi, A. Rossi, A. Trevisani, and V. Zanotto
Development and Performance Assessment of a Laser Triangulation Scanner for Digitizing Shoe Lasts
In Proceedings of AMST 2002, pages 553–560, Udine, Italy, July 2002

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