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ing. Paolo Boscariol
Ricercatore
sede: UniPd - DTG

paolo.boscariol@unipd.it
Stradella S. Nicola, 6
36100 VICENZA
Tel: 340 5951527
Fax: 0444 99 8888

Paolo Boscariol ha conseguito nel gennaio 2008 la laurea in Ingegneria Elettronica, presso l'Università degli Studi di Udine, discutendo la tesi: "Controllo HIL di meccanismi a membri deformabili". Dal febbraio 2008 collabora all'attività di ricerca del prof. Gasparetto presso il dipartimento di Ingengeria Elettrica, Gestionale e Meccanica (DIEGM) dell'Università di Udine. Ha conseguito nel 2012 il dottorato in Ingegneria industriale e dell'Informazione presso il DIEGM. Dall'aprile 2018 è ricercatore a tempo determinato di tipo B presso il Dipartimento di Tecnica e Gestione dei sistemi industriali dell' Università di Padova, con sede a Vicenza. La sua attività di ricerca comprende la modellizzazione di meccanismi a membri flessibili per lo studio delle vibrazioni, lo sviluppo di sistemi di controllo robusto e predittivo e di applicazioni Hardware In the Loop (HIL).


Pubblicazioni

[1] P. Boscariol, D. Richiedei
Robust point-to-point trajectory planning for nonlinear underactuated systems: theory and experimental assessment
Robotics and Computer Integrated Manufacturing, Vol 50, pp.256-265, 2018

[2] G. Trigatti, P. Boscariol, L. Scalera, D. Pillan, A. Gasparetto
A new path-constrained trajectory planning strategy for spray painting robots-rev. 1
The International Journal of Advanced Manufacturing Technology, published online on 05 July, 2018

[3] M. Neri, P. Boscariol, G. Boschetti, R. Caracciolo, A. Dalla Via, N. De Rossi, C. Ronco, A. Trevisani
Development of a new wearable mechatronic device for extracorporeal blood ultrafiltration
36th International Vicenza Course on AKI and CRRT, June 12-15 2018 Centro Congressi Fiera di Vicenza

[4] G. Trigatti, P. Boscariol, L. Scalera, D. Pillan, A. Gasparetto
A look-ahead trajectory planning algorithm for spray painting robots with non-spherical wrists
Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, MEDER 2018, Udine, Italy, September 11-13, 2018

[5] P. Boscariol, D. Richiedei
Spline-based energy-optimal trajectory planning for functionally redundant robots
Proceedings of MESA2018, 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Oulu - Finland, 2-4 July 2018

[6] P. Boscariol, D. Richiedei
Energy saving in redundant robotic cells: optimal trajectory planning
Proceedings of the 4th Symposium on Mechanisms Design for Robotics, MEDER 2018, September 11th-13th 2018, Udine, Italy

[7] P. Boscariol, A. Gasparetto, L. Scalera, R. Vidoni
Efficient closed-form solution of the kinematics of a tunnel digging machine
Journal of Mechanism and Robotics 9(3), pp.1-13, 2017

[8] L. Moro, F. De Bona, A. Gasparetto, J. Srnec Novak, P. Boscariol
Innovative Design of Fire Doors: Computational Modeling and Experimental Validation
Fire Technology, published online on May 23, 2017

[9] P. Boscariol, G. Boschetti, C. Passarini, P. Gallina
Spring design for motor torque reduction in articulated mechanisms
Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, June 21-23 2017, Turin, Italy

[10] P. Boscariol, G. Boschetti, R. Caracciolo, M. Neri, D. Richiedei, C. Ronco, A. Trevisani
Design of a Miniaturized Safety Clamping Device for Portable Kidney Replacement Systems
Advances in Italian Mehcanism Science vol.47, Proceedings of the First Conference of IFToMM Italy, IFIT 2016, December 1-2, Vicenza - Italy

[11] P. Boscariol, D. Richiedei
Robust rest-to-rest motion planning for cranes through a variational solution
Proceedings of 8th ECCOMAS Thematic Conference on Multibody Dynamics, June 19-22 2017, Prague, Czech Republic, extended abstract

[12] P. Boscariol, P. Gallina, A. Gasparetto, M. Giovagnoni, L. Scalera, R. Vidoni
Evolution of a Dynamic Model for Flexible Multibody Systems
Advances in Italian Mehcanism Science vol.47, Proceedings of the First Conference of IFToMM Italy, IFIT 2016, December 1-2, Vicenza - Italy

[13] P. Boscariol, A. Gasparetto, N. Giovannelli, S. Lazzer, L. Scalera
Design and Implementation of a Low-Cost Mehcatronic Shoe for Biomechanical Analysis of the Human Gait
Advances in Italian Mehcanism Science vol.47, Proceedings of the First Conference of IFToMM Italy, IFIT 2016, December 1-2, Vicenza - Italy

[14] P. Boscariol, A. Gasparetto
Robust model-based trajectory planning for nonlinear systems
Journal of Vibration and Control 22(18), pp. 3904-3915, 2016

[15] P. Boscariol, A. Gasparetto
Vibration suppression of speed-controlled robots with nonlinear control
Frontiers of Mechanical Engineering 11(2), pp. 204-212, 2016

[16] E. Shojaei Barjuei, P. Boscariol, R. Vidoni, A. Gasparetto
Robust Control of Three-Dimensional Compliant Mechanisms
Journal of Dynamic Systems, Measurement and Control, 2016, vol. 138 pp. 101009-1-14

[17] 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)

[18] P. Boscariol, F. De Bona, A. Gasparetto, L. Moro
Thermo-mechanical analysis of a fire door for naval applications
Journal of Fire Science 33 (2), pp. 142-156 (2015)

[19] R. Vidoni, P. Gallina, P. Boscariol, A. Gasparetto, M. Giovagnoni
Modeling the vibration of spatial flexible mechanisms through an equivalent rigid-link system/component mode synthesis approach
Journal of Vibration and Control, Online First (2015)

[20] P. Boscariol, L. Moro, A. Fanzutto, A. Gasparetto, N. Zucchiatti, D. Dell'Antonia
Risk Management in Solitary Agricultural Work: New Technologies for Handling Emergency and Falls from Great Heights (SHADE)
Contemporary Engineering Sciences, Vol. 8, 2015, no.27, 1279-1288

[21] R. Vidoni, M. Bietresato, P. Boscariol, G. Carabin, F. Mazzetto, A. Gasparetto
Study and stability evaluation of a non-conventional Articulated Robotic System for Side-Slope Activities
Atti del XXII Congresso AIMETA, Genova 14-17 Settembre 2015

[22] P. Boscariol, G. Carabin, A. Gasparetto, N. Lever, R. Vidoni
Energy-Efficient Point-to-Point Trajectory Generation for Industrial Robotic Machines
ECCOMAS Thematic Conference on Multibody Dynamics June 29 - July 2, 2015, Barcelona, Catalonia, Spain

[23] P. Boscariol, R. Vidoni, A. Gasparetto
Robustness Improvement of Trajectory Planning Algorithms
Proceeding of the 14th IFToMM World Congress, Taipei, Taiwan, October 25-30, 2015

[24] Gasparetto, A., Boscariol, P., Lanzutti, A., Vidoni, R.
Path planning and trajectory planning algorithms: A general overview
Mechanisms and Machine Science, Volume 29, 1 January 2015, Pages 3-27 (book chapter)

[25] M Henrey, A Ahmed, P Boscariol, L Shannon, C Menon
Abigaille-III: A Versatile, Bioinspired Hexapod for Scaling Smooth Vertical Surfaces
Journal of Bionic Engineering 11 (1), 1-17 (2014)

[26] P. Boscariol, A. Gasparetto
Optimal robust trajectory planning for nonlinear systems: robust and constrained solutions
Robotica, published online

[27] P. Boscariol, A. Gasparella, A. Gasparetto, R. Vidoni
A minimum energy trajectory algorithm for mechatronic systems with regenerative braking
Proceedings of The 14th Mechatronics Forum International Conference, Karlstad, Sweden, June 16-18 2014

[28] M. Bietresato, P. Boscariol, A. Gasparetto, F. Mazzetto, R. Vidoni
On the design of a Mechatronic Mobile System for Laser Scanner Based Crop Monitoring
Proceedings of The 14th Mechatronics Forum International Conference, Karlstad, Sweden, June 16-18 2014

[29] E. Shojaei Barjuei, P. Boscariol, A. Gasparetto, M. Giovagnoni, R. Vidoni
Control design for 3D flexible link mechanisms using linearized models
Adcances on Theory and Practice of Robots and Manipulators - ROMANSY-2014 XX CISM-IFToMM Symposium. Moscow 23-26 June 2014

[30] D. Giovannelli, N. Giovannelli, P. Taboga, E. Shojaei Barjuei, P. Boscariol, R. Vidoni, A. Gasparetto, S. Lazzer
A Mechatronic System Mounted on Insole for Analyzing Human Gait
2nd ICRoM International Conference on Robotics and Mechatronics (ICRoM 2014) - Tehran - Iran

[31] L. Moro, P. Boscariol, J. Srnec Novak
Porte tagliafuoco innovative per impiego navale: modellazione numerica e misure sperimentali
Proceedings of 43° AIAS Conference, Rimini, Italy, 2014

[32] Moro L., Boscariol P, Srnec Novak J., De Bona F., Gasparetto A
Fire doors for naval applications: numerical analysis and innovative solutions
CAE Conference 2014, 27-28 October 2014, Pacengo del Garda, Verona, Italy

[33] S Ahmadi, A Camacho Mattos, A Barbazza, M Soleimani, P Boscariol and C Menon
Fabrication and performance analysis of a DEA cuff designed for dry-suit applications
Smart Materials and Structures 22 (2013), doi:10.1088/0964-1726/22/3/035002

[34] P. Boscariol, M. Henrey, Y. Li, C. Menon
Optimal gait for bioinspired climbing robots using dry adhesion: a quasi-static investigation
Journal of Bionic Engineering, 10 (1), January 2013, pages 1–11

[35] P. Boscariol, A. Gasparetto
Model-based trajectory planning for flexible link mechanisms with bounded jerk
Robotics and Computer Integrated Manufacturing, Volume 29, Issue 4, August 2013, Pages 90-99

[36] A. Gasparetto , S. A. H. Kiaeian Moosavi, P. Boscariol and M. Giovagnoni
Experimental Validation of a Dynamic Model for Lightweight Robots
International Journal of Advanced Robotic Systems, Volume 10, March 2013, pp. 182: 1-7

[37] P. Boscariol, A. Gasparetto, M. Giovagnoni, A. K. Moosavi, R. Vidoni
On the Modeling of Flexible-Link Robots: First Experimental Validation of an ERLS-FEM Dynamic Model
Proc. of ICM 2013 - IEEE International Conference on Mechatronics, Vicenza (ITALY) - February 27-28 , March 1 2013

[38] P. Boscariol, A. Gasparetto, R. Vidoni, A. Romano
A model-based trajectory planning approach for flexible-link mechanisms
Proc. of ICM 2013 - IEEE International Conference on Mechatronics, Vicenza (ITALY) - February 27-28 , March 1 2013

[39] P. Boscariol, A. Gasparella, A. Gasparetto, N. Lever, D. Richiedei, A. Trevisani R. Vidoni
Energy efficiency and smoothness in robotics trajectory planning: numerical simulation and comparison
Proc. of the Austrian Robotics Workshop (ARW 2013), Vienna (Austria), May 23-24, 2013, pp. 7-12

[40] P. Boscariol, A. Gasparetto, R. Vidoni
Robust trajectory planning for flexible robots
Proc. of the 2013 ECCOMAS Multibody Dynamics Conference, Zagreb (Croatia), 1-4 July, 2013, pp. 293-294

[41] P. Boscariol, F. De Bona, A. Gasparetto, L. Moro
Thermo-mechanical analysis of a fire door for naval applications
Proceedings of International CAE Conference 2013, 21-22 October 2013, Pacengo del Garda, Italy

[42] P. Boscariol, F. De Bona, A. Gasparetto, S. A. H. Kaieian Moosavi, L. Moro
Thermal analysis of fire doors for naval applications
Proceeding of the PRADS 2013, 20-25 October 2013, Changwong, Korea, pp. 451 - 456

[43] 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)

[44] A. Gasparetto, P. Boscariol, A. Lanzutti, R. Vidoni
Trajectory planning in Robotics
Mathematics in Computer Science, Volume 6, Issue 3, September 2012, pp. 269-279, DOI 10.1007/s11786-012-0123-8

[45] R. Vidoni, P. Boscariol, A. Gasparetto, M. Giovagnoni
Kinematic and Dynamic Analysis of Flexible-Link Parallel Robots by Means of an ERLS Approach
Proc. of ASME 2012 International Design Engineering Technical Conferences (IDETC), August 12-15 2012, Chicago, USA

[46] P. Boscariol, A. Gasparetto, R. Vidoni
Jerk-Continous Trajectories For Cyclic Tasks
Proc. of ASME 2012 International Design Engineering Technical Conferences (IDETC), August 12-15 2012, Chicago, USA

[47] P. Boscariol, A. Gasparetto, R. Vidoni
Planning continuous-jerk trajectories for industrial manipulators
Proc. of ESDA 2012 11^th Biennial Conference on Engineering System Design and Analysis, July 2-4 2012, Nantes, France

[48] A. Polotto, F. Modulo, F. Flumian, Z.G. Xiao, P. Boscariol, C. Menon
Index Finger Rehabilitation/Assistive Device
IEEE International Conference on Biomedical Robotics and Biomechatronics - BioRob 2012, Roma, Italy, 24-27 June 2012

[49] P. Boscariol, A. Gasparetto, M. Giovagnoni, S A H Kiaeian Moosavi, R. Vidoni
Design and implementation of a simulator for 3D flexible-link serial robots
Proc. of ESDA 2012 11^th Biennial Conference on Engineering System Design and Analysis, July 2-4 2012, Nantes, France

[50] P. Boscariol
Dynamics and control of flexible-links mechanisms
PhD Thesis, University of Udine, 2012

[51] 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

[52] P. Boscariol
Experimental validation of a special state observer for a class of flexible link mechanisms
Annals of Faculty Engineering Hunedoara – International Journal of Engineering. Vol. XI-1 pp. 179-182 (2011)

[53] 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)

[54] 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

[55] 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

[56] 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

[57] 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

[58] P. Boscariol, A. Canderan, A. Gasperetto, R. Vidoni
An advanced manufacturing system based on MARS (multi agent robotic system)
Proc. of the 9th International Conf. on Advanced Manufacturing Systems and Technology AMST '11, Mali Losinj (Croatia), June 16-17 2011, pp.295-306

[59] P. Boscariol, A. Gasparetto, M. Giovagnoni, R. Vidoni
Experimental validation of an innovative haptic system for surgical robotics
Proc. of the 9th International Conf. on Advanced Manufacturing Systems and Technology AMST '11, Mali Losinj (Croatia), June 16-17 2011, pp.271-282

[60] R. Vidoni, A. Gasparetto, M. Giovagnoni and P. Boscariol
A novel 3D equivalent rigid link system approach for flexible-link mechanisms: formulation and comparison with the floating frame of reference approach
Proc. of the ECCOMAS Thematic Conference on Multibody Dynamics 2011, Brussels, July 4-7 2011, pp.1-13

[61] 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

[62] R. Vidoni, A. Gasparetto, M. Giovagnoni, P. Boscariol
Dynamic analysis and simulation of spatial flexible-link manipulators by means of a novel Equivalent Rigid Link System approach
Atti del XX Congresso Nazionale AIMETA, Bologna, 12-15 settembre 2011

[63] P Boscariol
Sistema meccatronico intelligente per meccanismi flessibili
Proc. of NIDays2011, Milano, 23 Febbraio 2011

[64] 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

[65] 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

[66] 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

[67] 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)

[68] 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

[69] 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

[70] 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

[71] 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

[72] 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

[73] 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

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