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prof. Alessandro Gasparetto
Professore Ordinario
sede: UniUd - DIEGM

gasparetto@uniud.it
Via delle Scienze, 208
33100 UDINE
Tel: 0432 558257
Fax: 0432 558251

Alessandro Gasparetto è nato a Rovigo il 26 ottobre 1968. Ha conseguito la laurea in Ingegneria Elettronica presso l’Università di Padova (1992), il titolo di Dottore di Ricerca in Meccanica Applicata presso l'Università di Brescia (1996), e la laurea in Matematica presso l'Università di Padova (2003). Nel 1994 ha collaborato al progetto europeo SMART lavorando presso la Robosoft Spa di Parigi, tra i leader europei nella robotica mobile. Dal dicembre 1995 all’ottobre 2000 è stato Ricercatore del settore scientifico-disciplinare di Meccanica Applicata alle Macchine presso l’Università di Udine, dal novembre 2000 al marzo 2007 è stato professore associato e dall'aprile 2007 è professore straordinario dello stesso settore scientifico-disciplinare. Tiene annualmente corsi e seminari di Robotica presso la Universidad de Murcia (Spagna) e la Politehnica Timisoara (Romania); ha inoltre collaborazioni didattiche e di ricerca con numerose altre Università europee ed extraeuropee. Il prof. Gasparetto è attivo nei settori di ricerca relativi a: Meccatronica, Robotica e Meccanica delle Vibrazioni. E’ autore di oltre 120 pubblicazioni su riviste internazionali o presentate a convegni internazionali. Ha partecipato a vari progetti di ricerca sponsorizzati dal Ministero dell'Università; in particolare, è Responsabile dell'Unità di Udine in un progetto di ricerca di interesse nazionale PRIN 2006-08, ed è stato Responsabile di Unità nei progetti PRIN 2004-06, 2001-03, 1999-2001. Ha partecipato inoltre a progetti europei di ricerca e nel campo del Curriculum Development. E' coinventore di alcuni brevetti nel settore dell'automazione industriale.


Pubblicazioni

[1] 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

[2] 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

[3] 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

[4] 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

[5] R. Vidoni, L. Scalera, A. Gasparetto, M. Giovagnoni
Comparison of model order reduction techniques for flexible multibody dynamics using an Equivalent Rigid-Link System approach
Proceedings of 8th ECCOMAS Thematic Conference on Multibody Dynamics, Prague, 19-22 June, 2017

[6] L. Scalera, S. Seriani, P. Gallina, M. Di Luca, A. Gasparetto
An experimental setup to test dual-joystick directional responses to vibrotactile stimuli
Proceedings of IEEE World Haptics Conference 2017, Munich, 6-9 June, 2017

[7] L. Scalera, E. Mazzon, P. Gallina, A. Gasparetto
Airbrush robotic painting system: experimental validation of a colour spray model
Advances in Service and Industrial Robotics: Proceedings of the 26th Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, Turin, 21-23 June,

[8] L. Scalera, P. Gallina, A. Gasparetto, M. Giovagnoni
Anti-hedonistic Mechatronic Systems
Advances in Italian Mechanism Science vol.47, Proceedings of the First Conference of IFToMM Italy, IFIT 2016, December 1-2, Vicenza - Italy

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

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

[11] 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

[12] M. Bietresato, G. Carabin, D. D’Auria, R. Gallo, G. Ristorto, F. Mazzetto, R. Vidoni, A. Gasparetto, L. Scalera
A tracked mobile robotic lab for monitoring the plants volume and health
Proceedings of Mechatronic and Embedded Systems and Applications (MESA), 2016 12th IEEE/ASME International Conference on, August 29-31, 2016, Auckland

[13] 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)

[14] 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)

[15] 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)

[16] 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

[17] Shojaei Barjuei E., Gasparetto A.
Predictive Control of Spatial Flexible Mechanisms
International Journal of Mechanics and Control 168 (1), 2015, pp. 85-96

[18] 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

[19] 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

[20] 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

[21] 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)

[22] R. Vidoni, A. Gasparetto, M. Giovagnoni
A method for modeling of three-dimensional flexible mechanisms based on an Equivalent Rigid Link System
Journal of Vibration and Control, vol. 20(4), March 2014, pp. 483-500

[23] M. Rabiei, A. Gasparetto
A Methodology for Recognition of Emotions Based on Speech Analysis, for Applications to Human-Robot Interaction. An Exploratory Study
Paladyn, Journal of Behavioral Robotics. Volume 5, Issue 1, ISSN (Online) 2081-4836, April 2014, pp. 1-11, DOI:10.2478/pjbr-2014-0001

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

[25] Seriani, S., Gallina, P., Gasparetto, A.
A performance index for planar repetitive workspace robots
Journal of Mechanisms and Robotics, Volume 6, Issue 3, August 2014, n. 031005, 12 pages

[26] 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

[27] 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

[28] 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

[29] 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

[30] M. Rabiei, A. Gasparetto
A system for feature classification of emotions based on Speech Analysis; Applications to Human-Robot Interaction
Proceedings of ICRoM 2014- The 2nd International Conference on Robotics and Mechatronics, Tehran (Iran), 15-17 October, 2014, pp. 1-6

[31] 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

[32] R. Vidoni, A. Gasparetto, M. Giovagnoni
Design and implementation of an ERLS-based 3-D dynamic formulation for flexible-link robots
Robotics and Computer Integrated Manufacturing, Volume 29, Issue 2, April 2013, pp. 273-282

[33] 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

[34] 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

[35] F. Mazzetto, M. Bietresato, A. Gasparetto, R. Vidoni
Simulated stability tests of a small articulated tractor designed for extreme sloped vineyards
Journal of Agricultural Engineering, volume 44(s1): e133, 2013, pp.663-668

[36] A. Gasparetto, S. Miani
A system for automatic orientation of items for robotic manipulation purposes
Tehnička Dijagnostika / Technical Diagnostics, vol. 12, n. 4, 2013, pp. 7-11

[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] M. Rabiei, A. Gasparetto
Design of an architecture for human-robot interaction based on human perception
Proceedings of the First RSI/ISM International Conference on robotics and Mechatronics (ICRoM 2013), Teheran (Iran), February 13-15, 2013

[40] 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

[41] 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

[42] 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

[43] 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

[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] 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

[46] L. Gregoratti, A. Goldoni, O. Trygub, M. Marazzi, M. Tormen, G. Grenci, S. Dalzilio, R. Vidoni, A. Gasparetto
Large Gecko Mimetic Tapes As New Joining Technology
Proceedings of the 12th International Symposium on Materials in the Space Environment (ISMSE-12), September 24-28, 2012, Noordwijk, The Netherlands

[47] 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

[48] 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

[49] 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

[50] 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

[51] A. Gasparetto, R. Vidoni, D. Pillan, E. Saccavini
Automatic path and trajectory planning for robotic spray painting
Proceedings of Robotik 2012 - The 7th Conference in Robotics, Munich (Germany), May 21-22, 2012, pp. 211-216

[52] 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

[53] 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

[54] 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)

[55] R. Vidoni, F. Garcia-Sanchez, A. Gasparetto, R. Martinez-Bejar
An intelligent framework to manage robotic autonomous agents
Expert Systems with Applications, Vol 38(6), June 2011, pp. 7430-7439, DOI:10.1016/j.eswa.2010.12.080

[56] R. Vidoni, A. Gasparetto
Efficient force distribution and leg posture for a bio-inspired spider robot
Robotics and Autonomous Systems Volume 59, Issue 2, February 2011, Pages 142-150, DOI: 10.1016/j.robot.2010.10.001

[57] 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

[58] 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

[59] 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

[60] 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

[61] A. Gasparetto, R. Vidoni, D. Pillan , E. Saccavini
Optimal trajectory generator for painting robots
Proc. of the 9th International Conf. on Advanced Manufacturing Systems and Technology AMST '11, Mali Losinj (Croatia), June 16-17 2011, pp.237-248

[62] 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

[63] 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

[64] 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

[65] 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

[66] 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

[67] 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

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

[69] 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

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

[71] A. Gasparetto, R. Vidoni, T. Seidl
Passive control of attachment in legged space-robots
Applied Bionics and Biomechanics, Vol. 7, Issue 1, March 2010, pp. 279-276, doi:10.1080/11762320902940219

[72] A. Gasparetto, R. Vidoni; D. Pillan; E. Saccavini
Optimal Path Planning for Painting Robots
Proceedings of the 10th Biennial Conference on Engineeing and System Design and Analysis - ESDA2010-24259, July 12-14

[73] 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

[74] 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)

[75] 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

[76] 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

[77] 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

[78] A. Gasparetto, R. Vidoni
Foot-force distribution and leg posture analysis for a spider-inspired climbing robot
Proceedings of the First International Conference on Applied Bionics and Biomechanics - ICABB 2010. Venezia, October 14-16, 2010

[79] 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

[80] A. Gasparetto, R. Vidoni, T. Seidl
A mechanical model for the adhesion of spiders to nominally flat surfaces
Journal of Bionic Engineering, vol. 6, June 2009, pp. 135-142

[81] 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

[82] 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

[83] F. Garcìa-Sànchez, R. Vidoni, R. Martìnez-Béjar, A. Gasparetto, R. Valencia-Garcìa, J. T. Fernàndez-Breis
Bridging the Gap Between the Logical and the Physical Worlds
Proceedings of the 7th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS’09), Salamanca (Spain), March 22-27

[84] 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

[85] 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

[86] 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

[87] 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

[88] 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

[89] 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

[90] T. Seidl, R. Vidoni and A. Gasparetto
Spider attachment for space applications
Proceedings of the 9th Intl Bionics Conf. Patents from Nature, Bremen (Germany), November 7-8, 2008

[91] 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

[92] A. Gasparetto, R. Vidoni, T. Seidl
Kinematic study of the spider locomotor system in a biomimetic perspective
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice (France), September 22-26 2008

[93] 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

[94] 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

[95] T. Seidl, R. Vidoni and A. Gasparetto
Spider attachment for space applications
Proceedings of the 9th Intl Bionics Conf. Patents from Nature, Bremen (Germany), November 7-8, 2008

[96] 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

[97] 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

[98] 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

[99] 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

[100] 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

[101] A. Gasparetto
The Status of the Engineer in Europe in View of Social Changes
in: “Philosophy in Engineering”, Academica Publishers, Aarhus (Denmark), April 2007, pp. 339-352

[102] 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

[103] S. Filippi, A. Gasparetto
Knowledge Enhancement In Advanced Manufacturing Systems Based On Rapid Prototyping Techniques
Robotica & Management International Journal, vol. 11-1, June 2006, pp. 3-8

[104] 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

[105] R. Valencia Garcia, R. Martinez Béjar, A. Gasparetto
An intelligent framework for simulating robot-assisted surgical operations
Expert Systems with Applications, Elsevier Publ., vol. 28, n. 3, Apr. 2005, pp. 425-433

[106] 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

[107] 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

[108] 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

[109] 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

[110] E. Alessandri, A. Gasparetto, R. Martinez Béjar, R. Valencia Garcia
An application of artificial intelligence to medical robotics
Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, vol. 41, Dec. 2004, pp. 225-243

[111] A. Gasparetto, S. Miani
Dynamic Model of a Rotating Channel Used in the Steel Industry and Implementation of a Controller
Journal of Vibration and Control, Sage Publications, vol. 10, n. 3, March 2004, pp. 423-445

[112] R. Caracciolo, A. Gasparetto, M. Giovagnoni
An experimental technique for complete dynamic characterisation of a viscoelastic material
Journal of Sound and Vibration, Academic Press, vol. 272, n. 3-5, May 2004, pp. 1013-1032.

[113] A. Gasparetto
On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model
ASME Journal of Dynamic Systems, Measurement and Control, vol. 126, n. 2, June 2004

[114] 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

[115] 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

[116] 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

[117] 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.

[118] R. Caracciolo, A. Gasparetto, M. Giovagnoni e A. Trevisani
On the control of flexible link manipulators: results of two numerical investigations - PART II: regulator design and numerical results
Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD’03), 7-10 Maggio, 2003, Cassino (Italia).

[119] M. Dalla Valle, P. Gallina and A. Gasparetto
Mirror Synthesis in a Mechatronic System for Superficial Defect Detection
ASME Transactions on Mechatronics, 8 (3):309-317, 2003

[120] R. Caracciolo, A. Gasparetto, M. Giovagnoni e A. Trevisani
On the control of flexible link manipulators: results of two numerical investigations - Part I: mathematical model and test cases
Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD’03), 7-10 Maggio, 2003, Cassino (Italia)

[121] 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

[122] P. Gallina, A. Gasparetto, A. Rossi e A. Trevisani
Elimination of chatter phenomenon in wood machining by means of damping elements
IFToMM 2003, 11th World Congress in Mechanism and Machine Science, Agosto 18 21, 2003, Tianjin (China)

[123] R. Caracciolo, A. Gasparetto, A.Rossi e A. Trevisani
Linearizzazione di modelli dinamici per meccanismi a membri deformabili
XVI Congresso AIMETA di Meccanica Teorica e Applicata, 9 12 Settembre 2003, Ferrara (Italia).

[124] S. Filippi, A. Gasparetto, and F. Miani
Study of the Dynamic Response of a Sinterized Material to a Seismic Excitation for Knowledge Enhancement in an Expert System for Rapid Prototyping
Proc. of the MOVIC 2002- Sixth Int. Conf. on Motion and Vibration Control, Saitama (Japan), 19-23 Aug. 2002

[125] A. Gasparetto and G. Rosati
Design and implementation of a Cartesian robot
In Proceedings of AMST 2002, pages 539–544, Udine, Italy, July 2002

[126] A. Gasparetto, A. Biason
Design of a robotic wrist for biomedical applications
Proc. of the 6th Int. Conf. on Advanced Manufacturing Systems and Technology, Udine, 20-21 June2002

[127] P. Gallina, A. Gasparetto, G. Rosati, and A. Rossi
Design of a PID controller for a flexible five-bar closed-chain planar manipulator
In Proceedings of RoManSy 2002, pages 141–150, Udine, Italy, July 2002

[128] F. Antoniazzi, P. Gallina, A. Gasparetto, and G. Rosati
Admittance model haptic interaction for large workspace teleoperation
In Proceedings of RoManSy 2002, pages 109–118, Udine, Italy, July 2002

[129] A. Gasparetto
Eigenvalue Analysis of Mode Coupling Chatter for Machine-Tool Stabilization
Journal of Vibration and Control, Sage Academic Publishers, vol. 7, n. 2, February 2001, pp. 181-198

[130] R. Caracciolo, A. Gasparetto, M. Giovagnoni
Application of Causality Check and of the Reduced Variables Method for Experimental Determination of Youngs Modulus
Mechanics of Materials, vol. 33, n. 12, December 2001, pp. 693-703

[131] A. Gasparetto
Accurate Modelling of a Flexible-Link Planar Mechanism by Means of a Linearized Model in the State-Space Form for Design of a Vibration Controller
Journal of Sound and Vibration, Academic Press, vol. 240, n. 2, February 2001, pp. 241-262.

[132] A. Gasparetto, S. Miani
Modeling and Control of a Rotating Channel
Proc. of the 2001 IEEE Joint Int. Conf. on Control Application and International Symposium on Intelligent Control, Mexico City, 5-7 Sept.2001.

[133] R. Caracciolo, A. Gasparetto e A. Trevisani
Experimental validation of a dynamic model for flexible link mechanisms
Proceedings of the ASME - DETC 2001, Settembre 9-12, 2001 Pittsburgh, (USA).

[134] R. Caracciolo, A. Gasparetto, M. Giovagnoni
Measurement of the Isotropic Dynamic Youngs Modulus in a Seismically Excited Cantilever Beam Using a Laser Sensor
Journal of Sound and Vibration, Academic Press, vol. 231, n. 5, April 2000, pp. 1339-1353

[135] P. Gallina, A. Gasparetto
A Technique to Analytically Formulate and to Solve the 2-Dimensional Constrained Trajectory Planning Problem for a Mobile Robot
Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, vol. 27, n. 3, March 2000, pp. 237-262

[136] R. Caracciolo, A. Gasparetto, A. Rossi e A. Trevisani
Linear quadratic optimal control of a four-link flexible planar linkage
Proceedings of the IASTED International Conference on ROBOTICS AND APPLICATIONS 2000 (RA 2000), Agosto 14-16, 2000 Honolulu, Hawaii, (USA).

[137] R. Caracciolo, A. Gasparetto, M. Giovagnoni e A. Trevisani
A comparison of two approaches to rigid-body motion and vibration control of a four-bar flexible planar linkage
Proceedings of the “Fifth International Conference on Motion and Vibration Control (MOVIC 2000), Dicembre 4-8 2000, Sydney (Australia).

[138] A. Gasparetto, M. Giovagnoni, E. Kuljanic, F. Miani
Stabilization of a Milling Machine Against Chatter
Proc. of the 5th International Conference on Advanced Manufacturing Systems and Technology AMST , Udine, 3-4 June1999

[139] A. Gasparetto, S. Miani
Application of a Classical PD Regulator to the Control of a Flexible Planar Closed Chain Linkage
Proceedings of the 7th IEEE Mediterranean Conference on Control and Automation, Haifa, Israel, 28-30 June1999

[140] R. Caracciolo, P. Gallina, A. Gasparetto
Automatic Alignment of Workpieces for Robotic Manipulation Using a Conveyor Belt and Fixed Flat Fences
Proc. of the 5th International Conference on Advanced Manufacturing Systems and Technology AMST , Udine, 3-4 June1999

[141] R. Caracciolo, P. Gallina, A. Gasparetto, A. Rossi
A New, Transportable and Low Cost Method for Robot Calibration
Proceedings of the Tenth IFToMM World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, 20-24 June1999

[142] P. Gallina, A. Gasparetto
A Friction-Based Single-Body Dynamic Model of a Mobile Robot
Proc. of the 3rd. World Multiconf. on Systemics, Cybernetics and Informatics , Orlando, USA, 31 July-4 Aug. 1999

[143] P. Gallina, A. Gasparetto, A. Rossi
A Teleoperated Tracked Vehicle for Inspection Inside a RFX Machine
Proceedings of the European Control Conference, Karlsruhe, Germany, 31 Aug. - 3 Sept. 1999

[144] A. Gasparetto, M. Giovagnoni, S. Miani
A Linearized Dynamic Model of a Flexible-Link Planar Mechanism
Proceedings of the Asia-Pacific Vibration Conference, Singapore, 13-15 Dec. 1999

[145] A. Gasparetto
A System Theory Approach to Mode Coupling Chatter in Machining
ASME Journal of Dynamic Systems, Measurement, and Control - Vol. 120, December 1998

[146] R. Caracciolo, P. Gallina, A. Gasparetto, M. Giovagnoni
Nella cella di fusione
Meccanica & Automazione, n. 26, Apr. 1997

[147] R. Caracciolo, A. Gasparetto, M. Giovagnoni
An Experimental Method to determine Poisson Ratio in a Small Beam Subject to Seismic Excitation
Proc. of the ASME 16th Biennial Conf. on Mechanical Vibration and Noise, Sacramento (USA), 14-17 Sept. 1997

[148] R. Caracciolo, A. Gasparetto, M. Giovagnoni
La misura diretta del modulo di Poisson di materiali viscoelastici. Teoria ed esperimenti
Atti del XIII Congresso Nazionale AIMETA, Siena, 29 Sept.- 3 Oct. 1997

[149] R. Caracciolo, P. Gallina, A. Gasparetto, A. Rossi
A Flexible Robotized Cell for Automation of a Press for Cast Products
Proceedings of the 5th Workshop on AC Motor Drives Technology, Vicenza, 2-3 giugno 1997

[150] R. Caracciolo, P. Gallina,. Gasparetto
Fuzzy Control of a Pneumatic Actuator
Proceedings of the 5th Symposium on Robot Control SYROCO, Nantes (France), 3-5 Sept. 1997

[151] R. Caracciolo, A. Gasparetto, M. Morandin, S. Santi
Robotized Stringing of a Drift Chamber in a Virtual Environment
Proc. of the ISMCR Topical Workshop on Virtual Reality and Advanced Man-Machine Interfaces, Tampere (Finland), 1-6 June 1997

[152] R. Caracciolo, P. Gallina, A. Gasparetto, A. Rossi
A Teleoperated Robot for Servicing inside a RFX Machine
Proceedings of the Sixth International Workshop on Robotics in Alpe-Adria-Danube Region, Cassino, 26-28 June 1997

[153] R. Caracciolo, P. Gallina, A. Gasparetto, A. Rossi
A Mechatronic System for Diagnostics of Plastic Products Using Vision
Proceedings of the 5th Workshop on AC Motor Drives Technology, Vicenza, 2-3 giugno 1997

[154] R. Caracciolo, D. Ciscato, A. Gasparetto, A. Rossi
Design and Implementation of a Mechatronic Device for X-ray Collimation
Proceedings of the Sixth IMEKO International Symposium on Measurement and Control in Robotics, Bruxelles, 9-11 May 1996

[155] R. Caracciolo, A. Gasparetto, M. Giovagnoni and A. Rossi
A Mechatronic System for Conformal Radiotherapy
Proceedings of the Scientific Seminar of the 15th Working Meeting of the IFToMM Commission A, Warsaw, 22-25 June 1996

[156] R. Caracciolo, E. Ceresole, A. Gasparetto, M. Giovagnoni
Accurate Modelling of a Controlled Pneumatic Actuator with Experimental Validation
Proc. of the IUTAM Int. Symp. on Interaction between Dynamics and Control in Advanced Mechanical Systems, Eindhoven, 22-26 Apr. 1996

[157] R. Caracciolo, A. Gasparetto, A. Rossi, S. Santi
Applicazioni di Robotica in Neurochirurgia
Atti del IV Seminario GMA di Meccanica Applicata alle Macchine, Assisi, 13-14 June 1996

[158] R. Caracciolo, A. Gasparetto
"RoboNav": A Flexible User Friendly System for Navigation of an Autonomous Vehicle in Factory Environments
Proc. of the Second ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, 26-28 Sept. 1996

[159] R.Caracciolo, F.Fanton, A.Gasparetto
A Low Cost Laser Based System for Mobile Robot Localization
Proceedings of the Fifth IMEKO International Symposium on Measurement and Control in Robotics, Bratislava, 12-16 June 1995

[160] F. Fanton, A. Gasparetto, M. Giovagnoni
A Technique for Position Estimation of an Autonomous Vehicle Using Reflective Beacons
Proceedings of the Ninth IFToMM World Congress on the Theory of Machines and Mechanisms, Milan, 29 Aug. - 2 Sept. 1995

[161] R. Caracciolo, E. Ceresole, A. Gasparetto, A. Rossi
A Modular Cell Structure for Robotized Assembly
Proceedings of the First ECPD International Conference on Advanced Robotics and Intelligent Automation, Athens, 6-8 Sept. 1995

[162] R. Caracciolo, F. Fanton, A. Gasparetto, A. Rossi
A Laser Based 3D Correlation Procedure for the Execution of a Biomedical Task in a Robotized Cell
Proceedings of the Third Conference on Mechatronics and Robotics, Paderborn, Germany, 4-6 Oct. 1995

[163] R.Caracciolo, E.Ceresole, A. Gasparetto, M.Giovagnoni
Linearizzazione del modello di un attuatore pneumatico controllato in portata
Atti del XII Congresso Nazionale AIMETA, Napoli, 3-6 ottobre 1995

[164] A. Gasparetto, A. Rossi, I.A. Robb
Control System Design and Dynamic Simulation of an Autonomous Vehicle for Factory Automation
Proceedings of the 20th IEEE International Conference on Industrial Electronics, Control and Instrumentation, Bologna, 5-9 Sept. 1994

[165] A. Gasparetto, A. Rossi
An Autonomous Vehicle for a Flexible Manufacturing Cell
Proceedings of the Third IMEKO International Symposium on Measurement and Control in Robotics,Torino, 21-24 Sept. 1993

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