- Giovanni Muscato received the Electrical Engineering degree from the University of Catania, in 1988. After completing... moreGiovanni Muscato received the Electrical Engineering degree from the University of Catania, in 1988. After completing graduation, he was with the Centro di Studi sui Sistemi, Turin, Italy. In 1990 he won the position of researcher in Automatic Control in the University of Catania. In 1991 he won a “Fulbright” fellowship. In July-August 1991 he was visiting researcher in the University of New Mexico working on “Robust Control”, In September 1992 he was visiting researcher at the Waseda university (Tokyo) Japan working on “Neural Networks”. In 1998 he becomes Associate Professor at the University of Catania. In September 2000 he was visiting professor at the University Picardie Jule Verne, San Quentin (France) working on “Mobile robotics”. In 2005 he won the position of Full Professor at the University of Catania.
He regularly holds several courses of the Engineering Faculty of the University of Catania in topics regarding Automatic Control, System theory and Robotics. He regularly follows as supervisor Master students (more than two hundred till now) and PhD students (more than ten till now).
The scientific research activity regarded several theoretical and experimental topics mainly concerning automatic control and robotics. From this activity he has published more than 250 articles in congress proceedings and in national and international journals, four books and two patents.
He was local responsible of several national research projects as ROBINSPEC: A robot for industrial inspection, TECSIS PON (2002-2005), PRIN PICTURE (Motion control of innovative locomotion systems and navigation in unstructured environments” (2004-2006), RI4.2 “Innovative methods for the adoption of ICU in robotics” FAR 2 MIUR (2002-2006), “Study design and building of a robot for automatic artichoke harvesting”, funded by Regione Siciliana. As regard European projects he was the coordinator of the project ROBOVOLC (5FP) where a robot for volcanic inspections was designed built and tested. He was also local coordinator of the european projects: CLAWAR 2 (Climbing and Walking Robots), EUROBOT (Robotic educational events to promote a dissemination of science and technology among young people in Europe), RAPOLAC (Rapid Production of Large Aerospace Components), MOW-BY-SAT (Mowing the lawn by satellite), TIRAMISU (Toolbox Implementation for Removal of Anti-personnel Mines, Submunitions and UXO). Moreover he was responsible of several grants with local and national companies for the development of robotic systems.
In 2003 he organised as General Chairman the international conference CLAWAR 2003 and in 2006 the finals of the international robotic competition EUROBOT.
He is in the editorial board of several journals and in the International committee of many robotic conferences.
He is expert reviewer of the European Commission of the Italian Ministero dello Sviluppo Economico and of the MIUR.
He is senior member of the a IEEE Control & System Society and of the Robotic & Automation society. He is in the board of trustees of the CLAWAR Association. He is in the board of directors of the Distretto Tecnologico Sicilia Micro e nano Sistemi and is one of the founder of the Spin-Off Etnamatica S.r.l. Personal home page: www.muscato.euedit
Abstract The system proposed in this paper is the Alicia3 robot, which is based on the Alicia II module. Its aim is to inspect non-porous vertical walls like those of aboveground petrochemical tanks, with a wide range of surface materials... more
Abstract The system proposed in this paper is the Alicia3 robot, which is based on the Alicia II module. Its aim is to inspect non-porous vertical walls like those of aboveground petrochemical tanks, with a wide range of surface materials and cleanliness levels. To meet this aim, ...
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ABSTRACT This paper presents the authors' research in mobile robot teleoperation aimed at improving teleguide accuracy and intuitiveness through the use of 3D viewing technology. The possibility for 3D visualization provides users... more
ABSTRACT This paper presents the authors' research in mobile robot teleoperation aimed at improving teleguide accuracy and intuitiveness through the use of 3D viewing technology. The possibility for 3D visualization provides users with high depth awareness which is expected to improve performance on a large variety of applications including robot teleoperation. Three aspects were addressed in the presented experiments: 3D and 2D Viewing, 3D and VR-Displays, 3D and Robot-Sensors. The advantages and characteristics of using 3D viewing were assessed through usability studies which involved several users, different 3D interfaces and robot sensors.
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Page 1. 499 A Robotic System for Volcano Exploration Daniele Caltabiano & Giovanni Muscato 1. Introduction ... There are instead several examples of robot that have been designed for planetary exploration and that have been tested on... more
Page 1. 499 A Robotic System for Volcano Exploration Daniele Caltabiano & Giovanni Muscato 1. Introduction ... There are instead several examples of robot that have been designed for planetary exploration and that have been tested on volcanic sites (Guccione et al., 2000). ...
Planetary exploration rovers are often redundantly actuated, for mechanical robustness and reliability purposes. This paper describes the Integral Redistribution Traction Control Architecture (IR-TCA) applied to this category of robots.... more
Planetary exploration rovers are often redundantly actuated, for mechanical robustness and reliability purposes. This paper describes the Integral Redistribution Traction Control Architecture (IR-TCA) applied to this category of robots. The Traction Control Architecture ...
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In this paper a control methodology applied to the SCID (Sliding Climbing Inspection Device) robot is described. In order to reduce its dimensions, weight and cost, this robot does not adopt any actuator for locomotion and uses very... more
In this paper a control methodology applied to the SCID (Sliding Climbing Inspection Device) robot is described. In order to reduce its dimensions, weight and cost, this robot does not adopt any actuator for locomotion and uses very simple sensors. The robot has ...
ADHESION TECHNIQUES FOR CLIMBING ROBOTS: STATE OF THE ART AND EXPERIMENTAL CONSIDERATIONS DOMENICO LONGO and GIOVANNI MUSCATO Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universitd degli Studi di Catania, viale A.... more
ADHESION TECHNIQUES FOR CLIMBING ROBOTS: STATE OF THE ART AND EXPERIMENTAL CONSIDERATIONS DOMENICO LONGO and GIOVANNI MUSCATO Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universitd degli Studi di Catania, viale A. Doria 6, ...
... The gain Kpx is switched between two different values according to the following algorithm: 1 170 ... I) if -0 and e(t)>O then Kpx = KpMAX 2) if AP<O and e(t)>O then Kpx = KpMIN 3) if AP>O and e(t)<O... more
... The gain Kpx is switched between two different values according to the following algorithm: 1 170 ... I) if -0 and e(t)>O then Kpx = KpMAX 2) if AP<O and e(t)>O then Kpx = KpMIN 3) if AP>O and e(t)<O then Kpx = KpMIN 4) if AP<O and e(t)<O then Kpx = KpMAX where AP=P.-Pb. ...
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Abstract In this paper a traction control algorithm for mobile robots in outdoor environment is presented. The algorithm using a wheel slip estimator optimizes the traction in sandy terrains like those found near some volcanic vents. Some... more
Abstract In this paper a traction control algorithm for mobile robots in outdoor environment is presented. The algorithm using a wheel slip estimator optimizes the traction in sandy terrains like those found near some volcanic vents. Some comparative tests with a PI ...
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Most of robotic applications rely on the use of DC motors with quadrature encoder feedback. Typical applications are legged robots or articulated chassis multi-wheeled robots. In these applications system designer must implement... more
Most of robotic applications rely on the use of DC motors with quadrature encoder feedback. Typical applications are legged robots or articulated chassis multi-wheeled robots. In these applications system designer must implement multi-axis control systems able to handle an ...
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... 'DEES Universitir degli Shrdi di Catania, Italys daniele.caltohiono@tiscali. it DEES Universita degli Studi di Catania, Italy, gmuscato~,dees.unict.it 2 Abstract ... This financial support is gratefully acknowledged. 9. References... more
... 'DEES Universitir degli Shrdi di Catania, Italys daniele.caltohiono@tiscali. it DEES Universita degli Studi di Catania, Italy, gmuscato~,dees.unict.it 2 Abstract ... This financial support is gratefully acknowledged. 9. References [I] Muscato G., Nunnari G., Guccione S., "Robots for ...
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Page 1. 499 A Robotic System for Volcano Exploration Daniele Caltabiano & Giovanni Muscato 1. Introduction ... There are instead several examples of robot that have been designed for planetary exploration and that have been tested on... more
Page 1. 499 A Robotic System for Volcano Exploration Daniele Caltabiano & Giovanni Muscato 1. Introduction ... There are instead several examples of robot that have been designed for planetary exploration and that have been tested on volcanic sites (Guccione et al., 2000). ...
Planetary exploration rovers are often redundantly actuated, for mechanical robustness and reliability purposes. This paper describes the Integral Redistribution Traction Control Architecture (IR-TCA) applied to this category of robots.... more
Planetary exploration rovers are often redundantly actuated, for mechanical robustness and reliability purposes. This paper describes the Integral Redistribution Traction Control Architecture (IR-TCA) applied to this category of robots. The Traction Control Architecture ...
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This robot has two pneumatically actuated front legs, each one with three degrees of freedom, and two rear wheels independently actuated by using two distinct DC motors. The main idea was to use rear wheels to cany most of the weight of... more
This robot has two pneumatically actuated front legs, each one with three degrees of freedom, and two rear wheels independently actuated by using two distinct DC motors. The main idea was to use rear wheels to cany most of the weight of the robot and front legs to ...
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The paper describes the kinematics and kinetic properties of a ten degrees of freedom biologically inspired biped robot. The prototype realized is pneumatically actuated, and the leg size and dimensions have been designed in order to be... more
The paper describes the kinematics and kinetic properties of a ten degrees of freedom biologically inspired biped robot. The prototype realized is pneumatically actuated, and the leg size and dimensions have been designed in order to be anthropomorphic. Moreover, the control strategy has been specifically designed in order to generate a different force and position control strategy acting on the
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Abstract In this work, some parametric nonlinear dynamic models for the pneumatic adhesion subsystem of the climbing robot Alicia II have been computed. The structures of the used models rely on the real system physics and on some... more
Abstract In this work, some parametric nonlinear dynamic models for the pneumatic adhesion subsystem of the climbing robot Alicia II have been computed. The structures of the used models rely on the real system physics and on some heuristic considerations. The former allowed ...