Dr. Iacopo Gentilini

Dr. Iacopo Gentilini

Associate Professor, Aerospace and Mechanical Engineering


Dr. Gentilini completed his Ph.D. in Mechanical Engineering at Carnegie Mellon University, Pittsburgh. He also received his Diplom in Mechanical Engineering from Universität Karlsruhe (TH), Karlsruhe, Germany and his Laurea in Mechanical Engineering from Politecnico di Torino, Torino, Italy.

His research interests are in the areas of robotics, dynamics and controls, and operations research. In particular his focus has been on robotic path planning in redundant configuration spaces, cycle time and energy consumption minimization for redundant industrial robotic systems, space robots control, exact solution and heuristics for the generalized travelling salesman problem with neighborhoods (GTSPN), mixed integer non-linear programming (MINLP), loop shaping using complex proportional integral lead compensators, and robust Bode (RBode) plots. More details can be found in the projects, pubblications, outreach, and sponsors sections.



Email: iacopo.gentilini@erau.edu
Office Location: King Engineering Center, Rm 106
Mailing Address: Aerospace and Mechanical Engineering Department
Embry-Riddle Aeronautical University
3700 Willow Creek Road
Prescott, AZ 86301-3720
Office Phone: (928) 777-6626
Fax: (928) 777-6945

7DOF Sawyer Arm with LEGO end-effector. Intra-veichular Free-floating manipulator.






Projects


Autonomous Redundant Space Robot Control


Narendran Muraleedharan

Narendran Muraleedharan

Email: muraleen@my.erau.edu

The project focuses on the development of Autonomous Redundant Space Robot (ARSR) Control through supervised learning techniques. An ARSR is a satellite with one or more robotic manipulators, designed to detect and rendezvous with other satellites or space targets and perform maintenance, debris removal and other similar procedures. Currently, robotic manipulators on satellites like the International Space Station (ISS) are much smaller and less massive than the satellite itself and therefore, does not significantly affect the inertia of the system. On the contrary, smaller satellites carrying robotic manipulators however pose a challenge to developing the control system for the satellite due to variable inertia. The primary challenge is to identify and model the full system dynamics for the control system. This requires simulating the dynamics of ARSRs in a micro-gravity environment.

This project is developed in cooperation with Dr. Douglas Isenberg and it is supported by two Ignite Grants.








Application of a Hybrid Random-Key Genetic Algorithm for the Generalized Traveling Salesman Problem with Neighborhoods to Multi-Shaped Domains


Kevin Vicencio

Kevin Vicencio

Email: vicencik@my.erau.edu

A heuristic solution procedure for the Generalized Travelling Salesman Problem with Neighborhoods (GTSPN) is generated using an hybrid random-key Genetic Algorithm (HRKGA). The definition of the neighborhoods is extended to multi-shaped domains and mixed instances with linear, quadratic, and hybrid constraints are used to define the neighborhoods. Clustered neighborhoods are also considered introducing the concept of neighborhoodsets.

This project has been developed in cooperation with Dr. Ken Bordignon and it has been supported by three Ignite Grants and the two NASA Space Grants. Results were presented at:

  • K. Vicencio, I. Gentilini, Energy-Optimal Path Planning for Multi-Goal Six-Rotor Missions, 2015 NASA Space Grant Symposium, Phoenix, AZ, April 18, 2015.
  • K. Vicencio, K. Bordignon, I. Gentilini, Modeling, Validation, and Energy-Efficient Control of Six-Rotor Aircraft for Multi-Goal Inspection Missions, ERAU Discovery Day, Prescott, AZ, April 10, 2015.
  • K. Vicencio, I. Gentilini, Multi-Goal Path Planning Based on the Generalized Traveling Salesman Problem with Neighborhoods, 2014 NASA Space Grant Symposium, Phoenix, AZ, April 12, 2014.
  • K. Vicencio, C. Katan, K. Bordignon, I. Gentilini, Energy Optimal Control and Path Planning Implementation, Validation, and Verification, ERAU Discovery Day, Prescott, AZ, April 4, 2014.
  • K. Vicencio, I. Gentilini, Hybrid Random-Key Genetic Algorithm for the Traveling Salesman Problem with Neighborhoods Applied to Hybrid Domains, ERAU Discovery Day, Prescott, AZ, April 3, 2013.




Energy Based Multi-Goal Path Optimization for Industrial Redundant Robotic Systems


Scott Ertl

Scott Ertl

Email: ertls@my.erau.edu

In the current industrial environment there is an increasing need for the real time adaptation of plant productivity levels to conform to actual market demands. Since industrial plants are highly automated through the employment of robotic systems, we want to investigate the possibility, not only of optimizing the operation cycle time through exploitation of the redundancy in the system, but also minimizing the total energy consumption, and thus reducing the energy cost per manufactured unit.

This project has been developed in cooperation with Dr. Brian Davis and it has been supported by an ERAU Faculty Internal Reserach Grant. Results were presented at:

  • I. Gentilini, B. Davis, S. Ertl, More motors, less energy: a paradox or reality in redundant manipulation, ERAU Ignite Seminar, Prescott, AZ, December 3, 2013.






Publications


Journals


  • I. Gentilini, C. Sandi, K. Shimada, An Hybrid Random-Key Genetic Algorithm for the Generalized Traveling Salesman Problem with Neighborhoods, European Journal of Operational Research, in preparation, 2017.
  • I. Gentilini, F. Margot, K. Shimada, The Traveling Salesman Problem with Neighborhoods: MINLP Solution, Optimization Methods and Software, Volume 28, Issue 2, pp. 364 – 378, 2013.
  • I. Gentilini, M. Kim, W. Messner, Compensator Design for Extrapolated Lateral Tape Motion Control with Performance Evaluation Based on RBode Plot, IEEE Transactions on Industrial Electronics, Volume 59, Issue 10, pp. 3971 – 3978, 2012.
  • I. Gentilini, K. Shimada, Predicting and Evaluating the Post-Assembly Shape of Thin-Walled Components via 3D Laser Digitization and FEA Simulation of the Assembly Process, Computer-Aided Design Journal, Volume 43, Issue 3, pp. 316 – 328, 2011.
  • S. Yamakawa, I. Gentilini, K. Shimada, Subdivision Templates for Converting a Non-Conformal Hex-Dominant Mesh to a Conformal Hex-Dominant Mesh without Pyramid Elements, Engineering with Computers, Volume 27, Number 1, pp. 51 – 65, 2011.

Conferences


  • I. Gentilini, M. Muraleedharan, D. Isenberg, Force-Feedback Based Spatial Emulation of Orbital Conditions for On-Earth Testing of Space Robots, 2018 IEEE Aerospace Conference (AeroConf 2018), abstract submitted.
  • M. Muraleedharan, D. Isenberg, I. Gentilini, Recreating Planar Free-Floating Environment via Model-free Force-Feedback Control, 2016 IEEE Aerospace Conference (AeroConf 2016), Big Sky, Montana, USA, March 5 – 12, 2016.
  • K. Vicencio, K. Bordignon, I. Gentilini, Energy-Optimal Path Planning for Six-Rotors on Multi-Target Missions, IEEE International Conference on Intelligent Robots and Systems (IROS 2015), pp. 2481 – 2487, Hamburg, Germany, September 28 – October 2, 2015.
  • K. Vicencio, B. T. Davis, I. Gentilini, Multi-Goal Path Planning based on the Generalized Traveling Salesman Problem with Neighborhoods, Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS 2014), pp. 2985 – 2990, Chicago, Illinois, USA, September 14 – 18, 2014.
  • I. Gentilini, K. Vicencio, K. Shimada, Effective Cycle-Time and Energy Consumption Minimization for Redundant Robotic Systems in Multi-Task Operations, 3rd OIT International Workshop on Human Friendly Robotics, Osaka, Japan, November 9, 2013.
  • I. Gentilini, K. Nagamatsu, K. Shimada, Multi-goal path planning for Redundant Robotic System based on the Travelling Salesman Problem with Neighborhood, Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS 2013), pp. 1786 – 1792, Tokyo, Japan, November 3 – 8, 2013.
  • F. Margot, I. Gentilini, K. Shimada, The Traveling Salesman Problem with Neighborhoods: MINLP Solution, 21st International Symposium on Mathematical Programming, Berlin, Germany, August 19 – 24, 2012.
  • J.D. Taylor, I. Gentilini, W. Messner, Loop-Shaping Controller Design for Nonlinear Systems Using the Contoured Robust Controller Bode (CRCBode) Plot, Proceedings of American Control Conference (ACC 2012), pp. 5980 – 5985, Montreal, Canada, June 27 – 29, 2012.
  • I. Gentilini, M. Kim, W. Messner, Control of Lateral Tape Motion Using Extrapolated Position Estimation, Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE 2010), pp. 3239 – 3244, Bari, Italy, July 4 – 7, 2010.
  • M. Kim, I. Gentilini, W. Messner, Active Tape Edge Position Control System, Proceedings of American Control Conference (ACC 2010), pp. 2653 – 2658, Baltimore, MD, June 30 – July 2, 2010.
  • S. Yamakawa, I. Gentilini, K. Shimada, Subdivision Templates for Converting a Non-Conformal Hex-Dominant Mesh to a Conformal Hex-Dominant Mesh without Pyramid Elements, Proceedings of 17th International Meshing Roundtable (IMR 2008), pp. 497 – 512, Pittsburgh, PA, October 12 – 15, 2008.




Outreach


  • Organization of Robotics Nights for elementary and middle school children at the Spot ... a Child's Museum in Prescott.

           

  • Middle school VEX teams mentor and referee for VEX Robotics competitions in the Prescott area.




Sponsors


Arizona Space Grant NASA
IBM Academic Initiative CoinOR
ERAU Undegraduate Research Institute ERAU Ignite