In this paper we present the architecture of a mobile robotized system for logistic applications. The task to be performed consists of extracting items from homogeneous pallets and, subsequently, assembling new pallets with heterogeneous goods. A further requirement is the capability of a safe humanrobot interaction. For such purposes, we employ an autonomous mobile robot, equipped with a serial collaborative arm, a lifting mechanism, and a multi-sensor vision apparatus. The overall system is conceived to handle packages by dragging them aboard the mobile platform. Accordingly, we integrate a conveyor, whose vertical position can be adjusted by means of a scissor lifting mechanism. Thus, packages from different overlapping layers, which compose a generic pallet, can be introduced and stored on board.

In this paper, a mobile manipulation system for automatized logistic applications is presented. The robotic system is specifically designed for depalletizing/palletizing tasks, namely is product extraction from homogeneous pallets and assembly of new heterogeneous pallets. The robotic system is mainly composed by an autonomous vehicle, a collaborative robotic arm and a lifting device, which is able to collect products from different pallet layers. The handling strategy is not based on lifting items, as in classical pick-and-place operations, but on dragging them aboard the mobile vehicle. As the payload weight is not supported by the arm, the overall robotic system is very light compared to the manipulated items, which is a paramount benefit for a mobile collaborative application. This paper presents the mechanical design, the hardware selection and the experimentation in a laboratory scenario, thus demonstrating the effectiveness of the proposed manipulation strategy.

The new F1 direct-injection turbocompound engines V6 of 1600cc have innovative systems for the recovery of the wasted energy. Fuel and airflow to the engine are limited as well as the amount of fuel and electric energy from the battery available for the race. It is therefore vital to implement the most efficient strategy to improve powerplant efficiency. It is also important to handle with exceptional situations as the necessity to obtain a best lap or to reach and pass other cars. The following article introduces strategies for the electronic engine management systems to deal with this hybrid powerplant. In this paper the shaft speed vs time pattern determines how the powerplant energy system is managed and maximizes a parameter in the various situations. Four critical conditions are analyzed: start, braking, fast and slow curve. The launch (start) maximizes the average acceleration of the car, adjusting it to the maximum traction force available from the powerplant and tires. The braking maximizes the braking distance and the energy recovery. The fast curve strategy maximizes the speed out of the curve and minimizes the time. The slow curve strategy maximizes the energy recovery and the speed out of the curve.

This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported.

This paper addresses the design of a reconfigurable mobile manipulator consisting of a mobile base and a collaborative serial robot. The robotic system is meant to work in an industrial environment and perform different logistic tasks. Unlike commercial solutions, the mobile base and the anthropomorphic arm are free to decouple and work separately as two different entities, thus optimizing working times and maximize the hardware utilization ratio. The proposed mobile manipulator is equipped with: an automatic braking system to ensure safety and stability during manipulation, a lifting system that allows the robotic arm to work at different heights, and a spatial referencing process to compensate positioning error of the mobile base. An illustrative working cycle is implemented in an industrially-relevant environment to test all features and show potentialities, in terms of flexibility and reconfigurability, of the presented solution.