AbsfracbA stochastic H, and a mixed, stochastic, Hz/HH, control problem for discrete-time systems are considered and solved. Conditions for existence of a solution are derived, based on the solvability of an equivalent minimax problem. I n this framework, it is possible to consider at the same time both stochastic and deterministic disturbances highlighting their mutual effects. The controller can he designed by solving a system of three coupled Riccati equations. Such equations display how the %-type minimization problem and the H,-type constraint influence each other.

In this article we consider the general problem of how to properly endow a stochastic port‐Hamiltonian system (SPHS) with an energy tank, that is an energy reservoir that allows to guarantee the passivity property. We show that a stochastic bilateral teleoperation system, composed by a master robot and a slave robot modeled as SPHS, can be connected in a power‐preserving manner to energy tanks. The stored energy is continuously monitored to keep the system passive despite time‐varying communication delays and interaction with unknown environment that may destabilize the overall system. We will address latter problem considering a SPHS affected by a noise composed by a linear, multiplicative component in Itô form plus an additive one. We underline that such a scenario requires the introduction of an ad hoc notion of passivity.

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Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons' dexterity and skills. The research on new Multi-Robots Surgery (MRS) platform is cardinal to the development of a new SARAS surgical robotic platform, which aims at carrying out autonomously the assistants tasks during R-MIS procedures. In this work, we will present the SARAS MRS platform validation protocol, framed in order to assess: (i) its technical performances in purely dexterity exercises, and (ii) its functional performances. The results obtained show a prototype able to put the users in the condition of accomplishing the tasks Manuscript

The research on medical robotics is starting to address the autonomous execution of surgical tasks, without effective intervention of humans apart from supervision and task configuration. This paper addresses the complete automation of a surgical robot by combining advanced sensing, cognition and control capabilities, developed according to rigorous assessment of surgical require- ments, formal specification of robotic system behavior and software design and implementation based on solid tools and frame- works. In particular, the paper focuses on the cognitive control architecture and its development process, based on formal modeling and verification methods as best practices to ensure safe and reliable behavior. Full implementation of the proposed architecture has been tested on an experimental setup including a novel robot specifically designed for surgical applications, but adaptable to different selected tasks (i.e. needle insertion, wound suturing)