Publications

Journals

1. Umbrico A.,et al; Design of Advanced Human–Robot Collaborative Cells for Personalized Human–Robot Collaborations; 2022; Applied Sciences (Switzerland); 10.3390/app12146839

2. Guarino Lo Bianco C., Faroni M., Beschi M., Visioli A.; A Predictive Technique for the Real-Time Trajectory Scaling under High-Order Constraints; 2022; IEEE/ASME Transactions on Mechatronics; 10.1109/TMECH.2021.3063627

3. Faroni M., Beschi M., Pedrocchi N.; Safety-Aware Time-Optimal Motion Planning With Uncertain Human State Estimation; 2022; IEEE Robotics and Automation Letters; 10.1109/LRA.2022.3211493

4. Shahabi M., Ghariblu H., Beschi M.; Comparison of different sample-based motion planning methods in redundant robotic manipulators; 2022; Robotica; 10.1017/S026357472200008X

5. Abba A. et al.; The novel Mechanical Ventilator Milano for the COVID-19 pandemic; 2021; Physics of Fluids; 10.1063/5.0044445

6. Nuzzi C., Pasinetti S., Pagani R., Ghidini S., Beschi M., Coffetti G., Sansoni G.; MEGURU: a gesture-based robot program builder for Meta-Collaborative workstations; 2021; Robotics and Computer-Integrated Manufacturing; 10.1016/j.rcim.2020.102085

7. Kianoush S., Savazzi S., Beschi M., Sigg S., Rampa V.; A Multisensory Edge-Cloud Platform for Opportunistic Radio Sensing in Cobot Environments; 2021; IEEE Internet of Things Journal; 10.1109/JIOT.2020.3011809

8. Mutti S., Nicola G., Beschi M., Pedrocchi N., Tosatti L.M.; Towards optimal task positioning in multi-robot cells, using nested meta-heuristic swarm algorithms; 2021; Robotics and Computer-Integrated Manufacturing; 10.1016/j.rcim.2021.102131

9. Hao L., Pagani R., Beschi M., Legnani G.; Dynamic and friction parameters of an industrial robot: Identification, comparison and repetitiveness analysis; 2021; Robotics; 10.3390/robotics10010049

10. Faroni M., Beschi M., Visioli A., Pedrocchi N.; A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators; 2021; Mechanism and Machine Theory; 10.1016/j.mechmachtheory.2020.104152

11. Copot C., Muresan C.I., Beschi M., Ionescu C.M.; A 6dof virtual environment space docking operation with human supervision; 2021; Applied Sciences (Switzerland); 10.3390/app11083658

12. Shahabi M., Ghariblu H., Beschi M., Pedrocchi N.; Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance; 2021; Robotica; 10.1017/S026357472000082X

13. Simoni L., Beschi M., Visioli A., Åström K.J.; Inclusion of the dwell time effect in the LuGre friction model; 2020; Mechatronics; 10.1016/j.mechatronics.2020.102345

14. Faroni M., Beschi M., Guarino Lo Bianco C., Visioli A.; Predictive joint trajectory scaling for manipulators with kinodynamic constraints; 2020; Control Engineering Practice; 10.1016/j.conengprac.2019.104264

15. Faroni M., Beschi M., Pedrocchi N.; Inverse Kinematics of Redundant Manipulators with Dynamic Bounds on Joint Movements; 2020; IEEE Robotics and Automation Letters; 10.1109/LRA.2020.3013879

16. Ghidini S., Beschi M., Pedrocchi N.; A Robust Linear Control Strategy to Enhance Damping of a Series Elastic Actuator on a Collaborative Robot; 2020; Journal of Intelligent and Robotic Systems: Theory and Applications; 10.1007/s10846-019-01071-5

17. Faroni M., Beschi M., Pedrocchi N., Visioli A.; Predictive Inverse Kinematics for Redundant Manipulators with Task Scaling and Kinematic Constraints; 2019; IEEE Transactions on Robotics; 10.1109/TRO.2018.2871439

18. Simoni L., Beschi M., Legnani G., Visioli A.; Modelling the temperature in joint friction of industrial manipulators; 2019; Robotica; 10.1017/S0263574717000509

19. Beschi M., Mutti S., Nicola G., Faroni M., Magnoni P., Villagrossi E., Pedrocchi N.; Optimal robot motion planning of redundant robots in machining and additive manufacturing applications; 2019; Electronics (Switzerland); 10.3390/electronics8121437

20. Rodríguez-Miranda E., Beschi M., Guzmán J.L., Berenguel M., Visioli A.; Daytime/nighttime event-based pi control for the PH of a microalgae raceway reactor; 2019; Processes; 10.3390/pr7050247

21. Shahabi M., Ghariblu H., Beschi M.; Obstacle avoidance of redundant robotic manipulators using safety ring concept; 2019; International Journal of Computer Integrated Manufacturing; 10.1080/0951192X.2019.1599438

22. Roveda L., Pedrocchi N., Beschi M., Molinati Tosatti L.; High-accuracy robotized industrial assembly task control schema with force overshoots avoidance; 2018; Control Engineering Practice; 10.1016/j.conengprac.2017.10.015

23. Villagrossi E., Simoni L., Beschi M., Pedrocchi N., Marini A., Molinari Tosatti L., Visioli A.; A virtual force sensor for interaction tasks with conventional industrial robots; 2018; Mechatronics; 10.1016/j.mechatronics.2018.01.016

24. Villagrossi E., Pedrocchi N., Beschi M., Molinari Tosatti L.; A human mimicking control strategy for robotic deburring of hard materials; 2018; International Journal of Computer Integrated Manufacturing; 10.1080/0951192X.2018.1447688

25. Merigo L., Beschi M., Padula F., Visioli A.; A noise-filtering event generator for PIDPlus controllers; 2018; Journal of the Franklin Institute; 10.1016/j.jfranklin.2017.11.041

26. Faroni M., Beschi M., Pedrocchi N., Visioli A.; Viability and feasibility of constrained kinematic control of manipulators; 2018; Robotics; 10.3390/robotics7030041

27. Beschi M., Padula F., Visioli A.; The generalised isodamping approach for robust fractional PID controllers design; 2017; International Journal of Control; 10.1080/00207179.2015.1099076

28. Merigo L., Beschi M., Padula F., Latronico N., Paltenghi M., Visioli A.; Event-Based control of depth of hypnosis in anesthesia; 2017; Computer Methods and Programs in Biomedicine; 10.1016/j.cmpb.2017.06.007

29. Villagrossi E., Cenati C., Pedrocchi N., Beschi M., Molinari Tosatti L.; Flexible robot-based cast iron deburring cell for small batch production using single-point laser sensor; 2017; International Journal of Advanced Manufacturing Technology; 10.1007/s00170-017-0232-2

30. Ruiz Á., Beschi M., Visioli A., Dormido S., Jiménez J.E.; A unified event-based control approach for FOPTD and IPTD processes based on the filtered Smith predictor; 2017; Journal of the Franklin Institute; 10.1016/j.jfranklin.2016.11.017

31. Beschi M., Villagrossi E., Tosatti L.M., Surdilovic D.; Sensorless model-based object-detection applied on an underactuated adaptive hand enabling an impedance behavior; 2017; Robotics and Computer-Integrated Manufacturing; 10.1016/j.rcim.2016.11.005

32. Beschi M., Padula F., Visioli A.; Fractional robust PID control of a solar furnace; 2016; Control Engineering Practice; 10.1016/j.conengprac.2016.04.005

33. Pawlowski A., Beschi M., Guzmán J.L., Visioli A., Berenguel M., Dormido S.; Application of SSOD-PI and PI-SSOD event-based controllers to greenhouse climatic control; 2016; ISA Transactions; 10.1016/j.isatra.2016.08.008

34. Beschi M., Berenguel M., Visioli A., Yebra L.J.; On reduction of control effort in feedback linearization GPC strategy applied to a solar furnace; 2016; Optimal Control Applications and Methods; 10.1002/oca.2194

35. Beschi M., Dormido S., Sánchez J., Visioli A.; Closed-Loop Automatic Tuning Technique for an Event-Based PI Controller; 2015; Industrial and Engineering Chemistry Research; 10.1021/acs.iecr.5b01024

36. Beschi M., Dormido S., Sánchez J., Visioli A.; Tuning of symmetric send-on-delta proportional-integral controllers; 2014; IET Control Theory and Applications; 10.1049/iet-cta.2013.0048

37. Beschi M., Dormido S., Sanchez J., Visioli A., Yebra L.J.; Event-based PI plus feedforward control strategies for a distributed solar collector field; 2014; IEEE Transactions on Control Systems Technology; 10.1109/TCST.2013.2279216

38. Beschi M., Dormido S., Sánchez J., Visioli A.; Two degree-of-freedom design for a send-on-delta sampling PI control strategy; 2014; Control Engineering Practice; 10.1016/j.conengprac.2014.06.002

39. Beschi M., Berenguel M., Visioli A., Guzmán J.L., Yebra L.J.; Implementation of feedback linearization GPC control for a solar furnace; 2013; Journal of Process Control; 10.1016/j.jprocont.2013.02.002

40. Beschi M., Berenguel M., Visioli A., Yebra L.J.; Constrained control strategies for disturbance rejection in a solar furnaces; 2013; Control Engineering Practice; 10.1016/j.conengprac.2013.06.011

41. Beschi M., Dormido S., Sanchez J., Visioli A.; Characterization of symmetric send-on-delta PI controllers; 2012; Journal of Process Control; 10.1016/j.jprocont.2012.09.005

42. Beschi M., Visioli A., Berenguel M., Yebra L.J.; Constrained temperature control of a solar furnace; 2012; IEEE Transactions on Control Systems Technology; 10.1109/TCST.2011.2164795

Conference proceedings

1. Simoni L., Beschi M., Legnani G., Visioli A.; Friction modeling with temperature effects for industrial robot manipulators; 2015; IEEE International Conference on Intelligent Robots and Systems; 10.1109/IROS.2015.7353869

2. Vicentini F., Pedrocchi N., Beschi M., Giussani M., Iannacci N., Magnoni P., Pellegrinelli S., Roveda L., Villagrossi E., Askarpour M., Maurtua I., Tellaeche A., Becchi F., Stellin G., Fogliazza G.; PIROS: Cooperative, Safe and Reconfigurable Robotic Companion for CNC Pallets Load/Unload Stations; 2020; Springer Tracts in Advanced Robotics; 10.1007/978-3-030-34507-5_4

3. Beschi M., Visioli A., Dormido S., Sanchez J.; On the presence of equilibrium points in PI control systems with send-on-delta sampling; 2011; Proceedings of the IEEE Conference on Decision and Control; 10.1109/CDC.2011.6160318

4. Simoni L., Beschi M., Legnani G., Visioli A.; On the Inclusion of Temperature in the Friction Model of Industrial Robots; 2017; IFAC-PapersOnLine; 10.1016/j.ifacol.2017.08.933

5. Faroni M., Beschi M., Pedrocchi N.; An MPC Framework for Online Motion Planning in Human-Robot Collaborative Tasks; 2019; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA.2019.8869047

6. Beschi M., Dormido S., Sanchez J., Visioli A.; Stability analysis of symmetric send-on-delta event-based control systems; 2013; Proceedings of the American Control Conference; 10.1109/acc.2013.6580092

7. Beschi M., Dormido S., Sanchez J., Visioli A.; Tuning rules for event-based SSOD-PI controllers; 2012; 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings; 10.1109/MED.2012.6265781

8. Faroni M., Beschi M., Tosatti L.M., Visioli A.; A Predictive Approach to Redundancy Resolution for Robot Manipulators; 2017; IFAC-PapersOnLine; 10.1016/j.ifacol.2017.08.1324

9. Faroni M., Beschi M., Visioli A., Molinari Tosatti L.; A global approach to manipulability optimisation for a dual-arm manipulator; 2016; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA.2016.7733725

10. Beschi M., Dormido S., Sanchez J., Visioli A.; An automatic tuning procedure for an event-based PI controller; 2013; Proceedings of the IEEE Conference on Decision and Control; 10.1109/CDC.2013.6761070

11. Faroni M., Beschi M., Ghidini S., Pedrocchi N., Umbrico A., Orlandini A., Cesta A.; A Layered Control Approach to Human-Aware Task and Motion Planning for Human-Robot Collaboration; 2020; 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020; 10.1109/RO-MAN47096.2020.9223483

12. Leonesio M., Villagrossi E., Beschi M., Marini A., Bianchi G., Pedrocchi N., Tosatti L.M., Grechishnikov V., Ilyukhin Y., Isaev A.; Vibration Analysis of Robotic Milling Tasks; 2018; Procedia CIRP; 10.1016/j.procir.2017.12.210

13. Legnani G., Simoni L., Beschi M., Visioli A.; A new friction model for mechanical transmissions considering joint temperature; 2016; Proceedings of the ASME Design Engineering Technical Conference; 10.1115/DETC201660523

14. Beschi M., Villagrossi E., Pedrocchi N., Tosatti L.M.; A general analytical procedure for robot dynamic model reduction; 2015; IEEE International Conference on Intelligent Robots and Systems; 10.1109/IROS.2015.7353960

15. Beschi M., Dormido S., Sanchez J., Visioli A.; An Event-based PI controller autotuning technique for integral processes; 2015; Proceedings of 1st International Conference on Event-Based Control, Communication and Signal Processing, EBCCSP 2015; 10.1109/EBCCSP.2015.7300684

16. Beschi M., Pawlowski A., Guzmán J.L., Berenguel M., Visioli A.; Symmetric send-on-delta PI control of a greenhouse system; 2014; IFAC Proceedings Volumes (IFAC-PapersOnline); 10.3182/20140824-6-za-1003.01028

17. Nicola G., Pedrocchi N., Mutti S., Magnoni P., Beschi M.; Optimal task positioning in multi-robot cells, using nested meta-heuristic swarm algorithms; 2018; Procedia CIRP; 10.1016/j.procir.2018.03.081

18. Chacón J., Beschi M., Sánchez J., Visioli A., Dormido S.; Experimental analysis of a remote event-based PID controller in a flexible link system; 2014; 19th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2014; 10.1109/ETFA.2014.7005068

19. Faroni M., Beschi M., Berenguel M., Visioli A.; Fast MPC with staircase parametrization of the inputs: Continuous input blocking; 2017; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA.2017.8247632

20. Dormido S., Beschi M., Sánchez J., Visioli A.; An interactive software tool for the study of event-based PI controller; 2012; IFAC Proceedings Volumes (IFAC-PapersOnline); 10.3182/20120328-3-it-3014.00028

21. Simoni L., Beschi M., Colombo D., Visioli A., Adamini R.; A Hardware-In-the-Loop setup for rapid control prototyping of mechatronic systems; 2015; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA.2015.7301628

22. Chacón J., Beschi M., Sánchez J., Visioli A., Dormido S.; An experimental framework to analyze limit cycles generated by event-based sampling; 2014; IFAC Proceedings Volumes (IFAC-PapersOnline); 10.3182/20140824-6-za-1003.01146

23. Beschi M., Dormido S., Sanchez J., Visioli A.; On the stability of an event-based PI controller for FOPDT processes; 2012; IFAC Proceedings Volumes (IFAC-PapersOnline); 10.3182/20120328-3-it-3014.00074

24. Beschi M., Berenguel M., Visioli A., Yebra L.J.; Control strategies for disturbance rejection in a solar furnace; 2011; IFAC Proceedings Volumes (IFAC-PapersOnline); 10.3182/20110828-6-IT-1002.01569

25. Tonola C., Faroni M., Pedrocchi N., Beschi M.; Anytime informed path re-planning and optimization for human-robot collaboration; 2021; 2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021; 10.1109/RO-MAN50785.2021.9515422

26. Simoni L., Villagrossi E., Beschi M., Marini A., Pedrocchi N., Tosatti L.M., Legnani G., Visioli A.; On the use of a temperature based friction model for a virtual force sensor in industrial robot manipulators; 2017; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA.2017.8247655

27. Beschi M., Adamini R., Marini A., Visioli A.; Using of the Robotic Operating System for PID control education; 2015; IFAC-PapersOnLine; 10.1016/j.ifacol.2015.11.218

28. Beschi M., Faroni M., Copot C., Pedrocchi N.; How motion planning affects human factors in human-robot collaboration; 2020; IFAC-PapersOnLine; 10.1016/j.ifacol.2021.04.167

29. Faroni M., Beschi M., Visioli A.; Predictive Inverse Kinematics for Redundant Manipulators: Evaluation in Re-Planning Scenarios; 2018; IFAC-PapersOnLine; 10.1016/j.ifacol.2018.11.548

30. Ghidini S., Beschi M., Pedrocchi N., Visioli A.; Robust Tuning Rules for Series Elastic Actuator PID Cascade Controllers; 2018; IFAC-PapersOnLine; 10.1016/j.ifacol.2018.06.069

31. Beschi M., Piazzi A., Visioli A.; On the practical implementation of a noncausal feedforward technique for PID control; 2014; 2009 European Control Conference, ECC 2009; 10.23919/ecc.2009.7074665

32. Beschi M., Dormido S., Sanchez J., Visioli A.; Event-based PI controller with exponential thresholds; 2014; IFAC Proceedings Volumes (IFAC-PapersOnline); 10.3182/20140824-6-za-1003.01052

33. Beschi M., Berenguel M., Visioli A., Guzman J.L., Yebra L.J.; A feedback linearization GPC control strategy for a solar furnace; 2012; Proceedings of the American Control Conference; 10.1109/acc.2012.6314819

34. Villagrossi E., Pedrocchi N., Beschi M.; Simplify the robot programming through an action-and-skill manipulation framework; 2021; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA45728.2021.9613168

35. Merigo L., Beschi M., Padula F., Latronico N., Paltenghi M., Visioli A.; Event based control of propofol and remifentanil coadministration during clinical anesthesia; 2017; 2017 3rd International Conference on Event-Based Control, Communication and Signal Processing, EBCCSP 2017 - Proceedings; 10.1109/EBCCSP.2017.8022832

36. Merigo L., Beschi M., Padula F., Visioli A.; A new event generator for PIPlus control systems; 2016; 2016 2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016 - Proceedings; 10.1109/EBCCSP.2016.7605264

37. Beschi M., Dormido S., Sanchez J., Visioli A.; A new two degree-of-freedom event-based PI control strategy; 2012; Proceedings of the American Control Conference; 10.1109/acc.2012.6314821

38. Giacomelli M., Beschi M., Simoni L., Visioli A.; A software tool to make primary school students aware of control systems; 2020; IFAC-PapersOnLine; 10.1016/j.ifacol.2020.12.1801

39. Pagani R., Legnani G., Incerti G., Beschi M., Tiboni M.; The influence of heat exchanges on friction in robotic joints: theoretical modelling, identification and experiments; 2020; Proceedings of the ASME Design Engineering Technical Conference; 10.1115/DETC2020-22347

40. Rodriguez-Miranda E., Beschi M., Guzman J.L., Berenguel M., Visioli A.; Application of a symmetric-send-on-delta event-based controller for a microalgal raceway reactor; 2019; 2019 18th European Control Conference, ECC 2019; 10.23919/ECC.2019.8795912

41. Beschi M., Visioli A., Berenguel M., Roca L.; A feedback linearization-based two-degree-of-freedom constrained controller strategy for a solar furnace; 2013; IECON Proceedings (Industrial Electronics Conference); 10.1109/IECON.2013.6699645

42. Guzmán J.L., Žáková K., Craig I.K., Hägglund T., Rivera D.E., Normey-Rico J.E., Moura-Oliveira P., Wang L., Serbezov A., Sato T., Beschi M.; Teaching Control during the COVID-19 Pandemic; 2022; IFAC-PapersOnLine; 10.1016/j.ifacol.2022.09.221

43. Beschi M., Tonola C., Visioli A.; Teaching control courses online during the covid-19 pandemic: some experiences at the University of Brescia; 2022; IFAC-PapersOnLine; 10.1016/j.ifacol.2022.09.232

44. Fausti R., Beschi M., Colombo D., Visioli A.; Comparing repetitive control strategies in lift applications; 2022; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA52439.2022.9921429

45. Franceschi P., Pedrocchi N., Beschi M.; Inverse Optimal Control for the identification of human objective: a preparatory study for physical Human-Robot Interaction; 2022; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA52439.2022.9921553

46. Franceschi P., Pedrocchi N., Beschi M.; Adaptive Impedance Controller for Human-Robot Arbitration based on Cooperative Differential Game Theory; 2022; Proceedings - IEEE International Conference on Robotics and Automation; 10.1109/ICRA46639.2022.9811853

47. Vilanova R., Pedret C., Barbu M., Beschi M., Visioli A.; Robustness issues in event-based pi control systems: Internal model control tuning; 2021; Lecture Notes in Electrical Engineering; 10.1007/978-3-030-58653-9_50

48. Beschi M., Visioli A.; A simple technique to improve the set-point following performance of Predictive Functional Control; 2020; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA46521.2020.9211970

49. Merigo L., Beschiy M., Padulaz F., Visioli A.; On the tuning of a PIDplus control system with a noise-filtering event generator; 2017; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA.2017.8247628

50. Simoni L., Beschi M., Colombo D., Visioli A.; Multi-frequency disturbance compensation in a plastic injection molding machine; 2016; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 10.1109/ETFA.2016.7733589