Dr Claudio Gaz

About

Research interests: Control, Robotics, Mathematical Modeling, Parameter Identification, physical Human-Robot Interaction.

I am a Senior Lecturer in Mechatronics, Control and Autonomous Systems at Kingston University London. Previously, I was a Post-Doc researcher at Sapienza Università di Roma (Italy), where I received a Master Degree in Control Engineering with the highest mark in 2011 and a Ph.D. in Automation and Operational Research in 2016. I received in 2019 the French national qualification as maître de conférences for the class 61 (Génie informatique, automatique et traitement du signal). My main interests are mathematical modeling, parameter identification and control of robotics and biological systems. In particular, I dealt with the dynamic parameters identification of well-known manipulators, such as the KUKA LWR, the Universal Robots UR10, the Kinova Jaco Arm 2 and the Franka Emika Panda. I was a visiting researcher at Airbus (Airbus Group) in Paris (France) and at the German Aerospace Center (DLR) in Munich (Germany). I also collaborated with the Italian National Research Council (CNR-IASI) on issues concerning the control of glycemia for insulin-resistant patients.

Academic responsibilities

Senior Lecturer in Mechatronics, Control and Autonomous Systems

Qualifications

  • Ph.D. in Automation (Sapienza University, Rome, Italy)

Teaching and learning

I have experience in teaching Mechanical Engineering topics such as: Robotics, Control, Calculus and Linear Algebra.

Teaching experience

  • [A.Y. 2022-23] Engineering, Mathematics and Computing (level 4 students), Computational Methods in Engineering and Control (level 6 students), Mechatronics, Dynamics and Control (level 6 students), Control System with Embedded Implementation (level 7 students), Mechatronic Design and Automation (level 7 students) at Kingston University London; Basics on Industrial Robotics (Fondamenti di Robotica Industriale) at UNINETTUNO University, Rome, Italy.
  • [A.Y. 2021-22] Engineering, Mathematics and Computing (level 4 students), Computational Methods in Engineering and Control (level 6 students), Mechatronics, Dynamics and Control (level 6 students), Mechatronic Design and Automation (level 7 students) at Kingston University London; Basics on Industrial Robotics (Fondamenti di Robotica Industriale) (Master students) at UNINETTUNO University, Rome, Italy; Control of Electromechanical Systems (Master students) at Sapienza University of Rome, Italy.
  • [A.Y. 2018-19 to A.Y. 2020-21] Basics on Industrial Robotics (Fondamenti di Robotica Industriale) (Master students) at UNINETTUNO University, Rome, Italy; Control of Electromechanical Systems (Master students) at Sapienza University of Rome, Italy.
  • [A.Y. 2016-17 and A.Y. 2017-18] Teaching assistant (tutor) for the course of Mathematical Analysis 2 (Analisi Matematica 2) for the students of Management Engineering (Ingegneria Gestionale) (UG students) at Sapienza University of Rome, Italy.

Undergraduate courses taught

Postgraduate courses taught

Research

My research is focused on dynamic modeling, parameter identification and control of industrial manipulators (such as KUKA LightWeight Robot, Universal Robots UR10, Franka Emika Panda). Having a dynamic model at disposal allowed us to implement ad hoc control laws and, for instance, concerning physical Human-Robot Interaction (pHRI), understand if an undesired collision with an obstacle or a human occurred.

A further area of research on which I am currently focusing is the mathematical modeling and control of biological processes, such as glucose homeostasis. 

Research Collaborations:

  • Sapienza Università di Roma, Department of Computer, Control and Management Engineering (www.diag.uniroma1.it)
  • National Research Council of Italy (CNR-IASI) (www.biomatematica.it)

Areas of specialism

  • Control Systems
  • Robotics
  • Mathematical Modeling / Parameter Identification
  • Physical Human-Robot Interaction (pHRI)
  • Glucose Homeostasis

Research student supervision

Publications

Number of items: 30.

Article

Kazemipour, Amirhossein, Khatib, Maram, Al Khudir, Khaled, Gaz, Claudio and De Luca, Alessandro (2022) Kinematic control of redundant robots with online handling of variable generalized hard constraints. IEEE Robotics and Automation Letters, 7(4), pp. 9279-9286. ISSN (online) 2377-3766

Turrisi, Giulio, Capotondi, Marco, Gaz, Claudio, Modugno, Valerio, Oriolo, Giuseppe and De Luca, Alessandro (2022) On-line learning for planning and control of underactuated robots with uncertain dynamics. IEEE Robotics and Automation Letters, 7(1), pp. 358-365. ISSN (online) 2377-3766

Panunzi, Simona, Gaz, Claudio, Cibella, Fabio and De Gaetano, Andrea (2022) Validation of a simplified-geometry model of inhaled formoterol pharmacodynamics in asthmatic patients. Frontiers in Physiology, 13, p. 1018050. ISSN (online) 1664-042X

Ferro, Marco, Gaz, Claudio, Anzidei, Michele and Vendittelli, Marilena (2021) Online needle-tissue interaction model identification for force feedback enhancement in robot-assisted interventional procedures. IEEE Transactions on Medical Robotics and Bionics, 3(4), pp. 936-947. ISSN (online) 2576-3202

Gaz, Claudio, Cognetti, Marco, Oliva, Alexander, Giordano, Paulo Robuffo and de Luca, Alessandro (2019) Dynamic identification of the Franka Emika Panda robot with retrieval of feasible parameters using penalty-based optimization. IEEE Robotics and Automation Letters, 4(4), pp. 4147-4154. ISSN (online) 2377-3766

De Gaetano, Andrea, Gaz, Claudio and Panunzi, Simona (2019) Consistency of compact and extended models of glucose-insulin homeostasis : the role of variable pancreatic reserve. PLoS ONE, 14(2), e0211331. ISSN (online) 1932-6203

Gaz, Claudio, Magrini, Emanuele and De Luca, Alessandro (2018) A model-based residual approach for human-robot collaboration during manual polishing operations. Mechatronics, 55(2018), pp. 234-247. ISSN (print) 0957-4158

Borri, Alessandro, Panunzi, Simona, Brancaleoni, Rachele, Gui, Daniele, Magalini, Sabina, Gaz, Claudio R. and De Gaetano, Andrea (2016) Simulation of trauma incidents : modelling the evolution of patients and resources. Journal of Medical Systems, 40(11), p. 234. ISSN (print) 0148-5598

De Gaetano, Andrea, Gaz, Claudio, Palumbo, Pasquale and Panunzi, Simona (2015) A unifying organ model of pancreatic insulin secretion. PLoS ONE, 10(11), e0142344. ISSN (online) 1932-6203

Gaz, Claudio, Cremona, George, Panunzi, Simona, Patterson, Beverley and De Gaetano, Andrea (2012) A geometrical approach to the PKPD modelling of inhaled bronchodilators. Journal of Pharmacokinetics and Pharmacodynamics, 39(5), pp. 415-428. ISSN (print) 1567-567X

Book Section

DeGaetano, Andrea, Panunzi, Simona, Palumbo, Pasquale, Gaz, Claudio and Hardy, Thomas (2014) Data-driven modeling of diabetes progression. In: Marmarelis, Vasilis and Mitsis, Georgios, (eds.) Data-driven modeling for diabetes : diagnosis and treatment. London, U.K. : Springer. pp. 165-186. (Lecture notes in bioengineering) ISSN (print) 2195-271X ISBN 9783642544637

Conference or Workshop Item

Gaz, Claudio, Cristofaro, Andrea, Palumbo, Pasquale and De Luca, Alessandro (2022) A nonlinear observer for a flexible robot arm and its use in fault and collision detection. In: 61st IEEE Conference on Decision and Control; 06-09 Dec 2022, Cancún, Mexico.

Kazemipour, Amirhossein, Khatib, Maram, Al Khudir, Khaled, Gaz, Claudio Roberto and De Luca, Alessandro (2022) Kinematic control of redundant robots with online handling of variable generalized hard constraints. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) : Embodied AI for a Symbiotic Society; 23–27 Oct 2022, Kyoto, Japan. (In Press)

Pennese, Marco, Gaz, Claudio, Capotondi, Marco, Modugno, Valerio and De Luca, Alessandro (2021) Identification of robot dynamics from motor currents/torques with unknown signs. In: 3rd Italian Conference on Robotics and Intelligent Machines (I-RIM); 8-10 Oct 2021, Rome, Italy (Held online).

Gaz, Claudio, Cristofaro, Andrea and De Luca, Alessandro (2020) Detection and isolation of actuator faults and collisions for a flexible robot arm. In: 59th IEEE Conference on Decision and Control (CDC); 14 - 18 Dec 2020, Jeju Island, South Korea (Held online).

Capotondi, Marco, Turrisi, Giulio, Gaz, Claudio, Modugno, Valerio, Oriolo, Giuseppe and De Luca, Alessandro (2020) Learning feedback linearization control without torque measurements. In: 2nd Italian Conference on Robotics and Intelligent Machines (I-RIM); 10-12 Dec 2020, Rome, Italy (Held online).

Ferro, Marco, Gaz, Claudio and Vendittelli, Marilena (2020) A framework for sensorless identification of needle-tissue interaction forces in robot-assisted biopsies. In: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 Workshop : Shared Autonomy : Learning and Control (SALC); 31 May - 31 Aug 2020, Paris, France (Held online). (Unpublished)

Capotondi, M., Turrisi, G., Gaz, C., Modugno, V., Oriolo, G. and De Luca, A. (2019) An online learning procedure for feedback linearization control without torque measurements. In: 3rd Conference On Robot Learning (CoRL 2019); 30 Oct - 02 Nov 2019, Osaka, Japan.

Al Khudir, K., Buondonno, G., Gaz, C., Khatib, M., Magrini, E. and De Luca, A. (2019) Experiences in safe physical human-robot interaction. In: 1st Italian Conference on Robotics and Intelligent Machines (I-RIM); 18-20 Oct 2019, Rome, Italy.

Cacciotti, Niccolo, Cifonelli, Antonio, Gaz, Claudio, Paduano, Valerio, Russo, Antonio V. and Vendittelli, Marilena (2018) Enhancing force feedback in teleoperated needle insertion through on-line identification of the needle-tissue interaction parameters. In: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob); 26 - 29 Aug 2918, Enschede, The Netherlands.

Gaz, Claudio and De Luca, Alessandro (2017) Payload estimation based on identified coefficients of robot dynamics - With an application to collision detection. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017); 24 - 28 Sep 2017, Vancouver, Canada.

Gaz, Claudio, De Gaetano, Andrea, Manes, Costanzo, Palumbo, Pasquale, Borri, Alessandro and Panunzi, Simona (2017) Effective control of glycemia using a simple discrete-delay model. In: 20th IFAC World Congress; 09 - 14 Jul 2017, Toulouse, France.

Borri, Alessandro, Dimopoulos, Christos, Panunzi, Simona, Brancaleoni, Rachele, Gaz, Claudio Roberto, Gui, Daniele, Magalini, Sabina and De Gaetano, Andrea (2016) Modelling trauma physiology for large crisis management. In: 15th International Conference on Modeling and Applied Simulation (MAS 2016); 26 - 28 Sep 2016, Larnaca, Cyprus.

Gaz, Claudio, Flacco, Fabrizio and De Luca, Alessandro (2016) Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods. In: 2016 IEEE International Conference on Robotics and Automation (ICRA); 16 -21 May 2016, Stockholm, Sweden.

Pacciani, Eleonora, Borri, Alessandro, Soave, Paolo Maurizio, Gui, Daniele, Magalini, Sabina, Panunzi, Simona, Gaz, Claudio Roberto, Gaudio, Pasquale, Malizia, Andrea and De Gaetano, Andrea (2015) Modelling and simulation for major incidents : an innovative approach to medical response. In: 9th International Conference on Pervasive Computing Technologies for Healthcare (PervasiveHealth 2015); 20 -23 May 2015, Istanbul, Turkey.

De Gaetano, Andrea, Gaz, Claudio Roberto, Palumbo, Pasquale and Panunzi, Simona (2014) Population-of-controllers model explains heterogeneous insulin secretion experiments. In: 9th European Conference on Mathematical and Theoretical Biology (ECMTB); 15-19 Jun 2014, Gothenburg, Sweden. (Unpublished)

Gaz, Claudio Roberto, De Gaetano, Andrea, Panunzi, Simona, Cremona, George and Patterson, Beverley (2014) A simplified, geometrical approach to the PKPD of inhaled bronchodilators. In: 9th European Conference on Mathematical and Theoretical Biology (ECMTB); 15-19 Jun 2014, Gothenburg, Sweden. (Unpublished)

Gaz, Claudio, Flacco, Fabrizio and De Luca, Alessandro (2014) Identifying the dynamic model used by the KUKA LWR : a reverse engineering approach. In: 2014 IEEE International Conference on Robotics and Automation (ICRA); 31 May-07 Jun 2014, Hong Kong, China.

De Gaetano, Andrea, Gaz, Claudio, Giorgi, Claudio Gori and Palumbo, Pasquale (2013) An islet population model of pancreatic insulin production. In: 52nd IEEE Conference on Decision and Control; 10-13 Dec 2013, Florence, Italy. (Unpublished)

Manzella, V., Gaz, C., Vitaletti, A., Masi, E., Santopolo, L., Mancuso, S., Salazar, D. and De Las Heras, J.J. (2013) Demo abstract : plants as sensing devices : the PLEASED experience. In: 11th ACM Conference on Embedded Networked Sensor Systems (SenSys 2013); 11 - 15 Nov 2013, Rome, Italy.

This list was generated on Tue Apr 16 06:33:06 2024 BST.