Seminari - Dipartimento Computer Science Seminari - Dipartimento Computer Science validi dal 29.01.2020 al 29.01.2021. Locomotion strategies for quadruped robots Relatore: Michele Focchi; Provenienza: IIT; Data inizio: 2020-02-04; Ora inizio: 16.00; Note orario: Sala Verde; Riassunto: Legged robots are mainly designed to traverse unstructured environments where wheeled robots have limited mobility. Their applications range from nuclear decommissioning to mining, search and rescue, inspection and surveillance. In addition, they can be applied to flank human workers (or collaborate with them) in order to reduce labor accidents, as well as in elderly care. The next generation of legged robots are envisioned to operate either autonomously or semi-autonomously (through tele-operation) over uneven terrains. This requires the rejection and compensation of disturbances, the exploitation of visual feedback, and the ability to manipulate both fragile and heavy objects. The main ingredients for legged locomotion are planning, control, perception and state estimation. Numerical optimization is a promising tool for motion planning and control for legged robotic systems in complex geometry environments (e.g. multi-contact scenarios) because it enables to push the machine up to the performance limits. Indeed, when the complexity of the terrain increases, or when the execution of the requested task involves highly dynamic motions, numerical optimization and machine learning strategies are needed to automatically find feasible trajectories and control actions that could not otherwise be determined. In this seminar I will mainly focus on the planning aspects and on different strategies to achieve effective locomotion across complex terrain. Short bio: Michele Focchi is currently a Researcher at the DLS team in IIT. He received both the Bsc. and the Msc. in Control System Engineering from Politecnico di Milano. After gaining some R&D experience in the industry, in 2009 he joined IIT where he developed a micro-turbine for which he obtained an international patent and a prize. In 2013, he got a PhD in robotics, getting involved in the Hydraulically Actuated Quadruped Robot (HyQ) project. He initially was developing torque controllers for locomotion purposes, subsequently he moved to higher level (whole-body) controllers and model identification. He was also investigating locomotion strategies that are robust to uncertainties and work reliably on the real platform. Currently his research interests are focused on pushing the performances of quadruped robots in traversing unstructured environments, by using optimization-based planning strategies to perform dynamic motion planning. Contact Person: P. Fiorini. Tue, 4 Feb 2020 16:00:00 +0100 Remarks on Sequent Calculus Relatore: Enrico Moriconi; Provenienza: Università di Pisa; Data inizio: 2020-02-12; Ora inizio: 16.30; Note orario: Aula I; Riassunto: Abstract: vedi allegato Contact person: Peter Schuster. Wed, 12 Feb 2020 16:30:00 +0100 Category theory and point-free topology [3 ETCS] Relatore: Simon Henry; Provenienza: University of Ottawa; Data inizio: 2020-03-09; Note orario: Fino al 27 marzo. Orario e luogo ancora da definire.; Referente interno: Peter Michael Schuster; Riassunto: quot;Point-free topologyquot; is the theory of quot;localesquot;. They are a type of spaces, very similar to topological spaces, except that they might not have an underlying set of points. Locales that have enough points are the same as topological spaces, but some locales have no points and are completely new objects. We will see how many notions and constructions of ordinary topology carry over to locales. Later in the course I will talk about the internal logic of categories of sheaves, which provide an extremely powerful tool to work with locales. I will explain how these mysterious quot;spaces without pointsquot; are closely connected to #39;forcing#39; in set theory, as well as the strong connection between the the theory of locales and intuitionistic mathematics. The course will start with a basic introduction to category theory, including limits and co-limits, epi and monomorphisms, adjoint functors and adjoint functor theorem, etc. The theory of locales will give many illustrations and interesting example of these concepts. Mon, 9 Mar 2020 00:00:00 +0100 Basic and advanced tools in game theory [3 ECTS, MAT/05] Relatore: Sylvain Sorin; Provenienza: Sorbonne Université Paris; Data inizio: 2020-03-31; Note orario: 31/3 - 10/4/2020; Referente interno: Giandomenico Orlandi; Riassunto: This mini-course will give an introduction to trategic games, starting with main concepts such as value and equilibria. Then several proofs of the minmax Theorem based on dynamical processes will be provided: unilateral procedure in discrete time, continuous time and ODE, fictitious play in discrete and continuous time, replicator dynamics. The relation with approachability theory will be presented. The proof of existence for equilibria and l inks between equilibria and variational inequalities will be discussed. S upermodular, potential and dissipative games will be treated as well as correlated equilibria, leading to elementary existence proofs. If time permits, a short presentation of ldquo;stochastic approximation toolsrdquo; will be done. Tue, 31 Mar 2020 00:00:00 +0200 Combinatorial Strategies for Modern Biology [2 ECTS, MAT/03] Relatore: Margherita Maria Ferrari; Provenienza: University of South Florida; Data inizio: 2020-04-15; Note orario: Starting date; Referente interno: Giuseppe Mazzuoccolo; Riassunto: The purpose of these lectures is twofold. On one hand, we want to highlight how classical notions in combinatorics are applied to advance our understanding of biological/chemical processes. On the other hand, we want to show that such processes lead to new mathematical objects and drive new areas of research. We will give the biological background for DNA self-assembly and DNA recombination processes, as well as RNA structure formation. We will provide the combinatorial tools, mainly graph-theoretic approaches, to model and analyze such problems, and discuss some open questions related to these models. Wed, 15 Apr 2020 00:00:00 +0200 Euler-Poincaré variational principles and applications to fluid dynamics - [1 ECTS, MAT/07] Relatore: Prof. Cesare Troncy; Provenienza: University of Surrey - UK -; Data inizio: 2020-04-20; Referente interno: Nicola Sansonetto; Riassunto: Starting from Poincareacute;#39;soriginal work from 1901, this lecture series offers a brief overview of the reduction by symmetry for Hamilton#39;s variational principle on Lie groups. After considering the simple case of a free rigid body, different types of examples will be covered before focusing on fluid dynamics. Eventually, the last lectures present a brief introduction to the application of these methods to the dynamics of nematic liquid crystals, in both ideal and dissipative cases. Mon, 20 Apr 2020 00:00:00 +0200