Guilherme Sartori Natal

Pós-doutorado

Idiomas

Áreas de atuação

Produções bibliográficas

• SARTORI NATAL, G. ; ARJONI, D. H. ; OLIVEIRA, W. R. ; RODAMILANS, G. B. ; SILVA, E. T. ; SILVEIRA, L. ; VILLANI, E. ; TRABASSO, L. G. . Implementation Analysis of a Washout Filter on a Robotic Flight Simulator - a Case Study. JOURNAL OF AEROSPACE TECHNOLOGY AND MANAGEMENT (ONLINE) , v. 11, p. 1-14, 2019.

• NATAL, GUILHERME SARTORI ; CHEMORI, AHMED ; PIERROT, FRANÇOIS . Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator. Robotica , v. FirstV, p. 1-28, 2014.

• SARTORI NATAL, GUILHERME ; CHEMORI, AHMED ; PIERROT, FRANCOIS . Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY , v. 23, p. 1520-1535, 2014.

• CHEMORI, A. ; SARTORI NATAL, G. ; PIERROT, F. . Control of Parallel Robots: Towards Very High Accelerations. In: The 10th International Multi-Conference on Systems, Signals and Devices, 2013, Hammamet. The 10th International Multi-Conference on Systems, Signals and Devices, 2013.

• SARTORI NATAL, G. ; CHEMORI, A. ; PIERROT, F. . Dual-space adaptive control of redundantly actuated parallel manipulators for extremely fast operations with load changes. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012, St Paul. 2012 IEEE International Conference on Robotics and Automation, 2012. p. 253.

• SARTORI NATAL, G. ; CHEMORI, A. ; MICHELIN, M. ; PIERROT, F. . A Dual-Space Feedforward PID Control of Redundantly Actuated Parallel Manipulators with Real-Time Experiments. In: PID'12: IFAC Conference on Advances in PID Control, 2012, Brescia, Itália. IFAC Conference on Advances in PID Control, 2012.

• NATAL, G SARTORI ; CHEMORI, A ; PIERROT, F ; COMPANY, O . An experimental comparison of state observers for the control of a parallel manipulator without velocity measurements. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), 2010, Taipei. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010. p. 2301.

• SARTORI NATAL, G. ; CHEMORI, A. ; PIERROT, F. ; COMPANY, O. . Control of Parallel Manipulators for Very High Accelerations: The Mechanical Vibrations Issue. In: PACAM XI, 2010, Foz do Iguaçu. 11th Pan-American Congress of Applied Mechanics - PACAM XI, 2010.

• NATAL, G. SARTORI ; CHEMORI, A. ; PIERROT, F. ; COMPANY, O. . Nonlinear dual mode adaptive control of PAR2: a 2-dof planar parallel manipulator, with real-time experiments. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), 2009, St. Louis. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. p. 2114.

• SARTORI NATAL, GUILHERME ; VILLANI, EMILIA ; KRUS, PETTER . SIVOR: A Testbed for the Evaluation of On-Off Valves on an F16 Airplane - Viability Analysis. In: Proposal of an Autonomous System for Inspection of Structures, 2018, São Paulo. org.crossref.xschema._1.Title@ecc8ff5. Linköping University: Linköping University Electronic Press, Linköping University, 2018. p. 17-21.

• NATAL, G. S. ; HSU, L. . Nanoposicionamento de precisão por controle adaptativo binário de atuadores piezoelétricos. CONTROLE & AUTOMAÇÃO (IMPRESSO) , 2008.

Projetos de pesquisa

• 2018 - 2019

  Exobot - An industrial manipulator mounted on a Bobcat, Descrição: Evaluate the tipping tendencies of the Exobot (high payload exoskeleton) through dynamic simulations using PyBullet (in Python) with 3D models in URDF/STL, built in SolidWorks.. , Situação: Concluído; Natureza: Pesquisa. , Integrantes: Guilherme Sartori Natal - Integrante / Luis Gonzaga Trabasso - Coordenador / Emilia Villani - Integrante / Wesley Rodrigues de Oliveira - Integrante / Guilherme Boulhosa Rodamilans - Integrante / Carlos Eguti - Integrante / Augusto Dttmann - Integrante.

• 2017 - 2019

  Utilization of the SIVOR Platform for the Evaluation of the Effects of On-Off Valves on Airplanes, Descrição: In this work, the utilization of the SIVOR (Simulador de Voo Robótico/Robotic Flight Simulator) as a testbed for the evaluation of the dynamics changes caused by the replacement of conventional servovalves by on-off valves on an airplane will be analyzed. The replacement of conventional servovalves by on-off valves has been considered in order to increase the energy efficiency of the airplane hydraulic actuators. However, on-off valves might cause undesirable effects on the flight dynamics. Therefore, this replacement must be adequately evaluated through simulations before being tested on an actual airplane.. , Situação: Concluído; Natureza: Pesquisa. , Integrantes: Guilherme Sartori Natal - Integrante / Emilia Villani - Coordenador / Petter Krus - Integrante.

• 2017 - 2018

  Design of a Snake-Robot, Descrição: Collaborate on the mechanical/geometric design of the robot, which has 8 actuators and 5 degrees of freedom in the end-effector (actuation redundancy). Evaluation of its performance during task execution in restricted environments using 3D simulations (Lab-View Robotics and 3D models in STL, created in SolidWorks).. , Situação: Concluído; Natureza: Pesquisa. , Integrantes: Guilherme Sartori Natal - Integrante / Luis Gonzaga Trabasso - Coordenador / Gustavo Reis de Ascensão - Integrante / André Zanatta - Integrante / Doglas Negri - Integrante / Douglas Guilherme Martins Lima - Integrante / Ariel Rezende - Integrante.

• 2015 - 2018

  SIVOR - Robotic Flight Simulator, Descrição: Implementation of algorithms for the generation of trajectories to be tracked by an anthropomorphic robot, such that the pilots would have similar acceleration feelings with respect to those he/she would have in the real airplane. Development of optimization/control algorithms to deal with the arm+linear axis system, which is redundantly actuated (7 actuators and 6 degrees of freedom of the end-effector).. , Situação: Concluído; Natureza: Pesquisa. , Integrantes: Guilherme Sartori Natal - Integrante / Luis Gonzaga Trabasso - Coordenador.

• 2012 - 2013

  Control of the PR2 robot, Descrição: Development of improved control schemes for the PR2 robot (designed by Willow Garage).. , Situação: Concluído; Natureza: Pesquisa. , Integrantes: Guilherme Sartori Natal - Integrante / Joris De Schutter - Coordenador.

• 2008 - 2012

  Control of Parallel Robots: Towards Very High Accelerations, Descrição: Development of advanced control techniques for Par2 (non-redundant) and R4 (redundantly actuated) parallel manipulators, being the latter the fastest robot in the world (able to reach 100G of acceleration). For the R4 manipulator, I proposed and experimentally implemented an adaptive control scheme which is able to automatically estimate the parameters of the system in real-time, quickly enough for the parameters to converge during a very fast pick-and-place task (up to more than 400 picks per minute) of unknown loads, thus ensuring its industrial applicability.. , Situação: Concluído; Natureza: Pesquisa. , Integrantes: Guilherme Sartori Natal - Integrante / CHEMORI, A. - Integrante / PIERROT, F. - Coordenador.

• 2005 - 2008

  Precision nanopositioning by binary adaptive control of piezoelectric actuators, Descrição: Nanopositioning control (namely the position control of piezoelectric actuators, which are highly nonlinear systems due to their hysteresis), through a binary nonlinear/adaptive controller.. , Situação: Concluído; Natureza: Pesquisa. , Integrantes: Guilherme Sartori Natal - Integrante / Liu Hsu - Coordenador.

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