Dr Claudio Gaz
Faculties, deparments and locations
- Faculty of Engineering, Computing and the Environment
- Department of Mechanical Engineering
- School of Engineering and the Environment
- Roehampton Vale
Senior Lecturer in Mechatronics, Control and Autonomous Systems
- Email:
- c.gaz@kingston.ac.uk
About
My research interests are: control, robotics, mathematical modelling, 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 masters degree in Control Engineering with the highest mark in 2011 and a PhD 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 modelling, 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.
Qualifications
- PhD in Automation (Sapienza University, Rome, Italy)
- Fellowship of the Higher Education Academy (FHEA) (UK national qualification)
- Maître de conférences (MCF) for the class 61 -Génie informatique, automatique et traitement du signal (French National Qualification)
Domains
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.
Courses taught
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
- National Research Council of Italy (CNR-IASI)
Specialisms
- Control Systems
- Robotics
- Mathematical Modelling / Parameter Identification
- Physical Human-Robot Interaction (pHRI)
- Glucose Homeostasis
Publications
Kinematic control of redundant robots with online handling of variable generalized hard constraints
Kazemipour, Amirhossein, Khatib, Maram, Al Khudir, Khaled, Gaz, Claudio and De Luca, Alessandro, 2022, IEEE Robotics and Automation Letters (7), 4, pp 9279-9286
On-line learning for planning and control of underactuated robots with uncertain dynamics
Turrisi, Giulio, Capotondi, Marco, Gaz, Claudio, Modugno, Valerio, Oriolo, Giuseppe and De Luca, Alessandro, 2022, IEEE Robotics and Automation Letters (7), 1, pp 358-365
Validation of a simplified-geometry model of inhaled formoterol pharmacodynamics in asthmatic patients
Panunzi, Simona, Gaz, Claudio, Cibella, Fabio and De Gaetano, Andrea, 2022, Frontiers in Physiology (13), pp 1018050
Online needle-tissue interaction model identification for force feedback enhancement in robot-assisted interventional procedures
Ferro, Marco, Gaz, Claudio, Anzidei, Michele and Vendittelli, Marilena, 2021, IEEE Transactions on Medical Robotics and Bionics (3), 4, pp 936-947
Dynamic identification of the Franka Emika Panda robot with retrieval of feasible parameters using penalty-based optimization
Gaz, Claudio, Cognetti, Marco, Oliva, Alexander, Giordano, Paulo Robuffo and de Luca, Alessandro, 2019, IEEE Robotics and Automation Letters (4), 4, pp 4147-4154
Consistency of compact and extended models of glucose-insulin homeostasis : the role of variable pancreatic reserve
De Gaetano, Andrea, Gaz, Claudio and Panunzi, Simona, 2019, PLoS ONE (14), 2, pp e0211331
A model-based residual approach for human-robot collaboration during manual polishing operations
Gaz, Claudio, Magrini, Emanuele and De Luca, Alessandro, 2018, Mechatronics (55), 2018, pp 234-247
Simulation of trauma incidents : modelling the evolution of patients and resources
Borri, Alessandro, Panunzi, Simona, Brancaleoni, Rachele, Gui, Daniele, Magalini, Sabina, Gaz, Claudio R. and De Gaetano, Andrea, 2016, Journal of Medical Systems (40), 11, pp 234
A unifying organ model of pancreatic insulin secretion
De Gaetano, Andrea, Gaz, Claudio, Palumbo, Pasquale and Panunzi, Simona, 2015, PLoS ONE (10), 11, pp e0142344
A geometrical approach to the PKPD modelling of inhaled bronchodilators
Gaz, Claudio, Cremona, George, Panunzi, Simona, Patterson, Beverley and De Gaetano, Andrea, 2012, Journal of Pharmacokinetics and Pharmacodynamics (39), 5, pp 415-428
Data-driven modeling of diabetes progression
DeGaetano, Andrea, Panunzi, Simona, Palumbo, Pasquale, Gaz, Claudio and Hardy, Thomas (2014). In: Marmarelis, Vasilis, (eds.) and Mitsis, Georgios, (eds.), Data-driven modeling for diabetes : diagnosis and treatment. London, U.K.: Springer, pp 165-186
A nonlinear observer for a flexible robot arm and its use in fault and collision detection
Gaz, Claudio, Cristofaro, Andrea, Palumbo, Pasquale and De Luca, Alessandro(2022). In: 61st IEEE Conference on Decision and Control, 06-09 Dec 2022 :Cancún, Mexico
Kinematic control of redundant robots with online handling of variable generalized hard constraints
Kazemipour, Amirhossein, Khatib, Maram, Al Khudir, Khaled, Gaz, Claudio Roberto and De Luca, Alessandro(2022). 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
Identification of robot dynamics from motor currents/torques with unknown signs
Pennese, Marco, Gaz, Claudio, Capotondi, Marco, Modugno, Valerio and De Luca, Alessandro(2021). In: 3rd Italian Conference on Robotics and Intelligent Machines (I-RIM), 8-10 Oct 2021 :Rome, Italy (Held online)
Detection and isolation of actuator faults and collisions for a flexible robot arm
Gaz, Claudio, Cristofaro, Andrea and De Luca, Alessandro(2020). In: 59th IEEE Conference on Decision and Control (CDC), 14 - 18 Dec 2020 :Jeju Island, South Korea (Held online)
Learning feedback linearization control without torque measurements
Capotondi, Marco, Turrisi, Giulio, Gaz, Claudio, Modugno, Valerio, Oriolo, Giuseppe and De Luca, Alessandro(2020). In: 2nd Italian Conference on Robotics and Intelligent Machines (I-RIM), 10-12 Dec 2020 :Rome, Italy (Held online)
A framework for sensorless identification of needle-tissue interaction forces in robot-assisted biopsies
Ferro, Marco, Gaz, Claudio and Vendittelli, Marilena(2020). 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)
An online learning procedure for feedback linearization control without torque measurements
Capotondi, M., Turrisi, G., Gaz, C., Modugno, V., Oriolo, G. and De Luca, A.(2019). In: 3rd Conference On Robot Learning (CoRL 2019), 30 Oct - 02 Nov 2019 :Osaka, Japan
Experiences in safe physical human-robot interaction
Al Khudir, K., Buondonno, G., Gaz, C., Khatib, M., Magrini, E. and De Luca, A.(2019). In: 1st Italian Conference on Robotics and Intelligent Machines (I-RIM), 18-20 Oct 2019 :Rome, Italy
Enhancing force feedback in teleoperated needle insertion through on-line identification of the needle-tissue interaction parameters
Cacciotti, Niccolo, Cifonelli, Antonio, Gaz, Claudio, Paduano, Valerio, Russo, Antonio V. and Vendittelli, Marilena(2018). In: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 26 - 29 Aug 2918 :Enschede, The Netherlands
Payload estimation based on identified coefficients of robot dynamics - With an application to collision detection
Gaz, Claudio and De Luca, Alessandro(2017). In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 24 - 28 Sep 2017 :Vancouver, Canada
Effective control of glycemia using a simple discrete-delay model
Gaz, Claudio, De Gaetano, Andrea, Manes, Costanzo, Palumbo, Pasquale, Borri, Alessandro and Panunzi, Simona(2017). In: 20th IFAC World Congress, 09 - 14 Jul 2017 :Toulouse, France
Modelling trauma physiology for large crisis management
Borri, Alessandro, Dimopoulos, Christos, Panunzi, Simona, Brancaleoni, Rachele, Gaz, Claudio Roberto, Gui, Daniele, Magalini, Sabina and De Gaetano, Andrea(2016). In: 15th International Conference on Modeling and Applied Simulation (MAS 2016), 26 - 28 Sep 2016 :Larnaca, Cyprus
Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods
Gaz, Claudio, Flacco, Fabrizio and De Luca, Alessandro(2016). In: 2016 IEEE International Conference on Robotics and Automation (ICRA), 16 -21 May 2016 :Stockholm, Sweden
Modelling and simulation for major incidents : an innovative approach to medical response
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). In: 9th International Conference on Pervasive Computing Technologies for Healthcare (PervasiveHealth 2015), 20 -23 May 2015 :Istanbul, Turkey
Population-of-controllers model explains heterogeneous insulin secretion experiments
De Gaetano, Andrea, Gaz, Claudio Roberto, Palumbo, Pasquale and Panunzi, Simona(2014). In: 9th European Conference on Mathematical and Theoretical Biology (ECMTB), 15-19 Jun 2014 :Gothenburg, Sweden
A simplified, geometrical approach to the PKPD of inhaled bronchodilators
Gaz, Claudio Roberto, De Gaetano, Andrea, Panunzi, Simona, Cremona, George and Patterson, Beverley(2014). In: 9th European Conference on Mathematical and Theoretical Biology (ECMTB), 15-19 Jun 2014 :Gothenburg, Sweden
Identifying the dynamic model used by the KUKA LWR : a reverse engineering approach
Gaz, Claudio, Flacco, Fabrizio and De Luca, Alessandro(2014). In: 2014 IEEE International Conference on Robotics and Automation (ICRA), 31 May-07 Jun 2014 :Hong Kong, China
An islet population model of pancreatic insulin production
De Gaetano, Andrea, Gaz, Claudio, Giorgi, Claudio Gori and Palumbo, Pasquale(2013). In: 52nd IEEE Conference on Decision and Control, 10-13 Dec 2013 :Florence, Italy
Demo abstract : plants as sensing devices : the PLEASED experience
Manzella, V., Gaz, C., Vitaletti, A., Masi, E., Santopolo, L., Mancuso, S., Salazar, D. and De Las Heras, J.J.(2013). In: 11th ACM Conference on Embedded Networked Sensor Systems (SenSys 2013), 11 - 15 Nov 2013 :Rome, Italy