Contact

Stefano Geluardi

Address: Spemannstr. 38
72076 Tübingen
Room number: 110
Phone: +49 7071 601 607
Fax: +49 7071 601 616
E-Mail: stefano.geluardi

 

Picture of Geluardi, Stefano

Stefano Geluardi

Position: Project Leader  Unit: Bülthoff

I am leading the Cybernetics Approach to Perception and Action research group. Within this group, we use the principles of cybernetics, control theory and system identification to further our understanding of human manual control. In particular, we investigate haptic support systems, neuromuscular identification methods and helicopter augmentation systems. For more details, please visit our page.

 

I obtained my M.Sc. in Automation Engineering from University of Pisa, in Italy. Between 2012 and 2016, I worked in a collaborative research project between University of Pisa and Max Planck Institute for Biological Cybernetics, resulting in a PhD for my work on "Identification and augmentation of a civil light helicopter: transforming helicopters into Personal Aerial Vehicles".

 

Since December 2016, I work as project leader of the Cybernetics Approach to Perception and Action research group.

 

My research interests include helicopter system identification, robust control theory, effects of system augmentation and effects of haptics on handling qualities.

PhD thesis - Identification and augmentation of a civil light helicopter: transforming helicopters into Personal Aerial Vehicles


The research described in this thesis was inspired by the results of the myCopter project, a European project funded by the European Commission in 2011. The myCopter project's aim was to identify new concepts for air transport that could be used to achieve a Personal Aerial Transport (PAT) system in the second half of the 21st century. Although designing a new vehicle was not among the project's goal, it was considered important to assess vehicle response types and handling qualities that Personal Aerial Vehicles (PAVs) should have to be part of a PAT. In this thesis it is proposed to consider civil light helicopters as possible PAVs candidates. The goal of the thesis is to investigate whether it is possible to transform civil light helicopters into PAVs through the use of system identification methods and control techniques. The transformation here is envisaged in terms of vehicle dynamics and handling qualities.

 

To achieve this goal, three main steps are considered. The first step focuses on the identification of a Robinson R44 Raven II helicopter model in hover. The second step consists of augmenting the identified helicopter model to achieve response types and handling qualities defined for PAVs. The third step consists of assessing the magnitude of discrepancy between the two implemented augmented systems and the PAV reference model. An experiment was conducted for this purpose, consisting of piloted closed-loop control tasks performed in the MPI CyberMotion Simulator by participants without any prior flight experience.

 

Results, evaluated in terms of objective and subjective workload and performance, showed that the augmented helicopter is able to resemble PAVs handling qualities and response types in piloted closed-loop control tasks. This result demonstrates that it is possible to transform helicopter dynamics into PAVs dynamics.

 

Order Thesis

 

Stefano Geluardi is currently project leader of the Cybernetics Approach to Perception and Action research group at the Max Planck Institute for Biological Cybernetics in Tübingen, Germany.

Education

Jun '12 - Jul '16

Ph.D. Candidate at Max-Planck-Institute for Biological Cybernetics, Tübingen, Germany (in co-operation with University of Pisa, Italy).

Thesis: Identification and augmentation of a civil light helicopter: transforming helicopters into Personal Aerial Vehicles

Supervisors: Prof. Heinrich H. Bülthoff, Prof. Lorenzo Pollini

 

Sep '08 - Mar '12

Master's Degree in Automation Engineering, University of Pisa, Italy.

Thesis: Path following of an underwater glider vehicle with actuated and independently controllable hydrodynamic wings

Supervisors: Prof. Andrea Caiti, Prof. Mario Innocenti, Eng. Vincenzo Calabrò.

Final mark: cum laude

 

Sep '05 - Sep '08

Bachelor's Degree in Computer Engineering, University of Pisa, Italy.

Thesis: Implementation of algorithms for the analysis of components and main paths in networks of patents citations.

Supervisors: Prof. Carlo Alberto Avizzano, Prof. Lorenzo Pollini, Eng. Emanuele Ruffaldi

Final mark: cum laude

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Books (1):

Geluardi S: Identification and augmentation of a civil light helicopter: transforming helicopters into Personal Aerial Vehicles, 198, Logos Verlag, Berlin, Germany, (2016). ISBN: 978-3-8325-4366-2, Series: MPI Series in Biological Cybernetics ; 47

Articles (3):

Geluardi S, Nieuwenhuizen FM, Venrooij J, Pollini L and Bülthoff HH (July-2017) Frequency Domain System Identification of a Robinson R44 in Hover Journal of the American Helicopter Society . accepted
Geluardi S, Venrooij J, Olivari M, Bülthoff HH and Pollini L (May-2017) Transforming Civil Helicopters into Personal Aerial Vehicles: Modeling, Control, and Validation Journal of Guidance, Control, and Dynamics Epub ahead.
Caiti A, Calabrò V, Geluardi S, Grammatico S and Munafò C (May-2014) Switching control of an underwater glider with independently controllable wings Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment 228(2) 136-145.

Conference papers (12):

Bufalo F, Olivari M, Geluardi S, Gerboni CA, Pollini L and Bülthoff HH (October-2017) Force-Stiffness Haptic Feedback for Learning a Disturbance Rejection Task, IEEE International Conference on Systems, Man, and Cybernetics (SMC 2017), -. accepted
Fabbroni D, Geluardi S, Gerboni CA, Olivari M, Pollini L and Bülthoff HH (September-2017) Quasi-Transfer-of-Training of Helicopter Trainer from Fixed-Base to Motion-Base Simulator, 43rd European Rotorcraft Forum (ERF 2017), -. accepted
Fabbroni D, Geluardi S, Gerboni CA, Olivari M, D'Intino G, Pollini L and Bülthoff HH (May-2017) Design of a Haptic Helicopter Trainer for Inexperienced Pilots, 73rd American Helicopter Society International Annual Forum (AHS 2017), 1-12.
Gerboni CA, Geluardi S, Fichter W and Bülthoff HH (May-2017) Investigation and Evaluation of Control Design Requirements for Future Personal Aerial Vehicles, 73rd American Helicopter Society International Annual Forum (AHS 2017), 1-12.
Gerboni CA, Geluardi S, Venrooij J, Joos A, Fichter W and Bülthoff HH (January-11-2017) Development of model-following control laws for helicopters to achieve personal aerial vehicle's handling qualities, AIAA Modeling and Simulation Technologies Conference: Held at the AIAA SciTech Forum 2017, 1-16.
D'Intino G, Olivari M, Geluardi S, Venrooij J, Pollini L and Bülthoff HH (January-11-2017) Experimental evaluation of haptic support systems for learning a 2-DoF tracking task, AIAA Modeling and Simulation Technologies Conference: Held at the AIAA SciTech Forum 2017, 1-10.
D'Intino G, Olivari M, Geluardi S, Venrooij J, Innocenti M, Bülthoff HH and Pollini L (October-2016) Evaluation of Haptic Support System for Training Purposes in a Tracking Task, IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016), IEEE, Piscataway, NJ, USA, 002169-002174.
Picardi G, Geluardi S, Olivari M and Bülthoff HH (May-2016) L1-based Model Following Control of an Identified Helicopter Model in Hover In: Leveraging Emerging Technologies for Future Capabilities, , 72nd American Helicopter Society International Annual Forum (AHS 2016), Curran, Red Hook, NY, USA, 1770-1777.
Geluardi S, Nieuwenhuizen F, Pollini L and Bülthoff HH (October-2015) Data Collection for Developing a Dynamic Model of a Light Helicopter, 39th European Rotorcraft Forum (ERF 2013), Curran, Red Hook, NY, USA, 419-433.
pdf
Gerboni CA, Geluardi S, Olivari M, Nieuwenhuizen FM, Bülthoff HH and Pollini L (July-2015) Development of a 6 dof nonlinear helicopter model for the MPI Cybermotion Simulator, 40th European Rotorcraft Forum (ERF 2014), Curran, Red Hook, NY, USA, 615-626.
pdf
Geluardi S, Nieuwenhuizen FM, Pollini L and Bülthoff HH (May-6-2015) Augmented Systems for a Personal Aerial Vehicle Using a Civil Light Helicopter Model, 71st American Helicopter Society International Annual Forum (AHS 2015), Curran, Red Hook, NY, USA, 1428-1436.
Geluardi S, Nieuwenhuizen FM, Pollini L and Bülthoff HH (May-2014) Frequency Domain System Identification of a Light Helicopter in Hover, 70th American Helicopter Society International Annual Forum (AHS 2014), Curran, Red Hook, NY, USA, 1721-1731.
pdf

Posters (1):

Geluardi S (January-9-2014): Augmented Systems for Personal Air Vehicles, Presentazione attività anno 2013: Scuola di Ingegneria: Università di Pisa Dottorati di Ricerca in Automatica, Robotica e Bioingegneria, Ingegneria Meccanica, Ingegneria Chimica, Ingegneria Aerospaziale, Ingegneria Nucleare, Pisa, Italy.

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Last updated: Monday, 22.05.2017