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Dr Basilio Lenzo

Senior Lecturer in Automotive Engineering


Summary

Dr Basilio Lenzo received his MSc in Mechanical Engineering from the University of Pisa (1st cum laude, thesis at Ferrari F1) and Sant'Anna University (1st cum laude, thesis at Ecole Normale Superiéure de Cachan Paris) in 2010. In 2013, he received his PhD in Robotics (1st cum laude) from Sant'Anna University, too. 

Basilio joined Sheffield Hallam University in 2016 as a Senior Lecturer in Automotive Engineering with the Materials and Engineering Research Institute and the Centre for Automation and Robotics Research. His current research interests include vehicle dynamics, control, and robotics.

About

As part of his MSc degree in 2010, Basilio was an R&D Intern with Ferrari F1. In 2013, he was a Visiting Researcher at the University of Delaware, Newark, DE, USA, and Columbia University, New York, NY, USA.

In 2013, he was appointed as a Research Fellow with Sant'Anna University, where he worked on kinematics and dynamics of robotic mechanisms.

In 2013 he was awarded the Marzotto "Future business award" providing 250,000 Euro for a robotics start-up developed at PercRo (Perceptual Robotics Laboratory, Sant'Anna University). In 2014 he won the Bernardo Nobile PhD award for the best PhD thesis resulting in a patent application.

From 2015 to September 2016, he was a Research Fellow with the Centre for Automotive Engineering, University of Surrey, Guildford, U.K. His research activity was focused on vehicle dynamics and control of a fully electric vehicle demonstrator within the European Project iCOMPOSE, dealing with:
- Development of vehicle simulation models and state-of-the-art controllers for vehicle dynamics and energy management;
- Experimental assessments of the performance of the developed controllers on rolling road facilities and proving grounds.

In 2015, he obtained the MIT Young Innovators Under 35 Italy award. He was also invited to give a TED talk at TEDxBergamo2015.

Since September 2016, he has been a Senior Lecturer in Automotive Engineering with Sheffield Hallam University. His teaching activity covers some of the level 4, level 5 and level 6 Applied Mechanics and Automotive modules. He is co-course leader of the BEng in Automotive Engineering. Basilio has been supervisor of several Final Year Project students and M Eng students, as well as some Placement students. Also, he currently supervises visiting MSc students and visiting PhD candidates from abroad. 

In 2017 he was Visiting Researcher with the Vehicle Dynamics group of the University of Naples.

In 2018 he was selected as a finalist for the competition "STEM for Britain 2018", and he presented his research work at the UK Parliament (London). 

In 2018 he was Visiting Scientist at the Institute of Robotics and Mechatronics of the German Aerospace Centre (DLR).

Basilio is a member of IEEE, IEEE Vehicular Technology Society, IEEE Robotics and Automation Society, IEEE Transportation Electrification Community (TEC). He is also Member of the IEEE TEC (Transportation Electrification Community) Steering Committee and Member of the IMechE Yorkshire Automobile Division Committee. He is Assistant Editor of Paladyn, Journal of Behavioral Robotics, and Editorial board member of the International Journal of Transportation Engineering and Technology.


Areas of Interest

- Vehicle dynamics and control;
- Torque vectoring;
- Vehicles parameter estimation;
- Electric vehicles;
- Robot kinematics and dynamics;
- Exoskeletons.

Teaching

Department of Engineering and Mathematics

Business, Technology and Enterprise

Subject Area 

- Automotive, Solid Mechanics

Courses

- BEng Automotive Engineering 
- BEng Mechanical Engineering

Modules

- Principles of Solid Mechanics and Dynamics (Level 4)
- Automotive Investigation, within Vehicle Engineering Practice and Automotive Electrical Systems (Level 4)
- Vehicle Technology (Level 5)
- Mechanics of Solids and Dynamics (Level 5)
- Vehicle Dynamics (Level 6)

Research

Basilio's research activity is focused on:
- Vehicle parameter estimation
- torque vectoring control and energy efficiency of electric vehicles with multiple motors;
- energy efficiency of electric vehicles with multiple motors;
- analysis of vehicle understeer/oversteer in different driving conditions;
- gravity balancing of serial robots/manipulators.

Past Projects

iCOMPOSE: Integrated Control of Multiple-Motor and Multiple-Storage Fully Electric Vehicles, FP7.
PolyWEC: New mechanisms and concepts for exploiting electroactive Polymers for Wave Energy Conversion, FP7.
VERE: Virtual Embodiment and Robotic Re-Embodiment, FP7.

Collaborators

- Vehicle Dynamics Research Group, University of Naples
- Centre for Automotive Engineering, University of Surrey
- Institute of Robotics and Mechatronics, German Aerospace Centre (DLR)
- Perceptual Robotics Laboratory, Sant'Anna University

Publications

Journal articles

Gadola, M., Chindamo, D., & Lenzo, B. (2021). Revisiting the mechanical limited-slip differential for high-performance and race car applications. Engineering Letters, 29 (3), 824-839.

De Castro, R., Lenzo, B., Chen, Y., Li, S.E., & Xu, S. (2021). Recent Advances in Motion Control, Estimation, and Diagnosis for Automated Vehicles [From the Guest Editors]. IEEE Vehicular Technology Magazine, 16 (3), 18-19. http://doi.org/10.1109/MVT.2021.3091796

Franchetti, D., Boschetti, G., & Lenzo, B. (2021). Passive Gravity Balancing with a Self-Regulating Mechanism for Variable Payload. Machines, 9 (8). http://doi.org/10.3390/machines9080145

Zou, Z., Zhang, X., Zou, Y., & Lenzo, B. (2021). Tire-Road Friction Coefficient Estimation Method Design for Intelligent Tires Equipped with Three-Axis Accelerometer. SAE International Journal of Vehicle Dynamics, Stability, and NVH, 5 (3). http://doi.org/10.4271/10-05-03-0017

Salamone, S., Lenzo, B., Lutzemberger, G., Bucchi, F., & Sani, L. (2021). On the Investigation of Energy Efficient Torque Distribution Strategies through a Comprehensive Powertrain Model. Sustainability, 13 (8). http://doi.org/10.3390/su13084549

Mangia, A., Lenzo, B., & Sabbioni, E. (2021). An integrated torque-vectoring control framework for electric vehicles featuring multiple handling and energy-efficiency modes selectable by the driver. Meccanica, 56 (5), 991-1010. http://doi.org/10.1007/s11012-021-01317-3

Perrelli, M., Cosco, F., Carbone, G., Lenzo, B., & Mundo, D. (2021). On the Benefits of Using Object-Oriented Programming for the Objective Evaluation of Vehicle Dynamic Performance in Concurrent Simulations. Machines, 9 (2), 41. http://doi.org/10.3390/machines9020041

Guo, N., Zhang, X., Zou, Y., Lenzo, B., Du, G., & Zhanga, T. (2021). A Supervisory Control Strategy of Distributed Drive Electric Vehicles for Coordinating Handling, Lateral Stability, and Energy Efficiency. IEEE Transactions on Transportation Electrification. http://doi.org/10.1109/TTE.2021.3085849

Villano, E., Lenzo, B., & Sakhnevych, A. (2021). Cross-combined UKF for vehicle sideslip angle estimation with a modified Dugoff tire model: design and experimental results. Meccanica. http://doi.org/10.1007/s11012-021-01403-6

Lenzo, B., Zingone, S.A., & Timpone, F. (2020). On the estimation of tyre self-aligning moment through a physical model and the trick tool. International Journal of Mechanics and Control, 21 (2), 13-20. http://www.jomac.it/index.php?id=2020-december-vol-21-no-2

Di Biase, F., Lenzo, B., & Timpone, F. (2020). Vehicle sideslip angle estimation for a heavy-duty vehicle via Extended Kalman Filter using a Rational tyre model. IEEE Access, 1. http://doi.org/10.1109/access.2020.3012770

Guo, N., Zhang, X., Zou, Y., Lenzo, B., Zhang, T., & Göhlich, D. (2020). A fast model predictive control allocation of distributed drive electric vehicles for tire slip energy saving with stability constraints. Control Engineering Practice, 102, 104554. http://doi.org/10.1016/j.conengprac.2020.104554

Guo, N., Zhang, X., Zou, Y., Lenzo, B., & Zhang, T. (2020). A Computationally Efficient Path Following Control Strategy of Autonomous Electric Vehicles with Yaw Motion Stabilization. IEEE Transactions on Transportation Electrification, 1. http://doi.org/10.1109/tte.2020.2993862

Guo, N., Lenzo, B., Zhang, X., Zou, Y., Zhai, R., & Zhang, T. (2020). A Real-time Nonlinear Model Predictive Controller for Yaw Motion Optimization of Distributed Drive Electric Vehicles. IEEE Transactions on Vehicular Technology, 1. http://doi.org/10.1109/tvt.2020.2980169

Lenzo, B., & Rossi, V. (2020). A Simple Mono-Dimensional Approach for Lap Time Optimisation. Applied Sciences, 10 (4), e1498. http://doi.org/10.3390/app10041498

Lenzo, B., Zanchetta, M., Sorniotti, A., Gruber, P., & De Nijs, W. (2020). Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control. IEEE Transactions on Control Systems Technology, 1-16. http://doi.org/10.1109/tcst.2019.2949539

Zanchetta, M., Tavernini, D., Sorniotti, A., Gruber, P., Lenzo, B., Ferrara, A., ... De Nijs, W. (2019). Trailer control through vehicle yaw moment control: theoretical analysis and experimental assessment. Mechatronics, 64 (102282). http://doi.org/10.1016/j.mechatronics.2019.102282

Sforza, A., Lenzo, B., & Timpone, F. (2019). A state-of-the-art review on torque distribution strategies aimed at enhancing energy efficiency for fully electric vehicles with independently actuated drivetrains. International Journal of Mechanics and Control, 20 (2), 3-15. http://www.jomac.it/index.php?id=number

Lenzo, B., Bucchi, F., Sorniotti, A., & Frendo, F. (2018). On the handling performance of a vehicle with different front-to-rear wheel torque distributions. Vehicle System Dynamics. http://doi.org/10.1080/00423114.2018.1546013

Tota, A., Lenzo, B., Lu, Q., Sorniotti, A., Gruber, P., Fallah, S., ... De Smet, J. (2018). On the Experimental Analysis of Integral Sliding Modes for Yaw Rate and Sideslip Control of an Electric Vehicle with Multiple Motors. International Journal of Automotive Technology, 19 (5), 811-823. http://doi.org/10.1007/s12239-018-0078-0

Wang, Z., Montanaro, U., Fallah, S., Sorniotti, A., & Lenzo, B. (2018). A gain scheduled robust linear quadratic regulator for vehicle direct yaw moment control. Mechatronics, 51, 31-45. http://doi.org/10.1016/j.mechatronics.2018.01.013

Chindamo, D., Lenzo, B., & Gadola, M. (2018). On the vehicle sideslip angle estimation: a literature review of methods, models and innovations. Applied Sciences, 8 (3), 355. http://doi.org/10.3390/app8030355

De Filippis, G., Lenzo, B., Sorniotti, A., Gruber, P., & De Nijs, W. (2018). Energy-efficient torque-vectoring control of electric vehicles with multiple drivetrains. IEEE Transactions on Vehicular Technology. http://doi.org/10.1109/TVT.2018.2808186

Lenzo, B., De Filippis, G., Dizqah, A., Sorniotti, A., Gruber, P., Fallah, S., & De Nijs, W. (2017). Torque distribution strategies for energy-efficientelectric vehicles with multiple drivetrains. Journal of Dynamic Systems, Measurement and Control, 139 (12), DS-16. http://doi.org/10.1115/1.4037003

Lenzo, B., Sorniotti, A., Gruber, P., & Sannen, K. (2017). On the experimental analysis of single input single output control of yaw rate and sideslip angle. International Journal of Automotive Technology, 18 (5), 799-811. http://doi.org/10.1007/s12239-017-0079-4

Dizqah, A.M., Lenzo, B., Sorniotti, A., Gruber, P., Fallah, S., & De Smet, J. (2016). A fast and parametric torque distribution strategy for four-wheel-drive energy-efficient electric vehicles. IEEE Transactions on Industrial Electronics, 63 (7), 4367-4376. http://doi.org/10.1109/TIE.2016.2540584

Lenzo, B., Fontana, M., Marcheschi, S., Salsedo, F., Frisoli, A., & Bergamasco, M. (2015). Trackhold: a novel passive arm-support device. Journal of Mechanisms and Robotics, 8 (2), 021007-1. http://doi.org/10.1115/1.4031716

Conference papers

Lenzo, B., Ottomano, G., Strano, S., Terzo, M., & Tordela, C. (2020). A Physical-Based Observer for Vehicle State Estimation and Road Condition Monitoring. ICMCE 2020 conference proceedings. http://doi.org/10.1088/1757-899x/922/1/012005

Lenzo, B., Perrelli, M., Carbone, G., & Mundo, D. (2020). Design of understeer characteristics through torque vectoring on a lumped-parameter full vehicle model. In The 3rd IFToMM IFIT Conference, (pp. 768-776). Springer: http://doi.org/10.1007/978-3-030-55807-9_85

Lenzo, B., Farroni, F., Mancinelli, N., Mercantini, M., Sakhnevych, A., & Timpone, F. (2020). A real-time thermal model for the analysis of tire/road interaction in motorcycle applications. In Symposium on the Dynamics and Control of Single Track Vehicles, BMD 2019, Padova, Italy, 9 September 2019 - 11 September 2019. http://bmdconf.org/pages/proceedings.html

Farroni, F., Napolitano Dell'Annunziata, G., Sakhnevych, A., Timpone, F., Lenzo, B., & Barbieri, M. (2020). Towards T.R.I.C.K. 2.0 – A tool for the evaluation of the vehicle performance through the use of an advanced sensors system. In Carcaterra, A., Paolone, A., & Graziani, G. (Eds.) 24th Congress of the Theoretical and Applied Mechanics Italian Association, Rome, Italy, Department of Structural and Geotechnical Engineering of Sapienza University of Rome, 15 September 2019 - 19 September 2019. Springer: http://doi.org/10.1007/978-3-030-41057-5_89

De Pascale, V., Lenzo, B., Farroni, F., Timpone, F., & Zhang, X. (2020). Torque Vectoring Control for fully electric Formula SAE cars. In 24th Congress of the Theoretical and Applied Mechanics Italian Association, Rome, Italy, Rome, Italy, 12 August 2019 - 16 August 2019 (pp. 1075-1083). Springer: https://www.springer.com/gp/book/9783030410568

Lenzo, B., & De Castro, R. (2020). Vehicle sideslip estimation for four-wheel-steering vehicles using a particle filter. Advances in dynamics of vehicles on roads and tracks. Proceedings of the 26th symposium of the International Association of Vehicle System Dynamics, IAVSD, August 12-16, 2019, Gothenburg, Sweden. Lecture notes in mechanical engineering, 1624-1634. http://doi.org/10.1007/978-3-030-38077-9_185

Lenzo, B., Gruber, P., & Sorniotti, A. (2020). On the enhancement of vehicle handling and energy efficiency of electric vehicles with multiple motors: the iCOMPOSE project. Advances in dynamics of vehicles on roads and tracks. Proceedings of the 26th symposium of the International Association of Vehicle System Dynamics, IAVSD, August 12-16, 2019, Gothenburg, Sweden. Lecture notes in mechanical engineering, 1342-1349. http://doi.org/10.1007/978-3-030-38077-9_155

Belluomo, C., Lenzo, B., Bucchi, F., & Velardocchia, M. (2018). Design, analysis and investigation of an independent suspension for passenger cars. In Carbone, G., & Gasparetto, A. (Eds.) Advances in Italian Mechanism Science: Proceedings of the Second International Conference of IFToMM ITALY, (pp. 165-173). Netherlands: Springer: http://doi.org/10.1007/978-3-030-03320-0_18

Pieralice, C., Lenzo, B., Bucchi, F., & Gabiccini, M. (2018). Vehicle sideslip angle estimation using Kalman filters: Modelling and validation. In Carbone, G., & Gasparetto, A. (Eds.) Advances in Italian Mechanism Science: Proceedings of the Second International Conference of IFToMM Italy, (pp. 114-122). Springer: http://doi.org/10.1007/978-3-030-03320-0_12

Quaglia, G., Cavallone, P., & Lenzo, B. (2018). On the dynamic analysis of a novel snake robot: preliminary results. In Carbone, G., & Gasparetto, A. (Eds.) Advances in Italian Mechanism Science: Proceedings of the Second International Conference of IFToMM ITALY, (pp. 275-285). Springer: http://doi.org/10.1007/978-3-030-03320-0_30

Lenzo, B., Sorniotti, A., & Gruber, P. (2018). A single input single output formulation for yaw rate and sideslip angle control via torque-vectoring. In 14th Symposium on Advanced Vehicle Control, Beijing, 16 July 2018 - 20 July 2018. http://avec2018.org/

Gadola, M., Chindamo, D., & Lenzo, B. (2018). On the passive limited slip differential for high performance vehicle applications. In 14th International Symposium on Advanced Vehicle Control, AVEC 2018, Beijing, China, 16 July 2018 - 20 July 2018. http://avec2018.org/

Zanchetta, M., Tavernini, D., Sorniotti, A., Gruber, P., Lenzo, B., Ferrara, A., ... De Smet, J. (2018). On the Feedback Control of Hitch Angle through Torque-Vectoring. 15th International Workshop on Advanced Motion Control AMC 2018, 535-540.

Lenzo, B. (2017). Gravity balancing of a spatial serial 4-dof arm without auxiliary links using minimum number of springs. AIMETA XXIII Conference - The Italian Association of Theoretical and Applied Mechanics. http://www.aimeta2017.unisa.it/node/25

Bucchi, F., Lenzo, B., Frendo, F., De Nijs, W., & Sorniotti, A. (2017). The effect of the front-to-rear wheel torque distribution on vehicle handling: an experimental assessment. 25th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks. http://www.iavsd2017.org/

De Filippis, G., Lenzo, B., Sorniotti, A., Gruber, P., Sannen, K., & De Smet, J. (2016). On the energy efficiency of electric vehicles with multiple motors. 13th IEEE Vehicle Power and Propulsion Conference VPPC2016. http://www.vppc2016.org/

Gruber, P., Sorniotti, A., Lenzo, B., De Filippis, G., & Fallah, S. (2016). Energy efficient torque vectoring control. Proceedings of AVEC'16. http://www.avec16.com/

Lenzo, B., Sorniotti, A., De Filippis, G., Gruber, P., & Sannen, K. (2016). Understeer characteristics for energy-efficient fully electric vehicles with multiple motors. EVS29 International Battery, Hybrid and Fuel Cell Electric Vehicle Symposium Proceedings. http://www.evs29.org/announcing-evs29-call-papers

Gabbrielli, R., Castrataro, P., Del Medico, F., Di Palo, M., & Lenzo, B. (2014). Levelized Cost of Heat for Linear Fresnel Concentrated Solar Systems. Energy Procedia, 49, 1340-1349. http://doi.org/10.1016/j.egypro.2014.03.143

Lenzo, B., Zanotto, D., Vashista, V., Frisoli, A., & Agrawal, S. (2014). A new Constant Pushing Force Device for human walking analysis. 2014 IEEE International Conference on Robotics and Automation (ICRA), 6174-6179. http://doi.org/10.1109/ICRA.2014.6907769

Fontana, M., Moretti, G., Lenzo, B., & Vertechy, R. (2014). Loading system mechanism for dielectric elastomer generators with equi-biaxial state of deformation. Proceedings of SPIE : Electroactive Polymer Actuators and Devices (EAPAD) 2014, 9056, 90561F. http://doi.org/10.1117/12.2045086

Book chapters

Dell’Annunziata, G.N., Lenzo, B., Farroni, F., Sakhnevych, A., & Timpone, F. (2019). A New Approach for Estimating Tire-Road Longitudinal Forces for a Race Car. In Uhl, T. (Ed.) Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science. (pp. 3601-3610). Springer: http://doi.org/10.1007/978-3-030-20131-9_355

Lenzo, B., Frisoli, A., Salsedo, F., & Bergamasco, M. (2014). New gravity balancing technique and hybrid actuation for spatial serial manipulators. In Lenarčič, J., & Khatib, O. (Eds.) Advances in robot kinematics. (pp. 419-427). Cham: Springer International Publishing: http://doi.org/10.1007/978-3-319-06698-1_43

Lenzo, B., Frisoli, A., Salsedo, F., & Bergamasco, M. (2013). An Innovative Actuation Concept for a New Hybrid Robotic System. In Padois, V., Bidaud, P., & Khatib, O. (Eds.) Romansy 19 - Robot Design, Dynamics and Control. Proceedings of the 19th CISM-IFtomm Symposium. (pp. 135-142). Vienna: Springer: http://doi.org/10.1007/978-3-7091-1379-0_17

Patents

Bergamasco, M., Filippeschi, A., Lenzo, B., & Salsedo, F. (2014). Robotic device for assisting human force. WO2014125387. https://www.google.com/patents/WO2014125387A3?cl=en

Bergamasco, M., Salsedo, F., & Lenzo, B. (2014). An exoskeleton structure for physical interaction with a human being. WO2013186705. https://www.google.com/patents/WO2013186705A3?cl=en

Bergamasco, M., Salsedo, F., & Lenzo, B. (2013). Actuating method and device for human interaction multi-joint mechanisms. WO2013186701. https://www.google.com/patents/WO2013186701A1?cl=zh

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