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- Robotics, Automatic Control, Autonomous Robotics, Mechatronics & Robotics, Mobile Robotics, quad rotor thesis UAV robotics control, and 14 moreHumanoid Robotics, Autonomous Mobile Robots, Autonomous Systems, Autonomous Vehicles, Control Systems, Control Systems Engineering, Dynamic Systems and Control, System Dynamics, Embedded Systems, System Dynamics Modeling, Cyber-Physical Systems, Vehicle Dynamics, Motorcycles, and Automation and controledit
- The research interests are in the automation field, they include systems and control theory, robotics, mechatronics, ... moreThe research interests are in the automation field, they include systems and control theory, robotics, mechatronics, nonlinear dynamics and control, modeling and control of dynamical systems. In industrial context interests concern Cyber Physical Systems, smart manufacturing and Industry 4.0, KPIs, Predictive Maintenance, automation in constructions. Lastly, interests in autonomous and intelligent systems are on autonomous vehicles, vehicle dynamics, intelligent robotics, unmanned aerial and ground vehicles.edit
- Advisor of various PhD students and Post Docsedit
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Many “Industry 4.0” applications rely on data-driven methodologies such as Machine Learning and Deep Learning to enable automatic tasks and implement smart factories. Among these applications, the automatic quality control of... more
Many “Industry 4.0” applications rely on data-driven methodologies such as Machine Learning and Deep Learning to enable automatic tasks and implement smart factories. Among these applications, the automatic quality control of manufacturing materials is of utmost importance to achieve precision and standardization in production. In this regard, most of the related literature focused on combining Deep Learning with Nondestructive Testing techniques, such as Infrared Thermography, requiring dedicated settings to detect and classify defects in composite materials. Instead, the research described in this paper aims at understanding whether deep neural networks and transfer learning can be applied to plain images to classify surface defects in carbon look components made with Carbon Fiber Reinforced Polymers used in the automotive sector. To this end, we collected a database of images from a real case study, with 400 images to test binary classification (defect vs. no defect) and 1500 for...
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The problem of estimating the largest possible component of the state of a parameter dependent linear system in presence of unknown inputs is considered. Using a geometric approach and suitable defined invariant subspaces, that capture... more
The problem of estimating the largest possible component of the state of a parameter dependent linear system in presence of unknown inputs is considered. Using a geometric approach and suitable defined invariant subspaces, that capture the concept of robustness with respect to parameter variation, a procedure for detecting the largest component of the state that may possibly be estimated together with a construction of the observer system and a technique for analyzing its asymptotic behavior is provided.
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The field of Permanent Magnet Synchronous Motors (PMSMs) diagnosis is of research interest because widely used both in the Industrial environment and in electric vehicles. Amongst various Fault Detection (FD) techniques, the Motor Current... more
The field of Permanent Magnet Synchronous Motors (PMSMs) diagnosis is of research interest because widely used both in the Industrial environment and in electric vehicles. Amongst various Fault Detection (FD) techniques, the Motor Current Signature Analysis (MCSA) received lots of attention because some defecting frequencies may be monitored through the motor currents in case of steady-state functioning. This latter assumption is not always fulfilled, such e.g. in robotic systems driven by PMSMs, where constant speed assumption is unrealistic in most of the cases. Furthermore, MCSA in not suitable for systems working under non-stationary conditions without using advanced processing techniques. This work investigates the use of load torque information for motor diagnostic purposes under not constant speed assumption. Simulations and experimental results are presented regarding the use of the proposed Motor Torque Analysis (MTA) to overcome these limits.
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The proposed paper aims to introduce the vertical dynamics in an All-Wheel-Drive motorcycle through a front and a rear suspension, modelled with two different spring-damper systems. The motorcycle model has been described with two rigid... more
The proposed paper aims to introduce the vertical dynamics in an All-Wheel-Drive motorcycle through a front and a rear suspension, modelled with two different spring-damper systems. The motorcycle model has been described with two rigid bodies and ten degrees of freedom.
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The Condition Monitoring (CM) of industrial collaborative robots (cobots) has the potential to decrease downtimes in highly automated production systems. However, in such complex systems, defining a strategy for effective CM and... more
The Condition Monitoring (CM) of industrial collaborative robots (cobots) has the potential to decrease downtimes in highly automated production systems. However, in such complex systems, defining a strategy for effective CM and automatically detecting failures is not straightforward. In this paper, common issues related to the application of CM to collaborative manipulators are first introduced, discussed, and then, a solution based on the Robot Operating System (ROS) is proposed. The content of this document is highly oriented towards applied research and the novelty of this work mainly lies in the proposed CM architecture, while the methodology chosen to assess the manipulator’s health is based on previous research content. The CM architecture developed and the relative strategy used to process data are useful for the definition of algorithms for the automatic detection of failures. The approach is based on data labeling and indexing and aims to extract comparable data units to e...
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Infrastructure systems strongly influence contemporary society and increasingly our quality of life depends on it, but unfortunately these infrastructures are ageing and failures are becoming common. Automate maintenance procedures can be... more
Infrastructure systems strongly influence contemporary society and increasingly our quality of life depends on it, but unfortunately these infrastructures are ageing and failures are becoming common. Automate maintenance procedures can be a real solution to cope with these problems but several limits have to be overcome yet. In this work, these limits are faced by proposing an alternative UAV that would bring advantages in safe inspection tasks and human-interaction, named Double Propeller Ducted-Fan. An alternative UAV’s architecture jointly with a dynamic model and a simplified linear control scheme is here proposed, by taking into account the requirements demand to further commercial development. The validity of the model and the proposed control scheme are evaluated in simulations, also taking into account real disturbances and noise from sensors. The results are encouraging in term of performances, compared with tests carried out with linear controllers in similar UAVs.
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This system adopts spherical photographs to map coastal areas and port entrances. It is an augmented reality (AR) application to be regarded as an aid in navigation during the night and/or in foggy weather conditions. Also, the system... more
This system adopts spherical photographs to map coastal areas and port entrances. It is an augmented reality (AR) application to be regarded as an aid in navigation during the night and/or in foggy weather conditions. Also, the system offers unique multimedia content which will be applied in other areas, such as monitoring illegal constructions along the coasts.
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This poster is part of the Proceedings of the 2019 Bicycle and Motorcycle Dynamics Conference: A Symposium on the Dynamics and Control of Single Track Vehicles held in Padova, Italy September 9th through 11th in the year... more
This poster is part of the Proceedings of the 2019 Bicycle and Motorcycle Dynamics Conference: A Symposium on the Dynamics and Control of Single Track Vehicles held in Padova, Italy September 9th through 11th in the year 2019.<br><br>Artifact ID: 2
Over the recent years many solutions to the problems of anti-locking and traction control have been widely investigated for four-wheeled vehicle equipped with both electric and internal combustion engines. Few works are relative to TCS... more
Over the recent years many solutions to the problems of anti-locking and traction control have been widely investigated for four-wheeled vehicle equipped with both electric and internal combustion engines. Few works are relative to TCS (Traction Control System) for two-wheeled vehicle and most of them take advantage of well established nonlinear techniques. This paper proposes a traction controller for two-wheeled electric vehicle based on nonlinear model predictive approach. The controller objective is to prevent the traction wheel from spinning out when accelerating in order to maintain the driving performance as well as driving comfort. A proper evaluation of the interaction between the rider command and the controller action is made in order that the controller take over the rider’s input as soon as longitudinal slip condition is detected. In controlled state the optimal driving torque that guarantees optimal traction is computed based on a model predictive approach taking into account the nonlinearities of the system conveyed by the friction forces. The controller has been tested in simulation environment.
Research Interests: Computer Science and IEEE
This paper investigates the effects of a traction control system on the motorcycle's dynamics when both straight line or cornering conditions are considered. A nonlinear sliding mode controller has been chosen. When the rear wheel... more
This paper investigates the effects of a traction control system on the motorcycle's dynamics when both straight line or cornering conditions are considered. A nonlinear sliding mode controller has been chosen. When the rear wheel traction is lost after a rapid acceleration, the controller reduces the power supplied by the engine allowing the rear wheel to regain grip and stability. This situation has been simulated with the motorcycle running in vertical position and in leaning condition. The latter allows to investigate the behaviour of the traction control when the motorcycle's dynamic is more affected by the roll angle. The results show that the controller is able in both the cases to reduce the longitudinal slip of the rear wheel. Moreover, in leaning situation, the controller acting indirectly on the lateral dynamic reduces the oversteer, a phenomenon that can lead to the lowside fall. The simulations have been carried out by means of the motorcycle analytical model proposed by the authors in prior works. This mathematical platform is able to examine with sufficient detail the behavior of a two-wheeled vehicle in the most significant situations.
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Predictive Maintenance (PdM) is one of the key enabling technologies in Industry 4.0. The Factories of the Future will adopt highly automated and interconnected environment where predictive fault detection will have an essential role to... more
Predictive Maintenance (PdM) is one of the key enabling technologies in Industry 4.0. The Factories of the Future will adopt highly automated and interconnected environment where predictive fault detection will have an essential role to ensure efficient and reliable industrial operations. Due to their high efficiency and their low cost Cartesian Robots (CRs) represent one of the widely used automation systems in industry. Their movements and efficiency depends on transmission system and its degradation. However not much has been done in terms of PdM for these robots and very few works tries to deal with this problems. Different failures for those kind of robots are attributable to the transmission system. This work details the effect of the transmission system on the robot electrical actuation according to Motor Current Signal Analysis (MCSA) theory. This analysis propose different tools, used in others disciplines for different purposes, to infer features of the faulty condition. By monitoring the motor current of the CR, after a signal preprocessing, a proper fault index have been investigated in order to detect the functionality state of the transmission system. The preliminary results obtained are encouraging compared to classic spectral analysis. The monitoring and analysis have also been extended to the transient state. All the fault detection tests have been carried out directly on the electric drive mounted on a real industrial CR.
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The complexity of cyber-physical systems (CPSs) poses new challenges in their design, model checking and maintenance. The hardware and software designers are in search, more than ever, for simple and interoperable approaches that render... more
The complexity of cyber-physical systems (CPSs) poses new challenges in their design, model checking and maintenance. The hardware and software designers are in search, more than ever, for simple and interoperable approaches that render the complexity of CPSs a treatable matter. In this work, database language is suggested as an enabling technology and a lean technique to the purpose. An example with best available embedded database technology is conducted by means of a deployment test on tiny embedded electronics.
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Although an industrial robot represents a higher class of machine, it is a part of a production system. The robot, regardless of its own complexity, can be represented by a set of actions that leads itself towards the achievement of... more
Although an industrial robot represents a higher class of machine, it is a part of a production system. The robot, regardless of its own complexity, can be represented by a set of actions that leads itself towards the achievement of production goals. In the present paper the robot actions will be modeled as a production system in order to manage and monitoring its actions toward a production target. This will allow an easier integration of the robot within the production process, as required by the new paradigms for the factories of the future.
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This paper gives a novel perspective about the role of the self-similarities in the modelling of system of systems with cyber-physical representation. With the adoption of virtual overlays of dynamically self-adapting holarchies, the... more
This paper gives a novel perspective about the role of the self-similarities in the modelling of system of systems with cyber-physical representation. With the adoption of virtual overlays of dynamically self-adapting holarchies, the emergent characteristics and behaviors of the information and automation systems are mapped into a recursive tree of autonomic components that can be typically realized through holonic multiagent systems. The nested computing structures that are used to achieve a productivity goal are kept simple by means of self-similarities. This simplification provides a viable methodology for the pervasive management and the automated programming of the holonic components. The technique described is suitable for a prompt adoption on a vast class of manufacturing, robotics, mechatronics, and facility management processes, whilst enabling a continuum between humans and machines. An advantage of the proposed method is its agnosticism with respect to most of the specific but heterogeneous technological means adopted in the already existent automation realizations.
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This paper presents an embedded system for a ballbot robotic platform, which is a balanced omnidirectional mobile robot that moves on a sphere. It provides a higher degree of maneuverability compared to the wheeled mobile robots. The... more
This paper presents an embedded system for a ballbot robotic platform, which is a balanced omnidirectional mobile robot that moves on a sphere. It provides a higher degree of maneuverability compared to the wheeled mobile robots. The robot balances it on a ball and gives to the system only one contact point with the ground. This allows to reduce the friction and the space needed by the system to turn around a point. This is a major feature for a mobile vehicle, considering that most of them rotate their whole body to obtain a change in direction. The proposed platform is self-contained with on-board sensing and computation, it uses only off-the-shelf components and is designed to perform maneuvers when operating in tight spaces as in the human environments. The proposed embedded system is based on a general pourpose embedded board equipped with a 32bit microcontroller which is able to manage all the basic tasks of this robotic platform: sensing, actuation, control and communication....
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This work reviews and recaps some lessons learnt in the industrial cyber-physical systems playground to indicate a viable path towards an effective use of artificial intelligence in distributed automation. The holon concept is used as a... more
This work reviews and recaps some lessons learnt in the industrial cyber-physical systems playground to indicate a viable path towards an effective use of artificial intelligence in distributed automation. The holon concept is used as a pivotal tool towards a simplification of the design and implementation of architectures that exploit recursive patterns and self-similarities to keep the industrial systems-of-systems problem under control, whilst addressing the consistent coupling between the physical environmental and the reasoning processes. The Beer’s viable system model is used as an inspiration towards new viable holistic visions of the production system-of-systems.
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A Ballbot is a self-balanced mobile robot designed for omnidirectional mobility. The structure self-balanced on a ball giving to the system only one contact point with the ground. In this paper the dynamical model of a Ballbot system is... more
A Ballbot is a self-balanced mobile robot designed for omnidirectional mobility. The structure self-balanced on a ball giving to the system only one contact point with the ground. In this paper the dynamical model of a Ballbot system is investigated in order to find a linearized model which is able to describe the three-dimensional dynamics of the mechatronic system by a simpler set of equations. Due to the system's complexity, the equations of motion are often obtained by the energy method of Lagrange, they consist of a vast nonlinear ordinary differential equations (ODE), which are often numerically linearized for small perturbations. The present paper proposes to model the whole 3D dynamics of the Ballbot with the Newton-Euler formalism and Tait-Bryan angles in order to describe the model in terms of the system's physical parameters without resorting to numeric solution. This physical modelling is introduced to allow the simplification of the dynamic motion control of the ballbot.
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This paper proposes to enhance an existing motorcycle dynamics model, in order to take account of the longitudinal dynamics, the wheels dynamics and the rear wheel traction. The added equations of motion are obtained using Lagrangian... more
This paper proposes to enhance an existing motorcycle dynamics model, in order to take account of the longitudinal dynamics, the wheels dynamics and the rear wheel traction. The added equations of motion are obtained using Lagrangian formulation. Also, to model the road surface, two additional equations describing the longitudinal slip and the longitudinal forces dynamic are included. The model is able to describe the coupling of the in-plane (longitudinal) and out-of-plane (lateral) dynamics and represents a suitable computational tool for designing preventive motorcycle active safety systems and controller synthesis applications. Simulation results and discussions are given in order to illustrate the effectiveness of the proposed mathematical tool.
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This paper proposes a mathematical model of a motorcycle that deals with the lateral and longitudinal dynamics, the tyre slip and the rear wheel traction. The vehicle is considered as an assembly of two rigid bodies. The proposed dynamic... more
This paper proposes a mathematical model of a motorcycle that deals with the lateral and longitudinal dynamics, the tyre slip and the rear wheel traction. The vehicle is considered as an assembly of two rigid bodies. The proposed dynamic formulation is based on Lagrange's equations, it allows to formulate the equations of motion with 7 degrees of freedom (DoF). The model assess the vehicle behavior in response to a propulsion torque applied to the rear wheel and a rider torque applied to the motorcycle handlebar. The model is able to describe the coupling of the in-plane (longitudinal) and out-of-plane (lateral) dynamics taking into account the rear and the front longitudinal tyre slip related to the rear wheel traction. In order to solve the linearized equations of motion, no multibody software was used, only numeric simulation tools such as MATLAB.
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Research Interests: Computer Science and IEEE
This paper presents a dynamic platform instrument with a virtual reality simulator used for multi-discipline educational purposes. In control system theory there are a number of generic systems and methods which are used in all areas of... more
This paper presents a dynamic platform instrument with a virtual reality simulator used for multi-discipline educational purposes. In control system theory there are a number of generic systems and methods which are used in all areas of industry and technology for educational purposes. This paper aims to explain these important systems application and methods in straightforward terms. The paper describes what makes a particular type of system/method important, how it works and then how to control it. The control are performed using models of real and unstable systems. This includes the state of the art, a description of the proposed platform, the simulation tools and the results.
Research Interests: Computer Science and IEEE
Research Interests: Mathematics and Elsevier
In Soft Real-Time (SRT) or Hard Real-Time (HRT) applications, the behaviour of the computing system must be predictable at design phase because it impacts on the design itself. Nowadays, hardware architectures are able to provide higher... more
In Soft Real-Time (SRT) or Hard Real-Time (HRT) applications, the behaviour of the computing system must be predictable at design phase because it impacts on the design itself. Nowadays, hardware architectures are able to provide higher performance and guarantee temporal determinism but few works investigate the computational effort required by control algorithms implementation. This preliminary work aims to be a first step towards a novel analysis of performances and Worst-Case Execution Time (WCET) which can be useful to compare different control techniques and for evaluating also the complexity of the algorithms. To this purpose, a mobile robot consisting of motorized cart-pendulum has been built and it has been equipped with an HRT hardware platform where a nonlinear State Dependent Riccati Equation (SDRE) technique has been implemented.
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Autonomic computing initiative aimed to develop computer systems capable of self-management in order to overcome the rapidly growing complexity of computing systems management. Similar complexity affects the management and control of the... more
Autonomic computing initiative aimed to develop computer systems capable of self-management in order to overcome the rapidly growing complexity of computing systems management. Similar complexity affects the management and control of the systems in the industry of the future that currently relies on the advancements in cyber-physical systems frameworks. With this position paper, the RMAS architecture is checked against the major properties of autonomic systems. RMAS is proposed as a methodological and technological platform to reduce the barriers that complexity poses to further growth in intelligent automation and control.
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This paper proposes RMAS (relational model multiagent system), a database-centric architecture for the realization of multiagent systems suitable for the embodiment of reasoning and control in cyber-physical systems. The RMAS uses a... more
This paper proposes RMAS (relational model multiagent system), a database-centric architecture for the realization of multiagent systems suitable for the embodiment of reasoning and control in cyber-physical systems. The RMAS uses a tightly coupled association between an active database management system and a host processing language. A first instance of RMAS is proposed by means of the coupling of the Matlab environment and the SQLite database language. The choice of the database language is guided by the keen attention of RMAS to systems that feature scalability down to the tiny embedded systems of the Internet of Things. An example of a typical holonic manufacturing problem with mechatronics entities is conducted by means of the proposed architecture.
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The present paper reports on the current progress about the laboratory-based assessment of the fluency of attitude maneuvering of a quadcopter. The manuscript illustrates a laboratory-based data-acquisition setup and a mathematical... more
The present paper reports on the current progress about the laboratory-based assessment of the fluency of attitude maneuvering of a quadcopter. The manuscript illustrates a laboratory-based data-acquisition setup and a mathematical data-processing algorithm to test a novel attitude maneuvering fluency estimation index termed geometric lurch. The geometric lurch index is defined in terms of angular variables’ values as returned by gyroscopic sensors that a quadcopter vehicle is equipped with. The results of several numerical tests, conducted on both synthetic and real-world gyroscopic signals, show that the geometric lurch index is fairly sensitive to the fluency of attitude maneuvering.
The present paper proposes a conceptual framework along with a practical solution for the problem of integrating the performance indicators of production processes with the capabilities of robotic systems and machinery. This will enable... more
The present paper proposes a conceptual framework along with a practical solution for the problem of integrating the performance indicators of production processes with the capabilities of robotic systems and machinery. This will enable technology transfer and development of automated production processes within the new vision of industry 4.0. The proposed methodology is a solution for improving the performance of a manufacturing system that integrates robotics, mechatronics and automation systems at different levels. Performance measurements and bottlenecks detection on critical production paths are performed in order to achieve a dynamic and on-line system improvement. This consists of a pervasive control of the effectiveness of the system-of-systems, by means of a well-defined sequence of specific and minimal corrective actions. The proposed technique is advisable in the complex scenario of decentralized manufacturing. The nature of the solution is context-dependent and scalable.
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This paper is a proposition of methodological and technological approaches that try to constitute a framework that introduces modern artificial intelligence (AI) technologies for decision-making in the adaptive re- use of cultural... more
This paper is a proposition of methodological and technological approaches that try to constitute a framework that introduces modern artificial intelligence (AI) technologies for decision-making in the adaptive re- use of cultural heritage (CH) processes. The research aims to accelerate and improve the quality of adaptive CH re-use. The complexity of the problem derives from some causes of different nature: lack of attention to this problem from the public administration and private investors; decision-making processes complicated by the need to connect with experts, located in different countries. Most professionals, related to the CH management, cannot access detailed data about already existing successful initiatives. The specific objective and goal of the research is the creation of an AI framework and eco-system for supporting the development and implementation of innovative business and governance models to fill up the investment gap in the adaptive re-use practices. The paper...
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Measuring systems used for alternative control are the basis of the kitchen fronts acceptance. The assessment of such products is difficult. On the basis of the performed analysis, it can be said that different operators make different... more
Measuring systems used for alternative control are the basis of the kitchen fronts acceptance. The assessment of such products is difficult. On the basis of the performed analysis, it can be said that different operators make different decisions that result in different problems in a case study manufacturing company. In the work, the authors propose a cyber-physical distributed computing infrastructure to implement performance metrics methods extended to manage the control system and to support the decisions concerning improvements in the control process. It will result in the minimization or avoidance of operators’ mistakes concerning the wrong acceptance or rejection of the finished product.
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This paper discusses the problems of material and information flow in a complex product manufacturing process. It presents an ICT solution that augments Kanbans in order to enable flexible and pervasive control on state and delivery of... more
This paper discusses the problems of material and information flow in a complex product manufacturing process. It presents an ICT solution that augments Kanbans in order to enable flexible and pervasive control on state and delivery of material on workstations. The paper deliberates methods and tools that can be possibly applied in such production systems. The best-practices and modern technologies are taken into consideration in the context of small-medium enterprises (SMEs). It is assumed that important factors and constraints are: low costs, low instrumentations, and high flexibility. The complexity of products and the manufacturing systems makes the management and control process even more difficult. The deployment of distributed intelligence and decision support systems can facilitate the compliance with industrial standards and the migration towards the automation levels required by industry 4.0 also in SMEs.
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The development of Intelligent Transportation System (ITS) technologies is an emerging topic in regards to Powered Two-Wheelers (PTW's). Major researches on automobiles are still focused on the area of active safety systems which aim... more
The development of Intelligent Transportation System (ITS) technologies is an emerging topic in regards to Powered Two-Wheelers (PTW's). Major researches on automobiles are still focused on the area of active safety systems which aim to minimize the risks of accidents by controlling the stability of the vehicle in critical situations. The main issue in designing stability control systems for motorcycles lays in the different and complex driving dynamics in comparison to four-wheeled vehicles. Nowadays the most sophisticated system available for commercial powered two-wheelers is the anti-lock braking system (ABS). Undoubtedly it provides safety benefits, but it is not designed to operate during strong cornering in presence of high lateral accelerations. For the design of motorcycle's safety control systems the set-up of a proper vehicle's model is a major issue. Often the model is required to be as simple as possible and able to describe the most of the roll dynamic behaviour, but these two requirements are conflicting. The author's prior works proposed an analytical model with rear wheel traction able to examine a motorcycle during acceleration and braking in straight running or cornering condition. This model linearized around the vertical position considers the coupling of the dynamics and provides an adequate description of the friction forces, hence it proves effective in describing the dynamics of a vehicle in curve. In this paper, in order to obtain a better understanding of the vehicle dynamics in critical situations, simulation tests and comparisons between the behaviours of the linearized model and the same model with no roll linearization have been made considering the vehicle in highside fall.
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The complexity of cyber-physical systems (CPSs) poses new challenges in their design, model checking and maintenance. The hardware and software designers are in search, more than ever, for simple and interoperable approaches that render... more
The complexity of cyber-physical systems (CPSs) poses new challenges in their design, model checking and maintenance. The hardware and software designers are in search, more than ever, for simple and interoperable approaches that render the complexity of CPSs a treatable matter. In this work, database language is suggested as an enabling technology and a lean technique to the purpose. An example with best available embedded database technology is conducted by means of a deployment test on tiny embedded electronics.
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The Non Interacting Control Problem for linear parameter varying (LPV) system is investigated. Using a geometric approach, the notion of robust controllability subspace is introduced and computational aspects are discussed. Solvability... more
The Non Interacting Control Problem for linear parameter varying (LPV) system is investigated. Using a geometric approach, the notion of robust controllability subspace is introduced and computational aspects are discussed. Solvability conditions for the Non Interacting Control Problem by state feedback for LPV systems are obtained and procedures are given to practically compute the solutions, if any.
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This paper presents a dynamic platform instrument with a virtual reality simulator used for multi-discipline educational purposes. In control system theory there are a number of generic systems and methods which are used in all areas of... more
This paper presents a dynamic platform instrument with a virtual reality simulator used for multi-discipline educational purposes. In control system theory there are a number of generic systems and methods which are used in all areas of industry and technology for educational purposes. This paper aims to explain these important systems application and methods in straightforward terms. The paper describes what makes a particular type of system/method important, how it works and then how to control it. The control are performed using models of real and unstable systems. This includes the state of the art, a description of the proposed platform, the simulation tools and the results.
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The RMAS (relational-model multi-agent system) architecture has been proven promising towards the introduction of autonomic intelligence for industrial agents, and suitable for the enforcement of some parts of the reference model in the... more
The RMAS (relational-model multi-agent system) architecture has been proven promising towards the introduction of autonomic intelligence for industrial agents, and suitable for the enforcement of some parts of the reference model in the IEC 61499 standard, for distributed adaptive automation and control systems, namely the Resource model and the Function Block model. In this paper, the analysis is extended to the Device Management model. The RMAS is overlaid on the structures of this model in order to demonstrate that it can constitute factual and promising means for the expression of essential self-* capabilities of autonomic industrial agents. The analysis here conducted covers also some aspects of the XAI (explainable artificial intelligence), due to their relevance in industrial context. RMAS results a fundamental step for the factual introduction of AI in industrial playground, as a technology framework for the explainability, controllability, and quality of the intelligent automation solutions for industry.