Archivio della ricerca della Scuola Superiore Sant'Anna
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AdapJ: An Adaptive Extended Jacobian Controller for Soft Manipulators
No full textThe nonlinearity and hysteresis of soft robot motions present challenges for control. To solve these issues, the Jacobian controller has been applied to approximate the nonlinear behaviors in a linear format. Accurate controllers like neural networks (NNs) can handle delayed and nonlinear motions, but they require large datasets and exhibit low adaptability. Based on a novel analysis on these controllers, we propose an adaptive extended Jacobian controller, AdapJ, for soft manipulators. This controller retains the concise format of the Jacobian controller but introduces independent parameters. Similar to NNs, its initialization and updating mechanism leverages the inverse model without building the corresponding forward model. In the experiments, we first compare the performance of the Jacobian controller, model predictive controller (MPC), NN controller, iterative feedback controller (IFC), and AdapJ in simulation. We further analyze how AdapJ parameters adapt in response to the physical property change. Then, real-world experiments have validated that AdapJ outperforms the NN controller, MPC, and IFC with fewer training samples and adapts robustly to varying conditions, including different control frequencies, material softness, and external disturbances. Future work may include online adjustment of the controller format and adaptability validation in more scenarios
A reduced-order model for segregated fluid–structure interaction solvers based on an ALE approach
No full textThis article presents a Galerkin projection-based reduced-order modeling (ROM) approach for segregated fluid–structure interaction (FSI) problems, formulated within an Arbitrary Lagrangian–Eulerian (ALE) framework at low Reynolds numbers using the Finite Volume Method (FVM). The ROM is constructed using Proper Orthogonal Decomposition (POD) and incorporates a data-driven technique that combines classical Galerkin projection with radial basis function (RBF) networks. The results demonstrate the numerical stability and accuracy of the proposed method relative to the high-fidelity model.The ROM successfully captures transient flow fields and, importantly, the forces acting on the moving structure without exhibiting unphysical growth or divergence over time. This is further supported by the bounded evolution of error metrics and physical observables, which remain consistent with the full-order simulations throughout the prediction horizon. The method's effectiveness is verified through a benchmark vortex-induced vibration (VIV) case involving a circular cylinder at Reynolds number Re=200. The hybrid ROM approach yields an accurate and efficient tool for solving FSI problems involving mesh motion
Verso un "sistema industriale modernizzato": le raccomandazioni del Comitato Centrale del Partito per il XV piano quinquennale cinese
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Exploring Lifetime Modeling Approaches in Life Cycle Assessment of Textiles and Footwear
No full textAn empirical inquiry into the distributional consequences of energy price shocks
No full textWe estimate how energy shocks affect the functional distribution of income. Using structural vector autoregressions identified with an external instrument, we find that an increase in oil prices leads to a substantial and long-lasting decline in the wage share. Real aggregate wage income is significantly impacted, with a considerable part of this decline stemming from distributive dynamics. We also investigate possible asymmetries in the response to oil supply shocks, finding that the wage share is more sensitive to negative shocks than to positive ones. This suggests that wage earners lose from oil price hikes more than they benefit from declines
Process Mining for legal Courts: Visualising, analysing and comparing Italian divorce proceedings
No full textProposing ELDA methodology: Ethical and Legal by Design and Assessment for cybersecurity solutions
No full textThe Guidelines Ethical by Design and Ethics of Use Approaches for Artificial Intelligence have provided an extensive and detailed set of indications grounded on interdisciplinary debate regarding the use of artificial
intelligence. This article aims to leverage the intellectual work leading to its ethical approaches to develop a framework adapted to the specificities of cybersecurity. The overall result of this paper is to propose Ethical and
Legal by Design and Assessment Guidelines (ELDA) that integrate the ethics questions and the legal questions, arguing that an ethical by design approach cannot be sustained without its big brother: legal by design. Ethics by design can be a policy direction until there is a clearly emerging legal framework. Legal by design in technological domains is often taken for granted, better “assumed as granted” by the need to be lawful. Building on
these premises, this text aims to provide initial advice on both perspectives when designing, developing,
deploying, or using cybersecurity solutions, regardless of the sector of application
La composition de la Cour constitutionnelle italienne : cadre juridique et influences politiques
No full textPROCESS FOR FABRICATING NEURAL INTERFACES BASED ON A COMBINATION OF MOLDING AND SCREEN PRINTING
No full textThe present invention concerns the field of implantable neural interface devices and, in particular, it refers to a new process for fabricating polymeric neural interfaces based on a combination of molding and screen printing, and to the interfaces thus obtained. The invention simplifies the process for fabricating the above-mentioned devices, both from an operational point of view and from a cost reduction perspective