196,072 research outputs found
Il Gruppo Europeo di Interesse Economico (GEIE)
No full textIl GEIE costituisce un istituto titpicamente europeo, sia nello spirito (in quanto destinato ad agevolare la cooperazione tra operatori economici transfrontalieri), sia nelle forme (in quanto introdotto ngli ordinamenti nazionali degli stati membri tramite regolamento ad applicazione diretta). Dopo un iniziale interesse da parte degli operatori, tuttavia, le sue fortune sono declinate. Ci si interroga, svolta una introduzione esegetica della disciplina, circa le possibilità di rilancio dell'istituto
Cooperative SLAM using M-Space representation of linear features
No full textThis paper presents a multi-robot simultaneous localization and map building (SLAM) algorithm, suitable for environments which can be represented in terms of lines and segments. Linear features are described by adopting the recently introduced M-Space representation, which provides a unified framework for the parameterization of different kinds of features. The proposed solution to the cooperative SLAM problem is split into three phases. Initially, each robot solves the SLAM problem independently. When two robots meet, their local maps are merged together using robot-to-robot relative range and bearing measurements. Then, each robot starts over with the single-robot SLAM algorithm, by exploiting the merged map.
The proposed map fusion technique is specifically tailored to the adopted feature representation, and takes into account explicitly the uncertainty affecting both the maps and the robot mutual measurements. Numerical simulations and experiments with a team composed of two robots performing SLAM in a real-world scenario, are presented to evaluate the effectiveness of the proposed approach
Multi-robot SLAM using M-space feature representation
No full textThis paper presents a SLAM algorithm for a team of mobile robots exploring an indoor environment, described by adopting the M-Space representation of linear features. Each robot solves the SLAM problem independently. When the robots meet, the local maps are fused together using robot-to-robot relative range and bearing measurements. A map fusion technique, tailored to the specific feature representation adopted, is proposed. Moreover, the uncertainty affecting the resulting merged map is explicitly derived from the single-robot SLAM maps and the robot-to-robot measurement accuracy. Simulation experiments are presented showing a team composed of two robots performing SLAM in a real-world scenario. ©2010 IEEE
Design and simulation of a fuzzy supervisory control system integrated in a small public building
No full textDesign and simulation of a fuzzy supervisory control system integrated in a small public building
No full textPublic administrations are encouraged to adopt actions for energy requalification of public buildings, which are responsible for considerable amounts of energy consumption. Low-cost technology improvements for energy renovation with high return on investment is a good opportunity when resource shortage hampers the adoption of expensive refurbishment. To this purpose, the integration of advanced control policies may optimize energy use of buildings with minimum hardware enhancement. In this contribution, we evaluated the performances of a control system based on fuzzy logic, supervising local Proportional-IntegrativeDerivative (PID) controllers, through numerical simulation. First, the design process will be described, with particular concern to the proper selection of the rules in the knowledge base and the design of the inference engine. Then, its performances will be compared with the ones provided by the use of just ordinary PID control units. The fuzzy based control system was simulated as an addiction to the heating system of an existing small public building, that is the “San Elpidio a Mare” community clinic located in Italy. The performances were assessed by means of simulations of an energy dynamic model developed in the DymolaTM environment, that had been previously validated with real consumption measurements. In this paper we will show not only what energy saving can be obtained by means of the fuzzy supervisor, but also its satisfactory performances in terms of stability of the control outputs
L’influenza del diritto europeo sul diritto penale delle società
No full textL'A. passa in rassegna i diversi profili di interazione tra diritto penale societario e diritto europe
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