1,279 research outputs found
Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control
Full text linkThis paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a suitable perception/localization pipeline, could be used to perform outdoor aerial teleoperation tasks in hazardous and/or remote sites of interest
Variations in sensorially-relevant metabolites and indices in PDO wines of common ampelographic background: A case study on commercial Lambrusco wines
Full text linkPDOs are important regulatory tools with the aim to link specific food products to their geographical origin. Despite the widespread presence of PDOs in wine sector, there is limited understanding as to whether wines of the same PDO exhibit common chemical signatures which can be considered representative of the PDO. Improved understanding of these could help in the development of successful PDO policies. In this context, this study considers 40 wines of three different PDOs of Lambrusco (Salamino, Grasparossa and Sorbara), a sparkling red wine produced in Italy, with the aim to evaluate to which extent a chemical signature reflecting sensoriallyrelevant metabolites could be identified for each PDO, also considering technological variables such as production technique and vintage. In comparison to other Italian wines, Lambrusco PDOs exhibited common features such as high content of acetate esters, trans-3-hexen-1-ol and 1,8-cineole. Lambrusco appellations differed for volatile metabolites such as terpenes, VSCs, C6 alcohols, TDN. Sorbara was characterized by lower content of phenolic compounds. The study of the impact of aging and production techniques revealed a greater impact of the former on the volatile profile. Young Classico methods were more similar to Charmat wines from the same vintages, rather than to older classic methods
Correction to: When terminology hinders research: the colloquialisms of transitions of control in automated driving (Cognition, Technology & Work, (2022), 10.1007/s10111-022-00705-3)
Full text linkIn the original article, author affiliation published with error. The correct affiliations are: Davide Maggi—Institute for Transport Studies, Leeds, UK. Richard Romano—Institute for Transport Studies, Leeds, UK. Oliver Carsten—Institute for Transport Studies, Leeds, UK. Joost C. F. De Winter—Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands. The original article has been corrected.Human-Robot Interactio
Admiel Kosman, Siamo giunti a Dio
Full text linkInternational audienceSix poems from Israeli poet Admiel Kosman translated from the Hebrew into Italian. Selection of poems, presentation of the author, translation and notes by Davide Mano
Admiel Kosman, Siamo giunti a Dio
No full textInternational audienceSix poems from Israeli poet Admiel Kosman translated from the Hebrew into Italian. Selection of poems, presentation of the author, translation and notes by Davide Mano
Starchitecture: Scenes, Actors and Spectacles in Contemporary Cities
No full textHow and why do spectacular buildings get commissioned and procured? What are their visible urban effects? What can urban planners, architects, and policymakers learn in order to engage in more successful citymaking?
In recent years, media and critical attention has been lavished on famous architects, and the contributions of their designs to the branding of cities. The post-“Bilbao effect” global landscape is one where cities compete for the highest-profile skyscrapers, cultural projects, and high-profile developments designed by star architects whom even casual readers know by first name: Frank Gehry, Bjarke Ingels, Jean Nouvel, Zaha Hadid, Norman Foster, Rem Koolhaas. Far less is known about the decision-making processes behind these projects and their subsequent urban effects.
A unique combination of urban studies and photography, Starchitecture investigates projects designed by star architects in cities including Paris, New York, Abu Dhabi, Bilbao, and the architectural microcosm of the Vitra campus in Weil am Rhein, Germany. Author Davide Ponzini and photographer Michele Nastasi seek to explain and critique a growing global condition by revealing how starchitecture has been and continues to be deployed in cities around the world. The arguments they raise are vital to understanding the urban landscapes of today, and tomorrow
Controllo del beccheggio di un aereo
Full text linkL'elaborato in questione si propone come obiettivo quello di descrivere il sistema di controllo del beccheggio di un velivolo aereo, partendo dalla fase di analisi per giungere a quella di progettazion
Application of Model-Based Systems Engineering in Complex System Development: a Power Management IC case study
Full text linkopenThis thesis explores the use of Model-Based System Engineering (MBSE) in the
design and development of Power Management Integrated Circuits. PMICs
are critical components in modern electronic systems, responsible for managing and regulating power supply to various components of a system; the use
of MBSE can greatly improve the efficiency and reliability of systems design,
by providing a systematic and hierarchical approach to the development and
description of the system. The thesis work begins with a study of the principles and advantages of MBSE, followed by a detailed overview of sysML, the
model description language chosen for the project, intending to be a preliminary approach to SysML and Enteprise Architect modeling tool for the reader.
Proceeding further, the case study is presented, where MBSE is applied to the
design of a first set of modules of PMIC, demonstrating the effectiveness of this
technique and the quality of the final design, including the set of simulations
performed on the model and final results
Conception et contrôle de véhicules aériens multi-rotors a poussé multi-directionnelle avec application aux taches d’interaction physique aérienne
No full textNational audienceThis thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the surrounding environment, with particular attention to the development of modeling and design techniques, and suitable control strategies for these systems. Due to the intrinsic difficulty and the novelty associated with the study of these systems, new techniques are needed to: i) better describe the aerial vehicle dynamics and its actuation limits; ii) effectively design new aerial prototypes with particular properties of dexterity and resilience; iii) guarantee a stable control during contact-less operations despite the actuation limits; and iv) preserve the system stability also during the contact phase with the environment while guaranteeing the fulfillment of the sought manipulation task. This thesis explores new strategies to overcome, to a certain extent, the under-actuation problem of classical multi-rotor platforms, conceived with the propellers ali! gned towards a common direction. The goal of this thesis is to contribute to a wise growth of the preliminary theoretical results on multi-directional thrust aerial vehicles laid by the state of the art and, furthermore, to the development of more suitable real aerial robotic systems with enhanced manipulation means, tailored for aerial physical interaction tasks. This thesis takes place inside the context of the European H2020 AeroArms project, whose goal is to develop aerial robotic systems with advanced manipulation capabilities to be applied in industrial inspection and maintenance. Hence, also the technology transfer and the impact on the industry plays here an important role.Cette thèse aborde l’étude de véhicules aériens autonomes interagissant d’une façon active avec l’environnement, en portant une attention particulière au développement des techniques de modélisation, de conception, et de stratégies de commande appropriées pour ces systèmes. L’étude de ces systèmes étant intrinsèquement complexe et relativement récente, de nouvelles techniques sont nécessaires pour : i) mieux décrire la dynamique du véhicule aérien et ses contraintes d’actionnement ; ii) concevoir efficacement de nouveaux prototypes aériens dotés de propriétés particulières de dextérité et de résilience ; iii) garantir un contrôle stable pendant les opérations sans contact malgré les contraintes d’actionnement ; et iv) préserver la stabilité du système pendant la phase de contact avec l’environnement tout en garantissant l’accomplissement de la tâche de manipulation. Cette thèse explore de nouvelles str! atégies pour surmonter, dans une certaine mesure, les problèmes de sous-actionnement des véhicules traditionnels, conçus avec les hélices orientées dans une même direction. L’objectif de cette thèse est d’enrichir les résultats théoriques préliminaires sur de nouvelles plateformes et, en outre, de contribuer au développement de systèmes robotiques aériens réels plus appropriés aux moyens de manipulation améliorés et adaptés aux tâches d’interaction physique aérienne. Cette thèse s’inscrit dans le cadre du projet européen H2020 AeroArms, dont le but est de développer des systèmes robotiques aériens dotés de capacités de manipulation avancées à appliquer dans les domaines de l’inspection et de la maintenance industrielles. Par conséquent, l’impact sur l’industrie joue ici un rôle important
Lean Management at ENERGY S.R.L.. Evolution of layout and of the Agripower Value Stream
No full textreservedL'aumento del volume di produzione della value stream Agripower porta l'azienda a dover ripensare alla modalità produttiva e al flusso dei semilavorati al suo interno, contemporaneamente alla necessità di sfruttare al massimo gli spazi e la propria capacità produttiva, seguendo i principi del Lean Management
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