1,721,083 research outputs found
Supervisory system of myoelectric prostheses
No full textThis paper concerns with the use of a supervisory expert system to parameter adjusting of myoelectric prostheses. The prosthesis system is an artificial arm produced by INAIL in Vigorso (Bologna, Italy), which is equipped by on-board actuation system. The expert system, which is developed using a fuzzy logic algorithm, guides the patients through an interactive session aiming to test the prosthesis functionality and, when necessary, to self-adjust the parameters. The prosthesis control system is connected through a RS232 communication link to a Personal Computer running the expert system. A teleconference service is included in the package, which permits the technicians to monitor remotely the tuning session. The paper presents the overall characteristics of auto-tuning system, detailing particularly the fuzzy logic algorithm which is the core of the expert system. Some preliminary experimental results on the application of the system to patients are reported as well
A nonlinear proportional controller for motion control application
No full textThis paper concerned the theoretical design and the experimental test of a simple nonlinear proportional controller. The controller is based on a gain scheduling approach, in which a model-based procedure is used to define the switching policy. The design procedure has been applied to a position control loop based on an AC electrical motor. Results from the experimental tests show that nonlinear controller performs better in terms of reference trajectory tracking compared with standard proportional control. © 2010 IEEE
Design of cyber-physical systems: Definition and metamodel for reusable resources
No full textThe utilization of modular and reusable resources would reduce complexity and lead-time for the design of cyber-physical systems. Even if different theories have been proposed, there is not a general definition and metamodel applicable for reusable resources. Energetic approaches constitute the state of the art for modeling the dynamics of physical systems. Within this work, Power-Oriented Graphs energetic approach is adapted to cyber-physical systems in order to provide a definition for reusable resources. Eventually, a metamodel for reusable resources is proposed
Parameter identification for eigenstructure assignment in robust fault detection
No full textThe paper presents some results on parametric identification of linear systems applied to robust Fault Diagnosis schemes. In our approach, an equation error model is derived from input- output data. In particular, the error term takes into account disturbances (non measurable inputs), nonlinear and time-variant terms, measurement errors, etc. In this manner, state-space realization of the equation error model leads to define a disturbance distribution matrix related to the error term, and, thus, well-known eigenstructure assignment results for robust fault detection can be successfully applied. The proposed procedure has been tested on a industrial gas turbine prototype model in which a sensor fault is simulated. Results from this simulation campaign are also reported
Unified modeling of control software and physical plants
No full textThe aim of this paper is to provide a unified language for modeling both
control software and physical plants in real time control systems. This is done by
embedding the bond graph modeling language for physical systems into the UMLRT
framework, widely used to model distributed real-time software
Structured product development process implementation for a packaging company
No full textThis paper describes the analysis of a structured development process (SDP) that takes into account the particular specifications and requirements in the manufacture of packaging machines. The proposed approach is based on the well known "V-model" approach, which aims to support engineering teams in developing complex systems
Fault Diagnosis and Identification in AGVs System
Full text linkThis article describes a methodology for the diagnosis of failures in multi-AGV (Automatic Guided Vehicles). Today, AGVs are establishing themselves in the most advanced automatic logistics solutions, providing performance and safety that cannot be achieved with handling solutions with manual forklifts. Furthermore, thanks to the application of Industry 4.0 digital technologies, very advanced tools are available to monitor the performance and diagnose faults of fleets of AGV. In particular, studies on fault diagnosis have mainly focused on (1) the diagnosis of internal components of the automatic truck and (2) the identification of failures in the functionality of the AGV in its interaction with the surrounding environment. This paper shows an approach to fault diagnosis in multi-AGVs system, considering the interaction between each single AGV and the environment, with the scope to help the user increase the system efficiency in an existing layout. The objective of the paper is to introduce and discuss a methodology to study the failure and the available recovery actions of the AGV navigation system. Moreover, the paper presents the real AGV data acquisition and processing architecture actually deployed on the factory shop floor, as well as the result from the experimental study in a real industrial environment. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/
Air Quality Monitoring in a BIM model by means of a IoT Sensors Network
No full textBIM (Building Information Modeling) is an object-oriented approach for the digital modeling of buildings and infrastructures, a centralized system for sharing technical information among all Stakeholders during the entire life cycle of the structure. BIM is at the same time a tool for planning, evaluation, monitoring and documentation; however, some constraints determine a potential gap between represented reality and actual reality. This gap is determined by the fact that the information within the system is updated manually by expert designers, losing substantial synchronization with the real system under analysis. The risk is also to have a so extensive dataset to make its update management complex for a human user. Currently, to achieve direct interaction between civil structures and digital modeling systems, the scientific community is carrying out researches for the application of digital twin concepts in the field of construction automation. In particular, studies about the integration between IoT sensor networks and BIM start to be explored. The project described in this paper aims to propose such integration with a specific focus on air quality parameters monitoring, leveraging on scalable approaches. The data updating system is based on a distributed IoT sensor network, designed and implemented using free and open-source software; the communication protocols are all based on open broker-based technologies, like MQTT, and the data dashboard aimed to visualize real-time data and historical data series are based on web applications over HTTP. The research project led to the creation of a sensorized and BIM-modeled hub which demonstrates the validity of the concept
A port-Hamiltonian approach to the control of interaction
No full textIn many applications, a robot has to interact with the surrounding environment in order to perform some useful task. When a manipulator interacts with an object a very profound change occurs. In fact, before the contact, the controller has to control only the motion of the robot; after the contact, the manipulator dynamically interacts with the environment and the controller has to manage a new dynamical system made up by the robot coupled with the environment. It has been proven in [328] that even if the controlled robot is stable in case of free motion, its behavior could become unstable when there is a contact with the environment. © 2007 Springer-Verlag Berlin Heidelberg
Design by Extension and Inheritance of Behavior in Dynamical Systems
No full textThe paper introduces a formal definition of inheritance, which is a cardinal concept in object-oriented software, for dynamical systems. The proposed definition exploits the coalgebraic description of software artifacts to provide a connection between the behavioral approach for modeling dynamical systems and the object-oriented approach for software modeling and design. This definition allows to apply the design by extension methodology, widely used in software engineering, to the design of components of manufacturing systems
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