3,147 research outputs found
DENTRO LE ALPI CARNICHE La geologia vista da vicino [a cura di G. Muscio]
No full textE' un volume di grandi dimensioni che, attraverso foto spettacolari spesso frutto di riprese da droni, introduce il grosso pubblico alla geologia del Geoparco transfrontaliero delle Alpi Carniche. Lo fa scegliendo i migliori panorami e siti - spesso identificabili con geositi di particolare rilevanza - rappresentandone attraverso ricostruzioni in 3D l'evoluzione geologica e/o geomorfologica
Il Riparo di Biarzo 40 anni dopo
No full textThe Biarzo rock-shelter lies beneath a rocky cliff, along the left bank of the Natisone river (160 m a.s.l.), about 300 m north of the settlement of the same name, a hamlet of San Pietro al Natisone in the Province of Udine in NE Italy. Between 1982 and 1984, excavation campaigns were carried out under the direction of the University of Ferrara (A. Guerreschi) and the Natural History Museum of Udine (F. Bressan), which involved an area of about 4m2. The stratigraphy brought to light, consists of five anthropogenic layers about 2 metres thick. The oldest is represented by the SU 5, divided into three artificial cuts (5A, 5B and 5C), and culturally related to the recent Epigravettian (the final phase of the Upper Palaeolithic) (Tab. 1). The overlying levels, on the other hand, retain traces of frequentation attributable respectively to the ancient Mesolithic (SU 4, 3B, Sauveterrian) and the recent Mesolithic (SU 3A, Castelnovian). Within this final level there are fragments of Neolithic and Aeneolithic pottery, probably coming from the overlying layers. The upper level (SU 2) contains evidence of frequentation between the Late Neolithic and the Middle-Recent Bronze Age (SU 2). At the base, the sequence opens with a sterile silt-sandy layer containing pebbles (SU 6) and ends at the roof with a sterile silty gravel layer (SU 1)
A Fault Tolerant Adaptive Control for Robot Manipulators
No full textA Fault Tolerant adaptive control for a robotic
manipulator with fault affecting the joint actuators is presented.
First, in order to achieve a proper detection and isolation of the
fault, an observer based scheme for fault diagnosis is developed.
Then, an inverse dynamics robust controller is reconfigured in
such a way to include an adaptive term, depending on the
isolated fault. The model uncertainties are explicitly taken into
account and estimated via an off-line-trained Support Vector
Machine. Finally, simulation results are presented in order to
prove the effectiveness of the approach
Discrete-Time Framework for Fault Diagnosis in Robotic Manipulators
No full textIn this paper, a discrete-time framework forbreak diagnosis of faults of joint sensors, wrist-mounted force/torque sensors, and actuators of robotic manipulators is devised. It is assumed that redundant joint sensor measurements are available. Sensor measurements, together with the estimates computed by two isolation observers, are processed by a decision-making system, providing detection and isolation of the faults of the joint sensors as well as healthy measurements. Then, healthy measurements are used to feed a bank of diagnostic observers aimed at detecting, isolating, and identifying faults of joint actuators and force/torque sensors. The framework is experimentally tested on a cooperative industrial setup, composed of two industrial robots with six degrees of freedom performing a cooperative task
Distributed cooperative object parameter estimation and manipulation without explicit communication
No full textThe paper presents a two stages distributed algorithm for cooperative manipulating an unknown object rigidly grasped by mobile manipulators, in the absence of both a central unit and any explicit information exchange among robots. In the first stage, robots cooperatively estimate the object kinematic and dynamic parameters by properly moving the object or applying specific contact wrenches. In the second stage, the estimated parameters are used in a distributed cooperative algorithm aimed at controlling the object pose while limiting both the squeezing wrenches exerted by the manipulators and the wrench exerted by the environment on the object. Numerical simulations demonstrate the feasibility of the approach
Performance produttive di conigli di razza “Nuova Zelanda” svezzati 24 e a 31 giorni di età. Accrescimenti, consumi alimentari e qualità delle carcasse
No full textCavità sotto le pareti del Pic Chiadenis (Fr2712): un laboratorio sotterraneo naturale.
No full textAlle pendici del Pic Chiadenis (alpi Carniche, Udine) si apre una cavità (4846/2714FR) nelle quale è stato individuato un signifcativo deposito di ghiaccio che, sulla base delle analisi effettuate, risulta essersi formato tra gli anni sessanta e gli anni ottanta del secolo scorso e che ormai è quasi del tutto scomparso. La grotta ha fornito anche indizi di neotettonica e presenze di mineralizzazioni aragonitiche: per tutti questi aspetti la cavità potrebbe essere utilizzata come "laboratorio sotterraneo naturlae" ai fini dello studio applicato del carsismo di alta quota
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