1,721,168 research outputs found
Carmelo Ottaviano e i neoscolastici milanesi
No full textPrendendo in esame i rapporti tra Carmelo Ottaviano e i filosofi neo-scolastici dell'Università Cattolica, il saggio mette in luce i diversi motivi di critica all'idealismo e il differente fondamento addotto per le rispettive concezioni realistiche
Design and development of an Inspection Robotic System for indoor applications
Full text linkThe inspection and monitoring of industrial sites, structures, and infrastructure are important issues for their sustainability and further maintenance. Although these tasks are repetitive and time consuming, and some of these environments may be characterized by dust, humidity, or absence of natural light, classical approach relies on large human activities. Automatic or robotic solutions can be considered useful tools for inspection because they can be effective in exploring dangerous or inaccessible sites, at relatively low-cost and reducing the time required for the relief. The development of a paradigmatic system called Inspection Robotic System (IRS) is the main objective of this paper to demonstrate the feasibility of mechatronic solutions for inspection of industrial sites. The development of such systems will be exploited in the form of a tool kit to be flexible and installed on a mobile system, in order to be used for inspection and monitoring, possibly introducing high efficiency, quality and repetitiveness in the related sector. The interoperability of sensors with wireless communication may form a smart sensors tool kit and a smart sensor network with powerful functions to be effectively used for inspection purposes. Moreover, it may constitute a solution for a broad range of scenarios spacing from industrial sites, brownfields, historical sites or sites dangerous or difficult to access by operators. First experimental tests are reported to show the engineering feasibility of the system and interoperability of the mobile hybrid robot equipped with sensors that allow real-time multiple acquisition and storage
Functional design for customizing sit-to-stand assisting devices
No full textStanding up refers to the transition from the seating to the standing postures to perform a movement that involves several body segments and requires both voluntary action and equilibrium control during an important displacement of the body Centre of Gravity (COG). This task can be considered very important for people with reduced mobility to achieve minimal independence in Activity of Daily Living (ADL). In this paper, we propose solutions for the homecare of persons with reduced mobility, describing a functional design to customize assisting devices for the Sit-to-Stand (STS). In particular, the support mechanism that generates the requested motion and sustains the body of a person can be synthesized ad-hoc according to the experimental data of the subject. Experimental tests carried out during the Sit-To-Stand are used to track and record point trajectories and the orientation of the trunk of an individual, and they are used to design a 1-DOF mechanism able to reproduce the assigned rigid-body motion. A four-bar linkage has been synthesized according to the desired features. Simulation results are reported to illustrate the engineering soundness of the proposed mechatronic solution
Hybrid Inspection Robot for Indoor and Outdoor Surveys
Full text linkIn this paper, simulation and experimental tests are reported for a hybrid robot being used for indoor and outdoor inspections. Automatic or tele-operated surveys can be performed by mobile robots, which represent the most efficient solution in terms of power consumption, control, robustness, and overall costs. In the context of structures and infrastructure inspection, robots must be able to move on horizontal or sloped surfaces and overpass obstacles. In this paper, the mechatronic design, simulations, and experimental activity are proposed for a hybrid robot being used for indoor and outdoor inspections, when the environmental conditions do not allow autonomous navigation. In particular, the hybrid robot is equipped with external and internal sensors to acquire information on the main structural elements, avoiding the need for experienced personnel being directly inside the inspection site, taking information from the environment and aiding the pilot to understand the best maneuvers/decisions to take. Given the current state of research and shortcomings worldwide, this paper discusses inspection robots taking into account the main issues in their use, functionality and standard systems, and how internal sensors can be set in order to improve inspection robots’ performances. On this basis, an illustrative study case is proposed
Design and implementation of a mobile robot for the mechatronic survey
No full textMechatronic survey has becoming a topic of great interest because of the importance for the sustainability, management and preservation of heritage and historical assets. In fact, the main concerns refer to the accessibility of the sites to inspect and invasiveness of the investigation, which are very often time consuming and high-cost due to security issues. In this paper, we discuss a mechatronic solution for the survey based on a mobile robotic platform, on which equipment and sensors are installed to perform automatic or semi-automatic survey. In this regard, a suitable simulation of the operation is very useful for training and verification of the robot motion capabilities. Simulation tests are reported for the robot carrying equipment, together with experimental tests. The developed solution may be used for indoor or outdoor inspections
C. Ottaviano e A. Santambrogio, Vulnerability as generativity. Undoing parenthood in a Gylanic perspective.
Full text linkVulnerability as generativity. Undoing parenting in gylanic perspective è un volume che nasce dall’incontro tra le sociologhe Cristiana Ottaviano e Alessia Santambrogio spinte dall’urgenza di prendere parola di fronte alla violenza simbolica che pervade il nostro quotidiano contemporaneo
Mechatronics in the process of cultural heritage and civil infrastructure management
No full textAutomatized survey, construction, inspection, maintenance, restoration and reconstruction have become challenging activities conducted during the process of cultural heritage and civil infrastructure management, due to the revolutionary impact of mechatronics and information technology in routine operations. The complete process is summarized, considering different aspects related to the interconnection between classical engineering and architectural problems with the emerging technologies related to automation, robotics and information communication technologies (ICT). The impact of new technologies on data acquisition for survey, inspection and monitoring is, firstly, considered, drawing upon evidence of how the use of robotized systems and sensor networks determines new sets of available data to be processed by digital tools to build advanced models. The integration among different information and numerical models permits one to test the novelties related to the use of ICT technologies for creating an exhaustive description of the examined facility. Data and models can be then used to identify and to describe defects and degradation, especially in view of determining possible performance reduction in existing structures. All the acquired knowledge opportunely managed constitutes the input for automated or partially automated decision-making process useful in facilities and infrastructure management
Ottaviano e Federico Ubaldini della Carda (XV sec.)
No full textTra i numerosi illustri esponenti della nobile casa dei Signori degli Appennini, risultano particolarmente rilevanti due personaggi che hanno determinato la fortuna della stagione del Rinascimento nel Ducato di Urbino: Federico da Montefeltro (1422-1482) e Ottaviano Ubaldini della Carda (1423-1498).
L’analisi dei documenti presenti in archivi privati e pubblici, corrisposta ad un’accurata lettura della fortuna critica redatta sia nel XV secolo, sia nei secoli a seguire, ha infatti consentito di determinare il legame di sangue che unì alla famiglia Ubaldini Ottaviano e il più celebre Duca Federico
Mechatronic Design of Low-Cost Control Systems for Rehabilitation and Assisting Devices
No full textIn this chapter, authors focus on mechatronic solutions for low-cost control devices for the homecare of elderly and people with reduced mobility, having the goal of assisting people in daily-life activities. The development of such systems can be exploited in the form of a toolkit to be flexible and applied either to rehabilitation or assistive systems, in order to aid movements with controlled position, force/torque, and acceleration, possibly introducing reliability, repetitiveness, and low cost in the related sector. In particular, the development of a low-cost control system design allows the applicability of the solution to a broad range of devices for the home-care. The authors aim to develop low-cost technologies for the homecare of elderly and people with motor impairments trying to reduce significantly the overall costs to facilitate wider use of assisting and rehabilitation systems. In particular, a Sit-To-Stand (STS) assisting device is considered as a paradigmatic example to illustrate design considerations
Geometrically exact three-dimensional modeling of cable-driven parallel manipulators for end-effector positioning
No full textA geometrically exact analytical model of cable-driven parallel manipulators operating in a three-dimensional space is formulated and discussed in this work. The model aims at investigating the exact positioning of a rigid body in a Cartesian space by a m-cables-driven parallel manipulator taking into account the cables mass, their elasticity and, consequently, the sag effect. The direct kinematic problem is formulated by means of 3(m+1) nonlinear equations expressing compatibility and equilibrium in the same number of unknowns, namely, 3m components of the constraint reactions and 3 finite rotations. A novel approach to the solution of the inverse kinematic problem is formulated by adding a set of m target equations to obtain 4m+3 nonlinear algebraic equations solved in terms of an equal number of unknowns. The latter are defined by the 3(m+1) increments of the variables of the direct problem and m additional unknowns, i.e., the increments of the cable unstretched lengths. The elastostatic problem of point mass end-effector is then derived. Consequently, the direct and the inverse kinematic problems are formulated by means of 3m and 4m nonlinear equations, respectively, in the equal number of unknowns. Examples with an increasing number of cables are considered, showing that, although solving the inverse kinematic problem may imply very slack cables configurations, the proposed approach allows to find a solution
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