Search results for " ROV"

Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs.

2010

A new closed loop fuzzy motion control system including on-line Kalman's filter (KF) for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV) is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw torque control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine envi…

Athena Mars rover science investigation

2003

[1] Each Mars Exploration Rover carries an integrated suite of scientific instruments and tools called the Athena science payload. The primary objective of the Athena science investigation is to explore two sites on the Martian surface where water may once have been present, and to assess past environmental conditions at those sites and their suitability for life. The remote sensing portion of the payload uses a mast called the Pancam Mast Assembly (PMA) that provides pointing for two instruments: the Panoramic Camera (Pancam), and the Miniature Thermal Emission Spectrometer (Mini-TES). Pancam provides high-resolution, color, stereo imaging, while Mini-TES provides spectral cubes at mid-inf…

An integrated view of the chemistry and mineralogy of martian soils

2005

The mineralogical and elemental compositions of the martian soil are indicators of chemical and physical weathering processes. Using data from the Mars Exploration Rovers, we show that bright dust deposits on opposite sides of the planet are part of a global unit and not dominated by the composition of local rocks. Dark soil deposits at both sites have similar basaltic mineralogies, and could reflect either a global component or the general similarity in the compositions of the rocks from which they were derived. Increased levels of bromine are consistent with mobilization of soluble salts by thin films of liquid water, but the presence of olivine in analysed soil samples indicates that the…

Exploration of Victoria Crater by the Mars Rover Opportunity

2009

“Lake” Victoria? After having explored the Eagle and Endurance craters, which are separated by only 800 meters, the Mars Exploration Rover Opportunity spent 2 years at Victoria, a much larger impact crater located 6 kilometers south across Meridiani Planum. Sedimentary rocks previously analyzed at Eagle and Endurance point to local environmental conditions that included abundant liquid water in the ancient past. Now, an analysis of rocks in the walls of Victoria by Squyres et al. (p. 1058 ) reveals that the aqueous alteration processes that operated at Eagle and Endurance also acted at Victoria. In addition, sedimentary layering in the crater walls preserves evidence of ancient windblown du…

Hypothèse de Muséalisation en plein air pour le Quartier hellénistique-romain à Agrigente / Ipotesi di musealizzazione outdoor per il Quartiere ellen…

2014

The contribution presents the results of the activities carried out as a Expert in Museography for the APER project, which included the elaboration of a Musealisation hypothesis for the Domus IA-IB of the Hellenistic-Roman quarter located in Agrigento, i.e. the definition of intervention lines to be applied in an outdoor context to help the general public understand the archaeological site concerned to. The selected museographic strategies correspond to true forms of museal memorisation, aimed at knowing how to transmit the interpretation of an ancient context and its significance to a non-specialist public. In the conclusive phase, it has developed an executive project for two museographic…

Muséaliser l’archéologie : quelques interventions innovantes pour la présentation des ruines / Musealizzare l’archeologia: alcuni interventi innovati…

2014

Intervention on archaeological sites requires a multicriteria approach, which does not lend itself to providing solutions of a general nature so much as solutions linked to the individual case at hand and to the comparison of the interventions involved in the creation of a museum-like context for them. Nevertheless, one should not lose sight of the general aspect of the problem and underestimate a series of considerations regarding what to conserve and why in favour of how to conserve, an aspect which has been extensively tested and which today offers a large range of appropriate solutions and techniques. It is a question of communication, solutions to which must be provided both through to…

RUINS PRESERVATION, TRANSFORMATION PROJECTS IN THE OLD TOWN CENTRE OF PALERMO. LINES OF DEVELOPMENT AND NEW PERSPECTIVES

2011

The accumulation of data for an uninterrupted arc of some millennia has suffered a rest, due to the 1943 massive bombings during the last war, and to the damages inflicted to the old town centre: the continuity of the urban and cultural environment, where the buildings live their own history, got broken. The wartime events left “empty spaces” in the historical city, that weren't filled in the following decades, and the ruins which miraculously were still standing up became a memento not only of the wounds caused by World War II, who were still partially open, but also of the following vicissitudes, neglect, carelessness and lack of culture. In 1993, besides passing the P.P.E., the municipal…

Un sistema integrato per ottimizzare le operazioni di monitoraggio e verità-mare

2008

Gabetti e il tempo del cantiere

2017

Il titolo dell’intervento trae spunto da un articolo scritto dallo stes- so Roberto Gabetti e da Aimaro Isola per la rivista «Hinterland» del marzo 19831. Un numero monografico dedicato a quella generazione di architetti del 1925 tra i più rappresentativi del panorama internazionale di allora. Per Gabetti e Isola quel testo costituiva sostanzialmente l’occasione per parlare dell’esperienza della realizzazione del progetto di case e negozi in via Sant’Agostino a Torino e, attraverso questo, dell’idea e del ruolo, nonché del significato, della parola cantiere. Cantiere e rovina, infatti, pur appartenendo alle estremità esistenziali opposte e antitetiche dell’architettura, l’inizio e la ne, la…

Filippo Rovigo

2011

Architetto messinese formatosi a Roma, Rovigo rappresenta una figura interessante per la ricerca e la sperimentazione strutturale e formale che caratterizzano la sua opera. Il suo archivio, parzialmente disgregato, non è mai stato catalogato. A partire dalla fine degli anni 40 l’opera di Rovigo darà forma alla Messina moderna, spaziando dai progetti per i quartieri INA-Casa (di forte valenza urbana quello per piazza Castronovo, 1952) agli scenari destinati alla vita mondana e culturale cittadina (i cinema Apollo, 1954, e Olimpia, 1951-55, il complesso del Lido di Mortelle, 1955-58, gli interni del bar Irrera), agli edifici per istituzioni pubbliche, tra i quali nel 1956 la sede dell’ONPI, l…