Search results for " Rob"
showing 10 items of 689 documents
STUDIO DI UNA FRIZIONE MAGNETOREOLOGICA PER AUTOVEICOLI
2013
Dopo un’accurata ricerca bibliografica sui fluidi magnetoreologici, il loro comportamento ed impiego, si è passati alla progettazione di una frizione magnetoreologica per autoveicoli. Considerando le caratteristiche di coppia trasmessa e potenza, il dispositivo è stato dimensionato tenendo presente i vincoli di ingombro del veicolo preso in esame. Sottoponendo il dispositivo ad analisi magnetostatica agli elementi finiti, si è determinato l’andamento delle linee di flusso del campo magnetico nel meato di fluido e nelle zone di maggior interesse, calcolando la coppia teoricamente trasmessa dall’innesto.È stato anche eseguito il confronto delle prestazionifra una frizione MR ed una frizione t…
Adding Autonomy to Robotic Enabled Sensing
2022
The capabilities of most non-destructive testing methods have been combined with some degree of automation in recent years, to enhance data acquisition speed, part coverage and inspection reliability. A plethora of automated or semi-automated inspection systems have been engineered to enable the robotic manipulation of specific types of sensors. Robotic inspection systems are usually operated through off-line programmed tool-paths. This approach works well when an accurate model of the part is available and the robotic inspection takes place in a well-structured environment, where the part position is precisely registered with respect to the robot reference system. However, it makes the ins…
Autonomous Robotic Sensing for Simultaneous Geometric and Volumetric Inspection of Free-Form Parts
2022
Robotic sensing is used in many sectors to improve the inspection of large and/or complex parts, enhancing data acquisition speed, part coverage and inspection reliability. Several automated or semi-automated solutions have been proposed to enable the automated deployment of specific types of sensors. The trajectory to be followed by a robotic manipulator is typically obtained through the offline programmed tool paths for the inspection of a part. This method is acceptable for a part with known geometry in a well-structured and controlled environment. The part undergoing assessment needs to be precisely registered with respect to the robot reference system. It implies the need for a setup p…
ROBUST CONTROL FOR A SUSPENDED ROTATING SHAFT BY RADIAL ACTIVE MAGNETIC BEARINGS
2011
This paper shows a comparison based on dynamic behaviour of a rotating shaft when it is suspended by 4-axis active magnetic bearings under several control systems. The control systems used are μ-synthesis, loop shaping design procedure and Sub(H∞) robust control with the introduction of uncertainties on position and current gains of the actuators. Each of these controllers is characterized by four input signals and four output signals and the introduction of uncertainties on displacement gain and current gain is due to torn and worn of the components during the time, which can lead the entire system to instability phenomena. The comparison of the performances is obtained through the introdu…
Mimicking human autonomy in industrial robotic enabled sensing
2022
Humans have an immediate perception of shapes and surroundings through their senses and their cognitive capabilities. This innate ability enables the manual inspection of components in manufacturing environments. Trained inspectors combine their senses and handling skills with bespoke non-destructive testing instrumentation. However, manual inspections can be slow for large and/or complex geometries and prone to human factors. Automated non-destructive testing systems have emerged in recent years, to increase data acquisition speed, part coverage and inspection reliability. These tools work well when the robotic inspection takes place in a well-structured environment and an accurate part mo…
INFLUENZA SUL COMPORTAMENTO DINAMICO DI UN ROTORE SOSPESO ATTRAVERSO CUSCINETTI MAGNETICI ATTIVI MEDIANTE μ-SYNTHESIS E LOOP-SHAPING DESIGN
2011
In questo lavoro viene effettuato un confronto sul comportamento dinamico di un albero rotante quando è sospeso attraverso un sistema di due cuscinetti magnetici ciascuno costituito da due assi. Le sospensione magnetica attiva è ottenuta elaborando due diversi sistemi di controllo che realizzano la stabilità del rotore conferendo a quest’ultimo delle prestazioni robuste nel mantenimento degli spostamenti entro certi margini prestabiliti. Ognuno di questi sistemi di controllo è caratterizzato da otto ingressi e quattro uscite con la presenza di incertezze sul guadagno spostamento e guadagno di corrente; ciò è giustificato dal semplice fatto che gli apparati elettronici possono usurarsi con i…
Android tool to evaluate grounding resistance
2015
In the absence of sources of rapidly varying field, the study of the potential distribution determined, in a linear medium, by a geometrically complex grounding may be conducted by applying the method of superposition of the effects, known as method of subareas of Maxwell. Such approach can be usefully employed in an educational tool intended for students of electrical engineering.
Constrained Robust MultiObjective Optimization for Reactive Design in Distribution Systems
2006
This paper presents a new formulation including robustness of solution of constrained multiobjective design or reactive power compensation. The algorithm used for optimization is the NSGA-II (Non dominated Sorting Genetic Algorithm II) with a special crowded comparison operator for constraints handling. The need for including the issue of robustness of solutions derives from the simple observation that loads are uncertain in distribution systems and their estimation is often affected by errors. In design problems it is desirable to consider the loads with a certain range of variation. In this paper the NSGA-II algorithm is applied to efficiently solve the issue and the solutions attained co…
Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers
2023
This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and as…
ROBOTIC INTERACTION AND COOPERATION. Industrial and rehabilitative applications
2014
The main goal of the thesis is the development of human-robotic interaction control strategies, which enable close collaboration between human and robot. In this framework we studied two di erent aspects, with applications respectively in industrial and rehabilitation domains. In the rst part safety issues are examined on a scenario in which a robot manipulator and a human perform the same task and in the same workspace. During the task execution the human should be able to get into contact with the robot and in this case an estimation algorithm of both interaction forces and contact point is proposed in order to guarantee safety conditions. At the same time, all the unintended contacts hav…