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Giuseppe CONTE

Pubblicazioni

Giuseppe CONTE

 

243 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
146 4 Contributo in Atti di Convegno (Proceeding)
69 1 Contributo su Rivista
19 2 Contributo in Volume
5 3 Libro
2 7 Curatele
1 5 Altro
1 6 Brevetti
Anno Risorsa
2019 Inert gas narcosis in scuba diving, different gases different reactions
EUROPEAN JOURNAL OF APPLIED PHYSIOLOGY
Autore/i: Rocco, Monica; Pelaia, P.; Di Benedetto, P.; Conte, G.; Maggi, L.; Fiorelli, S.; Mercieri, M.; Balestra, C.; De Blasi, R. A.; Scaratozzo, D.; Gala, F.; Screpanti, L.; Diving, Argentario; Nicolini, S.; Mesa, S.
Classificazione: 1 Contributo su Rivista
Abstract: Abstract PURPOSE: Underwater divers face several potential neurological hazards when breathing compressed gas mixtures including nitrogen narcosis which can impact diver's safety. Various human studies have clearly demonstrated brain impairment due to nitrogen narcosis in divers at 4 ATA using critical flicker fusion frequency (CFFF) as a cortical performance indicator. However, recently some authors have proposed a probable adaptive phenomenon during repetitive exposure to high nitrogen pressure in rats, where they found a reversal effect on dopamine release. METHODS: Sixty experienced divers breathing Air, Trimix or Heliox, were studied during an open water dive to a depth of 6 ATA with a square profile testing CFFF measurement before (T0), during the dive upon arriving at the bottom (6 ATA) (T1), 20 min of bottom time (T2), and at 5 m (1.5 ATA) (T3). RESULTS: CFFF results showed a slight increase in alertness and arousal during the deep dive regardless of the gas mixture breathed. The percent change in CFFF values at T1 and T2 differed among the three groups being lower in the air group than in the other groups. All CFFF values returned to basal values 5 min before the final ascent at 5 m (T3), but the Trimix measurements were still slightly better than those at T0. CONCLUSIONS: Our results highlight that nitrogen and oxygen alone and in combination can produce neuronal excitability or depression in a dose-related response. KEYWORDS: Critical flicker fusion frequency; Divers’ safety; GABA receptors; Nitrogen narcosis
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265103 Collegamento a IRIS

2019 Inert gas narcosis in scuba diving, different gases different reactions
EUROPEAN JOURNAL OF APPLIED PHYSIOLOGY
Autore/i: Rocco, Monica; Pelaia, P.; Di Benedetto, P.; Conte, G.; Maggi, L.; Fiorelli, S.; Mercieri, M.; Balestra, C.; De Blasi, R. A.; Scaradozzi, D.; Gala, F.; Screpanti, L.; Diving, Argentario; Nicolini, S.; Mesa, S.
Classificazione: 1 Contributo su Rivista
Abstract: Purpose: Underwater divers face several potential neurological hazards when breathing compressed gas mixtures including nitrogen narcosis which can impact diver’s safety. Various human studies have clearly demonstrated brain impairment due to nitrogen narcosis in divers at 4 ATA using critical flicker fusion frequency (CFFF) as a cortical performance indicator. However, recently some authors have proposed a probable adaptive phenomenon during repetitive exposure to high nitrogen pressure in rats, where they found a reversal effect on dopamine release. Methods: Sixty experienced divers breathing Air, Trimix or Heliox, were studied during an open water dive to a depth of 6 ATA with a square profile testing CFFF measurement before (T 0 ), during the dive upon arriving at the bottom (6 ATA) (T 1 ), 20 min of bottom time (T 2 ), and at 5 m (1.5 ATA) (T 3 ). Results: CFFF results showed a slight increase in alertness and arousal during the deep dive regardless of the gas mixture breathed. The percent change in CFFF values at T 1 and T 2 differed among the three groups being lower in the air group than in the other groups. All CFFF values returned to basal values 5 min before the final ascent at 5 m (T 3 ), but the Trimix measurements were still slightly better than those at T 0 . Conclusions: Our results highlight that nitrogen and oxygen alone and in combination can produce neuronal excitability or depression in a dose-related response.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/266084 Collegamento a IRIS

2019 Preliminary study of a novel magnetic sensor for safety in industrial robotics
IEEE International Symposium on Robotic and Sensors Environments, ROSE 2019 - Proceedings
Autore/i: De Leo, A.; Scaradozzi, D.; Genovesi, R.; Cerri, G.; Conte, G.; Perdon, A. M.; Omerdic, E.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a novel magnetic sensor for industrial robotics is presented. The main aim of the sensor is to detect the presence of human beings in order to avoid the collision between workers and the robot. The sensor consists in such an artificial skin to conform at the robot shape, made by several turns of a wire covered by a dielectric. The sensor made in this way has no exposed metal parts, so it is safe from an electrical point of view and has no tips that could be caught up by surrounding objects. This sensor in mainly based to the magnetic field variation due to the presence of the target. At first, a laboratory prototype of this sensor was built to perform a preliminary set of measurements. Furtherly a prototype implementation was realized and tested in a realistic scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/269529 Collegamento a IRIS

2018 Measurement dynamic feedback output regulation in hybrid linear systems with state jumps
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Autore/i: Zattoni, E.; Perdon, A. M.; Conte, G.
Classificazione: 1 Contributo su Rivista
Abstract: This work investigates the problem of designing a hybrid dynamic feedback regulator that forces the output of a hybrid linear system to asymptotically converge to the reference generated by a hybrid exogenous system, asymptotically rejects the exogenous disturbance, and attains global asymptotic stability of the compensated hybrid linear dynamics. The class of hybrid linear systems addressed exhibits a continuous-time linear behavior except at isolated points of the time axis, where the state is subject to discontinuities that are caused by a jump behavior. In the presence of possibly unequally spaced state jumps, under the only constraint that the minimum time between any two consecutive jumps is no smaller than a given positive real constant, both implicit and explicit sufficient conditions for the existence of a solution to the stated problem are shown. The explicit condition is constructive, in the sense that it outlines the algorithmic procedure for the synthesis of the hybrid feedback regulator, provided that a certain output-nulling hybrid controlled invariant subspace be known. Then, a necessary and sufficient condition for the existence exists, is given. Finally, the devised approach is applied to a numerical example borrowed from the literature, with the twofold aim of illustrating its implementation and making a comparison with the available method.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252437 Collegamento a IRIS

2018 Development and Experimental Tests of a ROS Multi-agent Structure for Autonomous Surface Vehicles
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Raspa, Paolo; Panebianco, Luca; Screpanti, Laura
Classificazione: 1 Contributo su Rivista
Abstract: Robotic structures that couple autonomous surface vehicles and unmanned underwater vehicles in integrated systems with various levels of cooperation provide interesting solutions to the problem of developing efficient, versatile and cost effective tools for exploration, monitoring and exploitation of the underwater environment. In this paper we describe the development and preliminary field testing of an autonomous surface vehichle that can automatically track, deploy and recover a small remotely operated vehicle, which is guided from a shore-ground station. This goal is achieved by exploiting two-ways transmission of data and commands through the umbilical and a wireless link with a shore-ground station. In this way, pilots can experiment telepresence in the underwater environment, avoiding the need of expensive and logistically demanding manned supply vessel. The vehicle is a small aluminum hull boat, equipped with a steering outboard electric motor. A multi-agent system in the ROS framework is proposed for the robotic structure. The use of commercial-off-the-shelf components and the choice of a multi-agent ROS architecture are a mean to reduce costs and to assure performances, modularity and versatility. Field tests in both supervised and autonomous guidance mode have been performed in order to assess the basic functionalities of the system and their results are illustrated and discussed
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252071 Collegamento a IRIS

2018 Asymptotic Model Matching for LPV Systems
IFAC-PapersOnLine Volume 51
Autore/i: Conte, G.; Perdon, A. M.; Zattoni, E.
Editore: Elsevier B.V.
Luogo di pubblicazione: PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
Classificazione: 2 Contributo in Volume
Abstract: ABSTRACT. We consider the problem of forcing the output of a Linear Parameter Varying (LPV) plant to match asymptotically that of a given LPV model using a static or a dynamic feedback control law that also quadratically stabilizes the plant. The problem is investigated from a structural point of view and solvability conditions are expressed in geometric terms. Under suitable hypotheses, checkable sufficient conditions and viable procedures for constructing solutions are provided.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265105 Collegamento a IRIS

2018 Output-Feedback Model Matching with Strong Stability for Hybrid Linear Systems with Periodic State Jumps
2018 European Control Conference, ECC 2018
Autore/i: Zattoni, Elena; Perdon, Anna Maria; Conte, Giuseppe
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Abstract. This paper investigates the problem of model matching with strong stability for hybrid linear systems subject to periodic state jumps. The system and the model share the same hybrid time domain: i.e., they exhibit a continuous-time behavior except at certain isolated time instants, where their state shows abrupt discontinuities. The set of the admissible jump time sequences consists of the sequences of equally-spaced time instants whose period is no smaller than a positive real constant. The compensation scheme includes a hybrid dynamic regulator, defined over the same time domain, and a static output-feedback gain. The problem is to determine the hybrid regulator, the feedback gain and the positive time constant in such a way that: i) the forced response of the closed-loop hybrid system matches that of the hybrid model for all the admissible inputs and for all the admissible jump time sequences; ii) both the closed-loop hybrid system and the hybrid regulator are globally asymptotically stable for all the admissible jump time sequences. The existence of a solution to the stated problem is characterized by a necessary and sufficient condition.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265107 Collegamento a IRIS

2018 Asymptotic Model Matching for Hybrid Linear Systems with State Jumps
Proceedings of the IEEE Conference on Decision and Control
Autore/i: Conte, Giuseppe; Perdon, Anna Maria; Zattoni, Elena
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Abstract View references (26) We consider the problem of synthesizing a static or dynamic stabilizing compensator which forces the output of a given plant to match asymptotically that of a given model in the context of hybrid linear systems whose state evolution presents discontinuities. Solutions are characterized from a structural point of view by geometric notions. A necessary and sufficient solvability condition, that can be directly checked by an algorithmic procedure, is given both for the case where the state of the plant is accessible for measurement and for the case where it is not. A viable synthesis procedure is presented and a simple example is given.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265106 Collegamento a IRIS

2017 Output Regulation by Error Dynamic Feedback in Hybrid Systems with Periodic Jumps
AUTOMATICA
Autore/i: Zattoni, Elena; Perdon, Anna Maria; Conte, Giuseppe
Classificazione: 1 Contributo su Rivista
Abstract: dynamics periodically affected by instantaneous changes of the state. More precisely, given a hybrid linear plant and a hybrid linear exogenous system, with periodic state jumps, the problem consists in finding a hybrid feedback regulator, with the same characteristics, achieving global asymptotic stability of the closed-loop dynamics and asymptotic tracking of the reference generated by the exogenous system for all the initial states. Starting from a general, necessary and sufficient condition for the existence of a solution, the discussion leads to a more specific, sufficient condition which outlines the computational framework for a straightforward synthesis of the compensator. The internal model principle is shown to hold in a more general formulation than the original one, adapted to the hybrid systems considered. A numerical example is worked out with the aim of illustrating how to implement the devised technique. The geometric approach is the key methodology in attaining these results.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247697 Collegamento a IRIS

2017 Disturbance Decoupling in Hybrid Linear Systems with State Jumps
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Autore/i: Anna Maria Perdon, ; Elena, Zattoni; Giuseppe, Conte
Classificazione: 1 Contributo su Rivista
Abstract: This work investigates the problem of making the output of a hybrid linear system totally insensitive to a disturbance input, while attaining global asymptotic stability of the compensated hybrid dynamics. In the presence of possibly non-uniformly spaced state jumps, meeting the only condition that the minimum time between two consecutive occurrences is no smaller than a given positive real constant, both existential and constructive necessary and sufficient conditions for solvability of the problem addressed are proven.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252436 Collegamento a IRIS

2017 Geometric tools and methods in the study of switching systems
Hybrid Systems: Performance, Applications and Technology
Autore/i: Conte, Giuseppe; Perdon, Anna Maria; Zattoni, Elena
Editore: Nova Science Publishers, Inc.
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258050 Collegamento a IRIS

2017 Field test of an integrated ASV/ROV platform
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Ciuccoli, Nicolò
Editore: Society of Petroleum Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The issue of making available efficient, versatile and cost effective solutions for exploring, monitoring and exploiting the marine environment is a challenge that can be tackled by developing integrated robotic platforms, where autonomous surface vehicles (ASV) cooperates with unmanned underwater vehicles (UUV). A robotic structure of that kind is considered in this work, which continues the activity of the authors and co-workers. The robotic platform consists of a small ASV that can serve as supply vessel for a micro-UUV, which is remotely guided by a pilot from a shore-ground station. The present work focuses on the integration of the UUV component in the overall structure and in the development of the its remote guidance system. Mechatronic, control and communication problems encountered in implementing this solution are described and the results of functional tests are illustrated. A simple and efficient robotic structure that can be managed by a single operator for exploration and light intervention in relatively shallow water (up to a depth of about 50m) is finally assembled and made ready for field test in an harbor basin in the next months. Copyright © 2017 by the International Society of Offshore and Polar Engineers (ISOPE).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/257980 Collegamento a IRIS

2017 An innovative force sensor to evaluate the drag of small outboard motor watercrafts
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Perdon, Anna Maria
Editore: Society of Petroleum Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Drag coefficients are important parameters in modelling the dynamic behavior of watercrafts and in design efficient and reliable control schemes for them. Evaluation of drag coefficients, either by theoretical or by experimental methods is a challenging and resource demanding problem. In this paper, we describe an innovative sensor that can measure the thrust of the outboard motor which propels a watercraft. In steady state motion, the measured thrust equals the drag and therefore its measurements can be used to determine drag coefficients. The structure and the characteristics of a prototypal version of the sensor are described, together with its calibration procedure. Field tests are illustrated and the results of measurements are discussed. Copyright © 2017 by the International Society of Offshore and Polar Engineers (ISOPE).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/257979 Collegamento a IRIS

2017 Robust Controlled Invariant Subspaces and Disturbance Decoupling for Uncertain Switched Linear System
IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION
Autore/i: Otsuka, N.; Saito, H.; Conte, G.; Perdon, A.M.
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, we will first study two robust controlled invariant subspaces under common input for a family of vertex systems and for a family of subsystems. Next, disturbance decoupling problems under arbitrary switching via state feedback for polytopic uncertain switched linear systems are formulated, and necessary and sufficient conditions for the problems to be solvable are presented. Further, the disturbance decoupling problems with exponential stability under arbitrary switching are also formulated, and solvability conditions for the problems are briefly discussed. Finally, a numerical example is also investigated.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247698 Collegamento a IRIS

2017 Unknown Input Observers for Hybrid Linear Systems with State Jumps
IFAC-PapersOnLine Volume 50, Issue 1
Autore/i: Conte, G.; Perdon, A. M.; Zattoni, E.
Luogo di pubblicazione: Elsevier
Classificazione: 2 Contributo in Volume
Abstract: This paper investigates the problem of constructing an observer that asymptotically estimates a linear function of the state of a linear plant with state jumps in the presence of unknown inputs. Suitable geometric notions are introduced and discussed in order to deal with this problem. A complete characterization of its solvability, together with a procedure for constructing the observer, is given in geometric terms. A sufficient solvability condition that can be practically checked by a simple procedure is also illustrated. Under mildly restrictive hypothesis, the necessary and sufficient solvability conditions can be practically checked and the observer can be practically constructed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258049 Collegamento a IRIS

2017 Output Regulation by Error Dynamic Feedback in Hybrid Linear Systems with State Jumps
IFAC-PapersOnLine
Autore/i: Zattoni, Elena; Maria Perdon, Anna; Conte, Giuseppe
Editore: Elsevier
Classificazione: 2 Contributo in Volume
Abstract: This work deals with a regulation problem for hybrid linear systems which exhibit a continuous-time state motion, ruled by the so-called flow dynamics, except at isolated points of the time axis, where the state has discontinuities governed by a jump behavior. Jump time instants are not a-priori known and may be unequally spaced, the only admissibility constraint being that the set of time intervals between consecutive jumps has a fixed positive lower bound. The considered problem consists in finding a hybrid error feedback compensator that forces the output of a given hybrid plant to asymptotically follow a reference trajectory generated by a hybrid exogenous system, while achieving global asymptotic stability of the closed-loop dynamics, for all the admissible sequences of jump times. The problem is investigated from a structural point of view, using geometric notions and properties. A sufficient condition for the existence of solutions is first stated in an implicit form, by considering the overall compensated system. This result is instrumental in giving a sufficient constructive condition which refers to the output-difference connection of the plant and the exogenous generator. The conditions are expressed in terms of hybrid invariant and controlled invariant subspaces of the systems at issue as well as of their stability and stabilizability properties, respectively. This approach provides a viable algorithmic procedure for the synthesis of solutions, if any exist.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258028 Collegamento a IRIS

2017 The Unknown Input Observation Problem for Switching Systems with Dwell-time
2017 IEEE 56th Annual Conference on Decision and Control (CDC)
Autore/i: Conte, Giuseppe; Perdon, Anna Maria; Zattoni, Elena
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The unknown input observation problem is considered in the framework of linear switching systems. Using ( structural geometric notions, in particular the novel notion of conditioned invariant subspace which is minimal with respect to external stabilizability, the solvability of the problem is completely characterized, both in the case of switching signals with sufficiently large dwell time and, under slightly restrictive structural conditions, in the case of switching signals with dwell time greater than a given threshold. Constructive procedures to check necessary and sufficient solvability conditions and to construct solutions, if any exists, are given.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262167 Collegamento a IRIS

2016 Necessary and sufficient conditions for asymptotic model matching of switching linear systems
AUTOMATICA
Autore/i: Perdon, Anna Maria; Conte, Giuseppe; Zattoni, Elena
Classificazione: 1 Contributo su Rivista
Abstract: This paper investigates the problem of designing a feedback controller to force the response of a given plant to match asymptotically that of a prescribed model, in case both the plant and the model are switching linear systems. Matching has to be achieved, with stability of the feedback loop, for any initial conditions of the plant, the model and the controller (in case it is dynamic) and for any choice of the switching law. Solvability of the problem is characterized in terms of necessary and sufficient conditions that, in part, refer to the geometric structure of the difference system which compares the output of the model and of the plant. Stability is considered both for slow switching and for arbitrary switching. Proofs of the solvability conditions provide viable procedures for synthesizing the static or dynamic controllers that achieve the matching, respectively, when the state of the model is measurable and when it is not. Weaker sufficient conditions that can be practically checked by simple algorithmic procedures are provided, both in the general situation and under slightly restrictive hypotheses.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/230290 Collegamento a IRIS

2016 Disturbance Decoupling with Closed-loop Modes Stability in Switched Linear Systems
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Autore/i: Zattoni, E.; Perdon, A. M. ; Conte, G
Classificazione: 1 Contributo su Rivista
Abstract: This work deals with the problem of rendering the output of a switched linear system insensitive to a disturbance input, with the requirement that the dynamics of the closed-loop system be exponentially stable for all switching signals with a sufficiently large dwell time. A necessary and sufficient condition for the problem to have a solution is shown. A complete computational procedure to check the solvability condition and to synthesize the compensation scheme is provided. A worked-out example is p
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/233971 Collegamento a IRIS

2016 OptoCOMM: Development and experimentation of a new optical wireless underwater modem
OCEANS 2016 MTS/IEEE Monterey, OCE 2016
Autore/i: Bartolini, Andrea; Caiti, Andrea; Ciaramella, Ernesto; Conte, Giuseppe; Cossu, Giulio; Costa, Daniele; Grechi, Simone; Nuti, Roger; Scaradozzi, David; Sturniolo, Alessandro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247719 Collegamento a IRIS

2016 A software tool to support design and upgrade of energy production and storage systems
CONTEMPORARY ENERGY
Autore/i: Conte, G; Paciello, L; Scaradozzi, D.; Perdon, A. M.
Classificazione: 1 Contributo su Rivista
Abstract: Home energy systems that can produce, store and manage electricity are efficient solutions to satisfying the growing demand of power in home installations by the exploitation of renewable sources. The design of systems that assure autonomy without oversizing the production with respect to expected requirements can be greatly facilitated by the use of tools for modelling and evaluating performances by simulation in a simple way. Here, we propose a method to model home energy systems by means of Petri Nets and, on that basis, we describe conceptually a software simulation tool, called EPSS (Energy Production and Storage Simulator), that can be used for analyzing the system’s behavior and optimizing its structure with respect to autonomy and self-consumption.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247722 Collegamento a IRIS

2016 Model Matching with Strong Stability in Switched Linear Systems
SYSTEMS & CONTROL LETTERS
Autore/i: Perdon, A.M.; Zattoni, E.; Conte, G.
Classificazione: 1 Contributo su Rivista
Abstract: This work deals with model matching by output dynamic feedback in switched linear systems. The plant and the model are assumed to be subject to different switching signals. A necessary and sufficient condition for achieving model matching with asymptotic stability of both the closed-loop compensated system and the compensator, for a sufficiently large dwell time, is proven. Such condition is obtained by specializing the structural condition with a suitable redefinition of the robust controlled invariant subspace involved, capable of capturing not only the structural aspect of the problem but also the stability aspects. The effect of the combined action of nonzero initial states and nonzero inputs is dealt with. The solution to a more demanding problem formulation, where the dwell time is assumed to be fixed and given is also discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/238672 Collegamento a IRIS

2016 A robotic platform for underwater assisted manipulation
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Casalino, Giuseppe; Simetti, Enrico; Sperindè, Alessandro; Torelli, Sandro
Editore: International Society of Offshore and Polar Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247486 Collegamento a IRIS

2016 Development and testing of low-cost ASV
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, G.; Scaradozzi, D.; Mannocchi, D.; Raspa, P.; Panebianco, L.
Editore: International Society of Offshore and Polar Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247487 Collegamento a IRIS

2016 A wearable critical flicker fusion frequency detector for scuba divers
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Pelaia, Paolo; Screpanti, Laura; Gala, Fabrizio; Rocco, Monica
Editore: International Society of Offshore and Polar Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247485 Collegamento a IRIS

2016 OptoCOMM: Introducing a new optical underwater wireless communication modem
3rd Underwater Communications and Networking Conference, Ucomms 2016
Autore/i: Caiti, Andrea; Ciaramella, Ernesto; Conte, Giuseppe; Cossu, Giulio; Costa, Daniele; Grechi, Simone; Nuti, Roger; Scaradozzi, David; Sturniolo, Alessandro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: OptoCOMM aims at demonstrating the potential, at physical level, of a communication facility for the SUNRISE platform constituted by an Optical Underwater Wireless Communication (OUWC) module with target performance of 10 Mb/s transmission rate at 10 meters range in shallow medium/high turbidity harbour waters. The module, which is based on blue Light Emitting Diode (LED) units and common photodiodes, is an evolution of the proof-of-principle prototype already proven in laboratory (pool). It will constitute an additional node integrated in the Littoral Ocean Observatory Network (LOON) test-bed of the SUNRISE infrastructures, providing a high speed and short-range communication node, which will complete the capability of acoustic modems already present in the test-bed. Three modules (nodes) will be developed and experimentally demonstrated: one for direct integration with the LOON infrastructures, one, battery powered, to be potentially installed on buoys, Remotely Operated Vehicles (ROVs), etc., and one to be installed on the eFolaga Autonomous Underwater Vehicle (AUV) of the proponents. The paper describes in detail the development of the modems as well as the first lab experiments, where the core technology has been successfully tested.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247720 Collegamento a IRIS

2016 Cultural Heritage and Mobile Robotics Technologies
HERITAGE 2016 Proceedings of the 5th International Conference on Heritage and Sustainable Development Vol. I
Autore/i: dell ‘Erba, Ramiro; Conte, Giuseppe; Scaradozzi, David; Bandera, Juan Pedro
Editore: Green Lines Institute for sustainable development
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper reviews current research works at the authors’ Institutions to illustrate how mobile robotics and related technologies can be used to enhance economical fruition, control, protection and social impact of the cultural heritage. Robots allow experiencing on-line, from remote locations, tours at museums, archaeological areas and monuments. These solutions avoid travelling costs, increase beyond actual limits the number of simultaneous visitors, and prevent possible damages that can arise by over-exploitation of fragile environments. The same tools can be used for exploration and monitoring of cultural artifacts located in difficult to reach or dangerous areas. Examples are provided by the use of underwater robots in the exploration of deeply submerged archaeological areas. Besides, technologies commonly employed in robotics can be used to help exploring, monitoring and preserving cultural artifacts. Examples are provided by the development of procedures for data acquisition and mapping and by object recognition and monitoring algorithms.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247718 Collegamento a IRIS

2016 ISME research trends: Marine robotics for emergencies at sea
OCEANS 2016 - Shanghai
Autore/i: Casalino, Giuseppe; Allotta, Benedetto; Antonelli, Gianluca; Caiti, Andrea; Conte, Giuseppe; Indiveri, Giovanni; Melchiorri, Claudio; Simetti, Enrico
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247219 Collegamento a IRIS

2016 Designing the NGC system of a small ASV for tracking underwater targets
ROBOTICS AND AUTONOMOUS SYSTEMS
Autore/i: Conte, G; De Capua, G.P.; Scaradozzi, D.
Classificazione: 1 Contributo su Rivista
Abstract: The paper describes the development of the Navigation, Guidance and Control system of a small, prototypal Autonomous Surface Vehicle (ASV), which is part of an ASV/UUV (Unmanned Underwater Vehicle) robotic system. The main task of the ASV is to serve as supply vessel for the UUV it can carry, deploy and recover and to allow communication with a remote control station. The main problem the NGC system has to handle is that of making the ASV track the UUV and maintain the relative distance within a given bound, using delayed information about the UUV position provided by an acoustic tracking and positioning systems. The specific tracking problem is formulated in a suitable way and a strategy for its solution is proposed and implemented by means of an appropriate control architecture. Stability is discussed using Lyapunov techniques and performances are shown by means of simulations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234145 Collegamento a IRIS

2016 Disturbance Decoupling with Stability for Linear Impulsive Systems .
IFAC-PapersOnLine, Volume 49, Issue 9
Autore/i: Perdon, ANNA MARIA; Zattoni, Elena; Conte, Giuseppe
Editore: Elsevier
Classificazione: 2 Contributo in Volume
Abstract: The paper deals with the problem of decoupling the output of an impulsive linear system from a disturbance input by means of a stabilizing state feedback. Geometric methods are used to characterize the decoupling requirement from a structural point of view and in terms of feedback stabilizability. Assuming that the length of the time intervals between consecutive impulsive variations of the state, or jumps, is lower bounded by a positive All rights reserved. Disturbance Decoupling with Stability for Linear Impulsive Systems Anna Maria Perdon Elena Zattoni Giuseppe Conte Department of Information Engineering, Polytechnic University of Marche, Via Brecce Bianche, 60131 Ancona, Italy. E-mail: perdon@univpm.it, gconte@univpm.it Department of Electrical, Electronic, and Information Engineering “G. Marconi”, Alma Mater Studiorum - University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy. E-mail: elena.zattoni@unibo.it Abstract: The paper deals with the problem of decoupling the output of an impulsive linear system from a disturbance input by means of a stabilizing state feedback. Geometric methods are used to characterize the decoupling requirement from a structural point of view and in terms of feedback stabilizability. Assuming that the length of the time intervals between consecutive impulsive variations of the state, or jumps, is lower bounded by a positive constant, necessary and sufficient conditions for the existence of solutions are given and discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247689 Collegamento a IRIS

2016 Experimental testing of a cooperative ASV-ROV multi-agent system
IFAC-PapersOnLine Volume 49, Issue 23
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Raspa, Paolo; Panebianco, Luca; Screpanti, Laura
Editore: Elsevier
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258027 Collegamento a IRIS

2016 Control and regulation problems in switching systems
ACM International Conference Proceeding Series
Autore/i: Conte, Giuseppe; Perdon, ANNA MARIA; Zattoni, Elena
Editore: Association for Computing Machinery
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Switching, or multimodal, dynamical systems are defined by a finite family of dynamics, namely the modes of the system, and a rule that governs the switching from one mode to another. Switching systems can model complex behaviours that originate when dynamical structures modify in response to varying operative conditions. Examples are given by multi-agent systems, where the set of active agents or that of communication links change during operation, as well as by mechatronic systems, whose sensor/actuator configuration odifies according to working conditions. Recently, switching systems with linear modes have been considered by many authors and different approaches to control and regulation problems for that class of systems have been proposed. Among them, the geometric approach, originally developed for linear systems, has proven to be particularly effective. Here, we discuss and investigate from the geometric point of view a number of control and regulation problems. Basic geometric concepts are introduced and illustrated, starting from the notions of invariance and controlled invariance. Then, the properties of internal and external stabilizability for controlled invariant subspaces are introduced and their role in constructing stabilizing compensators is highlighted. Solvability methods for disturbance decoupling, regulation and model matching problems, with additional stability requirements, can thus be stated and discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247220 Collegamento a IRIS

2016 Experimental testing of a cooperative asv-rov multi-agent system
10th IFAC Conference on Control Applications in Marine Systems CAMS 2016
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Raspa, Paolo; Panebianco, Luca; Screpanti, Laura
Editore: Elsevier B.V.
Luogo di pubblicazione: Trondheim
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The development of versatile and cost effective robotic tools for exploration and intervention in the underwater environment is presently a topic of interest in marine engineering. A viable, efficient solution is given by robotic platform that couple autonomous surface vehicles and unmanned underwater vehicles in integrated structures with various levels of cooperation. In this paper, we describe a number of field tests on the surface component of a robotic platform consisting of an autonomous surface vehicle that can automatically deploy and recover a small remotely operated vehicle. The aim of the tests are to assess the main functionality of the navigation, guidance and control system of the vehicle in relation to basic navigation tasks, both in supervised and in fully autonomous mode. In particular, in order to assure cooperation with the deployed remotely operated vehicle, the ability to track a target is considered.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247216 Collegamento a IRIS

2015 Output Regulation by Error Dynamic Feedback in Linear Time-Invariant Hybrid Dynamical Systems
Proceedings of European Control Conference 2015
Autore/i: Zattoni, E.; Perdon, A.M.; Conte, G.
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work deals with the problem of output regulation in multivariable linear time-invariant hybrid dynamical systems. Namely, the problem of finding a feedback regulator achieving asymptotic tracking of a reference signal generated by an exogenous system and global asymptotic stability of the closed-loop dynamics is tackled for a class of hybrid systems featuring a continuous-time linear dynamics subject to state jumps triggered by a time-driven measurable signal. Necessary and sufficient conditions for the existence of a solution are derived on the basis of the geometric properties of the given hybrid exosystem and plant. The if-part of the proof shows how to synthesize the feedback hybrid regulator on those conditions. A numerical example is worked out with the aim of illustrating how to apply the devised approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228228 Collegamento a IRIS

2015 ROS multi-agent structure for autonomous surface vehicles
MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World
Autore/i: Conte, Giuseppe; Scaradozzi, David; Sorbi, Laura; Panebianco, Luca; Mannocchi, Daniele
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work describes a multi-agent Navigation Guidance and Control system that is designed to equipping a low-cost ASV. Beside facilitating design, construction and maintenance, the multi-agent structure gives modularity and it increases reliability against partial failures. Individual agents are implemented using ROS and a dedicated, custom developed hardware board that couples an ARM processor and a microcontroller. This hybrid hardware architecture has the advantage of providing high computational capability and easy interfacing with sensors and actuators. Some results about testing and validating the NGC system are presented and discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234147 Collegamento a IRIS

2015 A software tool to support design and upgrade of energy production and storage systems
Proceedings of The 5th International Conference and Workshop REMOO-2015 - Technological, Modelling & Experimental Achievements in Energy Generation Systems
Autore/i: Conte, Giuseppe; Luca, Paciello; David, Scaradozzi; Anna Maria, Perdon
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years, the rise in cost of fuel and the introduction of incentives from European countries led to a growth of interest for home systems that can locally produce, store and manage electric energy. In this scenario, a correct sizing, with respect to the expected consumption, of the energy production and storage devices is a key element for keeping acceptable the cost of the system. Here, we propose and describe a software simulation tool that can be used in the system design phase in order to determine, in a given range, the values of nominal power of the energy production devices (photovoltaic panels) and the values of capacity of the storage devices (battery) that satisfy basic requirements about autonomy and selfconsumption. The designer can then choose among the various possible combinations of nominal power and battery capacity the one that better fits with other requirements, like e.g. that of minimizing the costs of components. The tool works by simulating energy production and flows over a given time period and under chosen external condition. Its structure basically consists of a Petri Net, in which energy production, consumption and flows are represented, in a quantized way, by the exchange of tokens. Such structure has the advantage of providing a simple, effective and intuitive way to describe the features and functionalities of the system that are of interest in the design phase. Behaviours that force autonomy and self-consumption are implemented by means of inhibitory arcs. Two series of simulations, with different discretization steps, are used in order to explore the performances of systems characterized by various combinations of nominal power and battery capacity in a range chosen by the designer. Combinations that do not satisfy specific design requirements about autonomy and self-consumption (expressed roughly as percentage of consumed energy that is locally produced and as percentage of produced energy that is locally consumed) are automatically discarded.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234144 Collegamento a IRIS

2015 The Disturbance Decoupling Problem for Jumping Hybrid Systems
Proceedings 54th IEEE Conference on Decision and Control (CDC)
Autore/i: Conte, G.; Perdon, A. M.; Zattoni, E.
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The problem considered here consists in decoupling the output of a hybrid system from an unknown disturbance by means of state feedback, while assuring global asymptotic stability of the closed-loop dynamics. The considered hybrid systems are characterized by the coupling of a linear flow dynamics with a discontinuous jump dynamics. Suitable geometric methods and tools are introduced and, assuming that the linear flow dynamics is reachable, a general sufficient solvability condition is given. A more restrictive sufficient solvability condition that can be checked by a simple, finite procedure is also given. This provides a practical way to construct solutions in many situations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/233981 Collegamento a IRIS

2015 Disturbance decoupling via static-output feedback for uncertain switched linear systems
FAR EAST JOURNAL OF DYNAMICAL SYSTEMS
Autore/i: Otsuka, N.; Conte, G.; Perdon, A.M.
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, disturbance decoupling problem via static output feedback under arbitrary switching for the polytopic uncertain switched linear systems is studied in the framework of geometric theory. Firstly, robust controlled invariant subspaces and robust conditioned invariant subspaces for a family of linear systems will be investigated and then solvability conditions for the problem will be given under certain assumptions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/230288 Collegamento a IRIS

2015 Robust controlled invariant subspaces and disturbance decoupling for uncertain switched linear systems
IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION
Autore/i: Otsuka, N.; Saito, H.; Conte, G.; Perdon, A. M.
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, we will first study two robust controlied invariant subspaces under common input for a family of vertex systems and for a family of subsystems. Next, disturbance decoupling problems under arbitrary switching via state feedback for polytopic uncertain switched linear systems are formulated, and necessary and sufficient conditions for the problems to be solvable are presented. Further, the disturbance decoupling problems with exponential stability under arbitrary switching are also formulated, and solvability conditions for the problems are briefly discussed. Finally, a numerical example is also investigated.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/230286 Collegamento a IRIS

2015 The Disturbance Decoupling Problem with Quadratic Stability for LPV Systems
IFAC-PapersOnLine Volume 48, Issue 26
Autore/i: Zattoni, E.; Perdon, ANNA MARIA; Conte, Giuseppe
Classificazione: 2 Contributo in Volume
Abstract: We consider the problem of decoupling the output from a disturbance by means of a quadratically stabilizing state feedback for a general class of linear parameter varying systems. Solutions are characterized from the structural point of view in geometric terms. Under suitable hypotheses, a checkable sufficient condition and a viable procedure for constructing solutions are provided.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/230289 Collegamento a IRIS

2014 Robust Controlled and Conditioned Invariant Subspaces for Uncertain Switched Linear Systems
Proceedongs 21st Int. Symposium on Mathematical Theory of Networks and Systems ( MTNS 2014)
Autore/i: Otsuka, N.; Conte, G.; Perdon, A.M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper concerns robust controlled invariant subspaces and robust conditioned invariant subspaces for a family of vertex systems for polytopic uncertain switched linear systems. Further, disturbance decoupling problem via static output feedback under arbitrary switching for polytopic uncertain switched linear systems is also investigated.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225288 Collegamento a IRIS

2014 Robotic tools and systems for man/machine cooperation in underwater archaeology
6th International Congress "Science and Technology for the Safeguard of Cultural Heritage in the Mediterranean Basin"
Autore/i: G. Conte, D. Scaradozzi
Editore: Valmar
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Abstract: The paper describes the architecture and the features of an advanced, robotic platform for underwater exploration and intervention. The characteristics of the robotic platform make it suitable for use in the field of underwater archaeology, where cooperation between man and machine can represent a winning solution to overcome the difficulties of operating in harsh but fragile environments. The use of automatic techniques for navigation, guidance and control of marine vehicles, for managing communication under and over the sea surface, for processing and interpreting large amounts of nonhomogeneous, asynchronous data is the key ingredient in the development of the robotic platform. Test and experiments in field missions represent the main validation method for the hardware and software solutions that implement such techniques. Reference is made to a number of recent papers and to the activity carried on in the framework of structured research projects.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234152 Collegamento a IRIS

2014 Disturbance Decoupling with stability for Switching Dynamical Systems
SYSTEMS & CONTROL LETTERS
Autore/i: Conte, G.; Perdon, A.M.; Otsuka, N.
Classificazione: 1 Contributo su Rivista
Abstract: The disturbance decoupling problem with stability is dealt with by means of the geometric approach for switching systems. The existence of feedbacks which decouple the disturbance and, at the same time, assure stability is difficult to characterize, since the action of the feedback couples with that of the switching law. Under suitable conditions, it is shown that the above requirement can be dealt with in separate ways and this allows us to state a checkable necessary condition and, on that basis, also a sufficient condition for solvability of the problem.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/233968 Collegamento a IRIS

2014 A Simulation Tool for Home Energy Production and Storage System Using Photovoltaic and Airborne Wind Energy
Proc. of QUAESTI - VIRTUAL MULTIDISCIPLINARY CONFERENCE
Autore/i: Paciello, Luca; Scaradozzi, David; Conte, Giuseppe; Coleman, Joseph; Toal, Daniel
Editore: Thomson Ltd, Slovakia
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a software tool called EPSS-AWE (Energy Production and Storage Simulator - Airborne Wind Energy) that simulates a hybrid solar-wind energy production and storage home system, in which the wind power production element is an AWE generation system and the solar element is a traditional photovoltaic (PV) plant. Simulation based on realistic data can be used to evaluate the performance of hybrid power production and storage systems in different configurations, and to correctly size their components in the design phase.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225279 Collegamento a IRIS

2014 ROAD -Robotic Assisted Diving: physiology of diving
Proceedings Workshop at 13th Intl.Conf.onIntelligentAutonomousSystems IAS-1
Autore/i: Rocco, Monica; Pelaia, Paolo; Conte, Giuseppe; Scaradozzi, David; D’Ippolito, Filippo; Gala, Fabrizio; Blasi, Roberto Alberto De
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Underwater diving on compressed air or other breathing gases results in a range of physiological effects and potentially pathophysiological sequelae over the risk of drowning. Human divers can cease breathing for short dives or they must use a Self Contained Underwater Breathing Apparatus (SCUBA) containing air. Being underwater means being under pressure, and that pressure increases rapidly as you dive deeper. That means that the various gas laws come into play, and those laws can impact the "function of living organisms and their parts”. We assist to a change in compliance, resistance and in work of breathing as well as a change in blood volume distribution with some effect on the heart. The different gas laws could giustified some pathophysiological effects like oxygen toxicity, nitrogen narcosis, and decompressions sickness. We discuss all these items.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225271 Collegamento a IRIS

2014 Output-Feedback Model Matching with Strong Stability in Continuous-Time Switched Linear Systems
Proc. 22nd Mediterranean Conference on Control and Automation
Autore/i: E. Zattoni; A.M. Perdon; G. Conte
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work deals with the problem of model matching in switched linear systems. On appropriate assumptions, conditions are shown that allow the synthesis of a switched dynamic output feedback capable of achieving model matching with asymptotic stability under restricted switching of both the switched compensator and the closed-loop switched system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/174107 Collegamento a IRIS

2014 Innovative strategy and process for underwater data gathering and results elaboration
Proc. of 22nd Mediterranean Conference of Control and Automation (MED)
Autore/i: Scaradozzi, D; Sorbi, L. ; Zoppini, F. ; Conte, G. ; Ramirez, P.A.Z. ; Cerrano, C.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The development of new marine environment monitoring technologies is a field of research involving an heterogeneous public. The documentation and cataloging of underwater sites as well as the supervision and sampling of biological parameters have always involved researchers like archaeologists and biologists. Moreover, sport activities regarding the sea have been showing a keen interest in more efficient devices that are specifically developed for storing data during the immersion. Within the introduced framework, it is important to let the user operate in an efficient and easy way, without creating damages to the environment. This paper describes the design and realization of a device, called DiRAMa, and the relative architecture for data gathering in underwater environments. The device is planned to make the image and data acquisition easy, and let the user upload all the information on an appropriate Web Server as soon as an Internet connection is available. Users can launch 3D reconstruction processes, which use photos and other materials just uploaded, while the Web Server sends notification on the mobile device informing about elaboration status. Innovation and potentiality brought by DiRAMa are introduced, and the general architecture of the system described. The validation of the structure out of water and its use in real field mission involving biologists and other scientist is discussed, together with possible future improvements. © 2014 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225258 Collegamento a IRIS

2014 ROAD-Robotic Assisted Diving: underwater robot technology
Proceedings Workshop at 13th Intl.Conf.onIntelligentAutonomousSystems IAS-1
Autore/i: Conte, Giuseppe; Scaradozzi, David; Sorbi, Laura; Zanoli, Silvia Maria; D'Ippolito, Filippo; Fagiolini, Adriano
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The activities associated to underwater diving are of great importance in many areas but the practice of diving is still characterized by significant risks, especially for professional divers who works at high depth, and limited practicability. The research project ROAD-RObotics for Assisted Diving aims at developing a prototypal robotic system and a number of automatic procedures to monitor and to assess the physiological conditions of divers during their activities. Physiological data will be gathered by measuring devices and inferred from the analysis of diver’s behaviors and they will be processed and compared with suitable models in order to get relevant information for safety.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225200 Collegamento a IRIS

2014 ROAD project: Robotics for assisted diving
Proceeding 22nd Mediterranean Conference on Control and Automation
Autore/i: Conte, Giuseppe; Scaradozzi, David; Sorbi, Laura; Zanoli, Silvia Maria; D'Ippolito, Filippo; Fagiolini, Adriano; Pelaia, Paolo; Rocco, Monica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The activities associated to underwater diving are of great importance in many areas. In the second half of the last century, diving technologies have greatly progressed, but diving is still characterized by significant risks, especially for professional divers who works at high depth, and limited practicability. The use of robotic systems and automatic procedures would allow, as in other situations where safety is of concern (for example, in case of hazardous works or in relation to hostile environments), a reliable monitoring and assessment of the physiological conditions of human operators during their activities. Moving from currently available technologies in underwater robotics, the ROAD (Robotics for Assisted Diving) project aims to develop an intelligent robotic system which is able to supervise in a semi-automatic way the activities performed by teams of divers. Such system will operate by monitoring a set of physiological and behavioral parameters. The collected data will be processed on-line in order to evaluate the current status and to reconstruct the evolution of the psychophysical conditions of the divers during their undertakings. The project has been founded Italian PRIN (National program of Research interest) involves two groups of experts with competence, respectively, in the physiology of diving and in the robotic technologies. The coordinator group is part of ISME (Interuniversity Center of Integrated Systems for the Marine Environment). © 2014 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225210 Collegamento a IRIS

2014 A note on feedback stabilizability of switching systems under arbitrary switching
22nd Mediterranean Conference on Control and Automation, MED 2014
Autore/i: G. Conte; A.M. Perdon
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The problem of compensating by state feedback the modes of a linear switching system in such a way that it becomes asymptotically stable under arbitrary switching is considered. Two different sufficient conditions for the existence of a family of state feedbacks that, compensating each mode, make the switching system asymptotically stable under arbitrary switching are given. Both conditions are derived from the analysis of the system behavior in terms of eigenvalues and eigenspaces of its modes. In particular, the first one exploits the known fact that stability under arbitrary switching is guaranteed if all modes of the system, beside being Hurwitz or Schur stable, have dynamic matrices which are normal, or equivalently which have a set of orthogonal eigenspaces. The second conditions, exploits the fact that stability under arbitrary switching is guaranteed if all modes of the system, beside being Hurwitz or Schur stable, have dynamic matrices which have the same set of eigenspaces. In both cases, a characterization in terms of equations that involve the coefficients of the dynamic matrices and the input matrices of the modes are given. The case of two-dimensional modes is investigated in details and examples are provided.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/174108 Collegamento a IRIS

2014 A design tool for modelling and sizing of energy production/storage home system
Proc. of Environmental Energy and Structural Monitoring Systems (EESMS)
Autore/i: Paciello, Luca; Pedale, Anna; Scaradozzi, David; Conte, Giuseppe
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years, the rise in cost of fuel and the introduction of incentives from European countries led to a growth of interest for home systems that can locally produce, store and manage electric energy. In this scenario, a correct sizing, with respect to the expected consumption, of the energy production and storage devices is a key element for keeping acceptable the cost of the system. Here, we propose and describe a software simulation tool that can be used in the system design phase in order to determine, in a given range, the values of nominal power of the energy production devices (photovoltaic panels) and the values of capacity of the storage devices (battery) that satisfy basic requirements about autonomy and self-consumption. The designer can then choose among the various possible combinations of nominal power and battery capacity the one that better fits with other requirements, like e.g. that of minimizing the costs of components. The tool works by simulating energy production and flows over a given time period and under chosen external condition. Its structure basically consists of a Petri Net, in which energy production, consumption and flows are represented, in a quantized way, by the exchange of tokens. Such structure has the advantage of providing a simple, effective and intuitive way to describe the features and functionalities of the system that are of interest in the design phase. Behaviours that force autonomy and self-consumption are implemented by means of inhibitory arcs. Two series of simulations, with different discretization steps, are used in order to explore the performances of systems characterized by various combinations of nominal power and battery capacity in a range chosen by the designer. Combinations that do not satisfy specific design requirements about autonomy and self-consumption (expressed roughly as percentage of consumed energy that is locally produced and as percentage of produced energy that is locally consumed) are a- tomatically discarded.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225234 Collegamento a IRIS

2014 Disturbance Decoupling with Stability in Continuous-Time Switched Linear Systems Under Dwell-Time Switching
World Congress, Volume# 19 | Part# 1
Autore/i: E. Zattoni; A.M. Perdon; G. Conte
Editore: International Federation of Automatic Control
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work deals with state feedback compensation of disturbance inputs in continuous-time switched linear systems, with the requirement that the closed-loop systems be exponentially stable under switching signals with a sufficiently large dwell-time. Constructive conditions for the problem to be solvable are shown, on the assumption that the given switched linear system has zero initial state. The effects of nonzero initial states are inspected. The theoretical background consists of both classic and novel ideas of the geometric approach, enhanced with notions specifically oriented to switched linear systems.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/174111 Collegamento a IRIS

2014 Model matching problems for switching linear systems
19th World Congress of the International-Federation-of-Automatic-Control (IFAC)
Autore/i: G. Conte; A.M. Perdon; E. Zattoni
Editore: IFAC Secretariat
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper investigates the problem of designing a feedback compensator to force the response of a plant modeled by a switching linear system to match that of a prescribed, switching linear model, for any choice of the switching law. The problem is stated by considering both the situation in which the state of the model is measurable and that in which it is not. Accordingly, static compensators or, alternatively, dynamic ones will be sought. The additional requirement of asymptotic stability of the compensated system is introduced by reasonably restricting the class of admissible switching laws. Using geometric methods, that extend classic ones to the framework of switching systems, a complete solution, in terms of necessary and sufficient conditions that are algorithmically checkable, is given for matching without stability and for matching with asymptotic stability for a mildly restricted class of plants.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/174110 Collegamento a IRIS

2013 An innovative process in the marking of lasts for the footwear industry
THE INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
Autore/i: G. Conte; I. Facchino; L. Mazzocchetti; M. Marziali
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/164712 Collegamento a IRIS

2013 Algebraic Methods for Nonlinear Control Systems Systems. 2nd ed - bilingual edition
Autore/i: Giuseppe Conte; Claude Moog; Anna Maria Perdon
Editore: China Science Publishing & Media Ltd. (Science Press)
Classificazione: 3 Libro
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/174908 Collegamento a IRIS

2013 Disturbance Decoupling via State Feedback for Uncertain Switched Linear Systems
52nd IEEE Conference on Decision and Control
Autore/i: N. Otsuka; H. Saito; G. Conte; A. M. Perdon
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper disturbance decoupling problems via state feedback for polytopic uncertain switched linear systems under arbitrary switching are studied in the framework of the so-called geometric control theory. Firstly, robust controlled invariant subspaces under common input for a family of vertex systems are studied. After that disturbance decoupling problem under arbitrary switching is formulated, and then a necessary and sufficient condition for the problem to be solvable is presented. Further, the disturbance decoupling problem with quadratic stability is also formulated, and sufficient conditions for the problem to be solvable are presented. Finally, an illustrative numerical example is given.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/152913 Collegamento a IRIS

2013 A Geometric Approach to Output Regulation for Discrete-Time Switched Linear Systems
Proceedings of the 21st Mediterranean Conference on Control & Automation
Autore/i: Giuseppe Conte; Anna Maria Perdon; Elena Zattoni
Editore: IEEE / Institute of Electrical and Electronics Engineers Incorporated:445 Hoes Lane:Piscataway, NJ 08854:(800)701-4333, (732)981-0060, EMAIL: subscription-service@ieee.org, INTERNET: http://www.ieee.org, Fax: (732)981-9667
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper considers the problem of asymptotic output regulation by dynamic feedback for discrete-time switched linear systems, with the requirement of asymptotic stability of the regulation loop. Using the methods of the geometric approach, sufficient conditions for solvability of the problem, under suitable assumptions, are shown. A synthesis procedure is outlined.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/144687 Collegamento a IRIS

2013 Research Activities at the Politechnic University of Marche
ROCOCO - Cooperative and Collaborative Robotics,
Autore/i: G. Conte; D. Scaradozzi; S. Zanoli
Editore: CUES
Luogo di pubblicazione: Salerno
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/164710 Collegamento a IRIS

2013 The Output Regulation Problem with Stability for Linear Switching Systems: A Geometric Approach
AUTOMATICA
Autore/i: Elena Zattoni; Anna Maria Perdon; Giuseppe Conte;
Classificazione: 1 Contributo su Rivista
Abstract: This work provides a solution for the output regulation problem with quadratic stability under arbitrary switching in linear switching systems. Extension to other stability requirements, like, e.g., asymptotic stability, is also considered, and it is shown to have a limited, although sharp, impact on the proposed solution. The main reason is that the geometric approach, which is at the basis of the developed methodology, allows the structural aspects of the problem to be considered separately from the stability aspects. For the same reason, continuous-time systems and discrete-time systems are given a unified treatment as far as the structural issues are concerned, while different technicalities characterize the presentation of the stability issues.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/144684 Collegamento a IRIS

2013 Developing and Testing a Capacitive Distance Sensor for Use in Industrial Environment
Proc. of the 2013 International Symposium on Electromagnetic Compatibility (EMC Europe 2013)
Autore/i: A. De Leo; D. Scaradozzi; G. Conte; M.Candelaresi; G. Cerri; V. Mariani Primiani; P. Russo
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this work, the development and the testing of a capacitive distance sensor, based on E-field measurement, for applications in industrial environments is presented. In particular, the structure and the working principle of the sensor, as well as the process of optimization of the sensing elements and some functional tests in absence of disturbances are described. Then, the EMC precompliance, in particular the radiated susceptibility and the ESD immunity, is experimentally investigated. In particular it must assured that the functionality of the robot will be compliant to safety assessment even in the presence on an external disturb. Results are discussed and solutions to make the apparatus more immune are briefly outlined.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/129862 Collegamento a IRIS

2013 Un sistema robotico integrato per l’esplorazione e l’intervento nell’ambito dell’archeologi sottomarina
Conoscenza e tutela del patrimonio sommerso
Autore/i: G. Conte; D. Scaradozzi
Editore: Aracne editrice srl
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/205831 Collegamento a IRIS

2013 Realization of an E-field Sensory System for Sensor Based Man/Machine Cooperation
TRANSACTION ON CONTROL AND MECHANICAL SYSTEMS
Autore/i: G. Conte; D. Scaradozzi; M. Rosettani; M. Candelaresi; E. Svampa
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/164711 Collegamento a IRIS

2013 A Geometric Approach to Output Regulation for Linear Switching Systems
Proceedings 1st IFAC Workshop on Linear Parameter Varying Systems
Autore/i: Zattoni; E. ; Perdon A. M. ; Conte G.
Editore: Elsevier
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper considers the problem of asymptotic output regulation by output dynamic feedback for continuous-time linear switching systems, with the requirement of asymptotic stability of the regulation loop. Using tools and methods of the geometric approach, necessary and sufficient conditions for the existence of solutions, under suitable assumptions, are found. A synthesis procedure is outlined in case a stronger sufficient condition holds. The case of different stability requirements, in particular that of quadratic stability, is discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/87329 Collegamento a IRIS

2012 Assisting Micro-ROV operators during surveys in fragile environments
SEA TECHNOLOGY
Autore/i: Scaradozzi D.; Conte G.; Sorbi L.
Classificazione: 1 Contributo su Rivista
Abstract: Surveys and data gathering in delicate biological marine environments or in archaeological sites can significantly capitalize from the use of UUVs. In such situations, teleoperation becomes fundamental, as well as the possibility of using minimally invasive practices. During operations, the two ROVs' guidance systems are decoupled. The larger robot works in station keeping or path following, either automatically or under the supervision of an expert operator, while the smaller one is controlled by an operator not specifically trained for piloting ROVs. A supervised control system can be developed to guide the large ROy, while a human operator on the vessel pilots the micro-ROV. Using position information from the acoustic system, the automatic guidance implemented by the supervisory control system maintains the large ROV in a stationary position or guides it along a predetermined path. The architecture of the supervisory control system is organized on two levels.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/116462 Collegamento a IRIS

2012 Assisted guidance system for Micro ROV in underwater data gathering missions.
2012 20th Mediterranean Conference on Control and Automation, MED 2012
Autore/i: D. Scaradozzi; G. Conte; L. Sorbi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Recent years have seen an increasingly interest by the scientific community in the realization of minimally invasive technologies and tools for carrying out activities like exploration and intervention in the marine environment. This paper will describe the design and realization of a novel assisted guidance system for a Micro ROV, which is part of a more complex robotic system, together with a large ROV. Within this framework, the smaller robot is employed as a mobile appendix of the larger one, while the latter acts as an actuated garage and a supply vessel of the first. During operations, the ROVs guidance systems are decoupled, that is the larger one works in station keeping or in path following, either automatically or under the supervision of an expert operator, while the smaller one is teleoperated by a pilot not necessarily trained. This structure allows scientists like marine biologists, archaeologists and oceanographers to operate directly the Micro ROV, combining their knowledge of the application domain with the ability of professional ROV pilots. The described robotic structure is potentially very efficient and versatile, but its realization implies the development of solutions which could support the Micro ROV untrained operators. For this reason, the present paper focuses on the description of an assisted guidance system for Micro ROV aimed at achieving the objective above. The system makes the Micro ROVs pilot keep the vehicle within a given range from the large ROV, by means of a reactive joystick. Generation of the reactive force is described, and the use of the assisted guidance system in performing underwater data gathering missions of an archaeological site is discussed. © 2012 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/116470 Collegamento a IRIS

2012 Modeling and Control of a Low-cost ASV
Proceedings 9th IFAC Workshop on Maneuvering and Control of Marine Craft
Autore/i: G. Conte; G.P. De Capua; D. Scaradozzi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/87668 Collegamento a IRIS

2012 Working with New Paradigms and Challenges in Control Theory
METHODS, MODELS, SIMULATIONS AND APPROACHES TOWARDS A GENERAL THEORY OF CHANGE
Autore/i: G. Conte; A.M. Perdon
Editore: World Scientific Pub Co Inc
Luogo di pubblicazione: Singapore
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/71844 Collegamento a IRIS

2012 Geoposition data aided 3D documentation of archaeological and biological sites
Proceedings of Meetings on Acoustics
Autore/i: L. Sorbi; D. Scaradozzi; G. Conte; P. Gambogi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Most of marine scientists' work consists in documentation of underwater sites. The common need for different applications is to obtain enriched maps of the underwater environment in an efficient way. Up until recently, underwater site reconstructions were represented by sketches produced after human surveys, and the geometric measurements were taken by divers with hand-held instruments. These techniques require a considerable effort in terms of time and economic resources. Within the last ten years ISME (Interuniversity Ctr. Integrated Systems for the Marine Environment) and SBAT (Italian Ministry of Culture, Superintendence of Archaeological Goods of Tuscany-Soprintendenza per i Beni Archeologici di Toscana) have worked toward automation of the survey process, providing scientific methodologies and the technological tools for the virtual exploration, which can be applied both to archaeological and biological environments. This paper presents an innovative methodology and an integrated system useful to obtain a geo-referenced augmented 3D map of an underwater site. The project improved the accessibility of marine environment through 3D documents created in pdf format that allow virtual explorations. The developed tools have been validated within several underwater sites and together with various archaeological institutions. The same technologies can be adapted in underwater biological applications. © 2013 Acoustical Society of America.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/158706 Collegamento a IRIS

2012 A geometric approach to the general autonomous regulator problem in the time-delay framework
SYSTEMS & CONTROL LETTERS
Autore/i: G. Conte; A. Perdon; E. Zattoni
Classificazione: 1 Contributo su Rivista
Abstract: The aim of this paper is to show the applicability of geometric techniques to a regulation problem for linear, time-delay systems. Given a plant whose dynamics equations include delays and an exosystem that generates a reference signal, the problem we consider consists in finding a feedback regulator which guarantees asymptotic stability of the regulation loop and asymptotic command following of the reference signal, for any initial condition of the overall system in the presence of disturbances. By associating to the time-delay plant a corresponding abstract system with coefficients in a ring, it is possible to place our investigation in a finite dimensional algebraic context, where intuition and results obtained in the classical case, that is without delays, may be exploited. In particular, using tools and methods of the geometricapproach to systems with coefficients in a ring, sufficient conditions for the solvability of the considered problem are found and a constructive procedure, which works under specific hypotheses, is given.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/71840 Collegamento a IRIS

2012 Geoposition data aided 3D documentation of archaeological and biological sites
Proceedings of Meetings on Acoustics
Autore/i: Sorbi, Laura; Scaradozzi, David; Conte, Giuseppe; Gambogi, Pamela
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/266127 Collegamento a IRIS

2011 A Necessary Condition for Disturbance Decoupling with Quadratic Stability in Switched Linear Systems
Control & Automation (MED), 2011 19th Mediterranean Conference on
Autore/i: G. Conte; A. Perdon
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper deals with the problem of decoupling by feedback a disturbance input from the output of a switched linear system, while achieving, by a suitable choice of the switching rule, quadratic stability. Using geometric methods, a structural obstruction to the solvability of the problem is found and a necessary condition is stated.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/71841 Collegamento a IRIS

2011 Stability Analysis of a Nonlinear Plant with Limited Information
Proceedings of the 18th IFAC World Congress, 2011
Autore/i: G. Conte; A. Perdon; G. Vitaioli
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper studies the characteristics of a specific model-based control scheme in which sampled and corrupted information is used to govern the state of a partially known plant. More precisely, it is assumed that signals can be transferred from a controller to the plant continually, while information can be transferred from the plant to the controller only at sampling times. Information coming from the plant is assumed to be corrupted by an unknown disturbance, that may represent the effect of quantization, delay, measurement errors. Using an approximate model of the plant and the available information, the controller generates a feedback signal that is used to govern the state of the plant. The specific control objective is that of keeping the state of the plant bounded. The performances of the control scheme depend, clearly, on the length of the sampling intervals and, therefore, one is interested in finding conditions on the length of the sampling interval which makes possible to achieve the control objective. The paper gives two results in this direction, stating sufficient conditions on the length of the sampling interval for guaranteeing boundedness of the state of the plant in two different, very general situations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/71842 Collegamento a IRIS

2011 E-field Sensors and Sensor-based Control Strategies for M/M Safe Cooperation
Proceedings of the 18th IFAC World Congress, 2011
Autore/i: G.Conte; D. Scaradozzi; M. Rosettani
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we describe the use of an artificial sensitive skin, realized by means of E-field sensors, for enhancing safety and man machine cooperation in robotic work-cells. Sensory signal from the sensitive skin are interpreted with the aid of additional information about the robot s motion, so to provide emergency stop signal in case of unintentional proximity or contact between man and robot or, alternatively, in case of intentional contact by the man, to transmit suitable commands. An experimental prototypal installation on an industrial manipulator is described and results of various tests are illustrated.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/71843 Collegamento a IRIS

2011 Underwater Archaeological Surveys with Autonomous Robots
Proc.10th 10th International Conference on Computer Applications and Information Technology in the Maritime Industries.
Autore/i: A. Caiti; V. Calabrò; G. Conte; S. Zanoli; D. Scaradozzi; P. Drapp
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/72375 Collegamento a IRIS

2011 Building simulation/emulation environments for home automation systems
19th Mediterranean Conference on Control and Automation, MED 2011
Autore/i: Conte G.; Scaradozzi D.; Donnini R.; Pedale A.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65947 Collegamento a IRIS

2010 A Model-Based Control Scheme for General Nonlinear Plants with sampled Information
Proceedings of 18th Mediterranean Conference on Control and Automation
Autore/i: G. CONTE; A M. PERDON
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/54088 Collegamento a IRIS

2010 Strategies for Energy Management in Home Automation Systems
Proceedings of Stochastic Modeling Techniques and Data Analysis International Conference
Autore/i: G. CONTE; A. M. PERDON; D. SCARADOZZI; G. MORGANTI; F. DEZI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/54086 Collegamento a IRIS

2010 ROBOTICS TOOLS FOR UNDERWATER ARCHAEOLOGY
Science for Cultural Heritage - Technological Innovation and Case Studies in Marine and Land Archaeology in the Adriatic Region and Inland - VII International Conference on Science, Arts and Culture - Veli Lošinj, Croatia, 2007
Autore/i: Conte, Giuseppe; Zanoli, Silvia Maria; Scaradozzi, David; Gambella, Luca
Editore: World Scientific Co.
Luogo di pubblicazione: Singapore
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/230088 Collegamento a IRIS

2010 Stabilization of Nonlinear Plants with Sampled Information
Proc. 49th IEEE Conference on Decision and Control
Autore/i: G. Conte; A M. Perdon; G. Vitaioli
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/57392 Collegamento a IRIS

2010 Development of tools and methods for safe M/M Cooperation
Control Themes in Hyperflexible Robotic Worcells
Autore/i: G. CONTE; SCARADOZZI D; ZANOLI S. M; ROSETTANI M
Editore: CUES
Luogo di pubblicazione: SALERNO
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/40950 Collegamento a IRIS

2010 Apparecchiatura per la gestione del sistema di controllo di un macchinario dotato di una parte mobile provvista di almeno un sensore di prossimità e contatto
Autore/i: G. CONTE; SCARADOZZI D; ROSETTANI M
Classificazione: 6 Brevetti
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48852 Collegamento a IRIS

2010 Resource management in home automation systems
18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings
Autore/i: Conte, Giuseppe; Perdon, ANNA MARIA; Scaradozzi, David; Morganti, G; Rosettani, M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/49548 Collegamento a IRIS

2010 L’attuale livello di diffusione dell’automazione nel distretto calzaturiero fermano-maceratese
ECONOMIA MARCHE
Autore/i: E.Lanciotti; G. Conte; D. Iacobucci
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73315 Collegamento a IRIS

2010 A Feedback Scheme for Missions Managing in Underwater Archeology
IFAC Proceedings Volumes (IFAC-PapersOnline)
Autore/i: CONTE G; S. ZANOLI; D. SCARADOZZI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/43130 Collegamento a IRIS

2010 A Game Theoretic Approach to Resources' Management in Home Automation Systems
Proc. 6th Spain, Italy and Netherland meeting on Game theory.
Autore/i: G. Conte; A. Perdon; D. Scaradozzi; M. Rosettani
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/72382 Collegamento a IRIS

2010 The Rendezvous Problem with Discontinuous Control Policies
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Autore/i: G. CONTE; P. PENNESI
Editore: IEEE / Institute of Electrical and Electronics Engineers Incorporated:445 Hoes Lane:Piscataway, NJ 08854:(800)701-4333, (732)981-0060, EMAIL: subscription-service@ieee.org, INTERNET: http://www.ieee.org, Fax: (732)981-9667
Classificazione: 1 Contributo su Rivista
Abstract: In this technical note we consider the multi-agent rendezvous problem and we state new sufficient conditions for characterizing the control policies that assure rendezvous. Our condition are less restrictive than those presented until now in the literature, since, in particular, continuity is substituted by a milder requirement concerning the behavior of the control laws around points of discontinuity. In addition, our results apply to groups of agents moving in Rn, for any finite n.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/34895 Collegamento a IRIS

2010 A Model-Based Control Scheme with Observer and Sampled Information
Proceedings of 4th IFAC Symposium on System, Structure and Control (SSSC10)
Autore/i: G. CONTE; A.M. PERDON; G. VITAIOLI
Editore: IFAC-PapersOnLine -Elsevier
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/54089 Collegamento a IRIS

2009 A model based control scheme with sampled information
Proceedings 17th Mediterranean Conference on Control and Automation, MED'09
Autore/i: G. CONTE; A. PERDON; G. VITAIOLI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53565 Collegamento a IRIS

2009 An application of E-field sensors in industrial robotics
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Autore/i: Conte, Giuseppe; Scaradozzi, David; Rosettani, M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper investigates the possibility of constructing touch and proximity sensory systems for industrial robots by means of low cost electric field sensors. The interest in this application is motivated by the possibility of implementing new modalities of interaction and cooperation between man and robot in industrial environments, according to the revised ISO standards on Robots for industrial environments. The use of two E-field sensors, having different architecture, for the realization of an artificial skin on robot links is considered and studied. Prototypes of the sensory system are developed and tested on a simple, reduced-scale model of an anthropomorphic manipulator, showing the feasibility of the proposed solution and its suitability to reduce the risk of dangerous collisions between humans and robot in a shared workspace.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53034 Collegamento a IRIS

2009 Optimising Home Automation Systems: A Comparative Study on Tabu Search and Evolutionary Algorithms
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Autore/i: Conte, Giuseppe; Scaradozzi, David; Perdon, ANNA MARIA; Morganti, G.; Brintrup, A.
Luogo di pubblicazione: THESSALONIKI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52941 Collegamento a IRIS

2009 Innovative technology for studying growth areas of Posidonia oceanica
Proc. IEEE Workshop on Environmental, Energy, and Structural Monitoring Systems, EESMS
Autore/i: G. CONTE; SCARADOZZI D; DE CAPUA G.P; SORBI L; LUCIANI C; DE CECCO P.G; SORCI A
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/44783 Collegamento a IRIS

2009 Monitoring groundwater characteristics by means of a multi-parametric probe and sampling device
Proc. IEEE Workshop on Environmental, Energy, and Structural Monitoring Systems, EESMS
Autore/i: G. CONTE; D. SCARADOZZI; G. VITAIOLI; M. ROSETTANI; S. FRANCA; A. TOCCACELI; A. DELLANNO
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/44784 Collegamento a IRIS

2009 Robotics techniques for data acquisition in underwater archeology
INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL
Autore/i: CONTE G.; ZANOLI S.M.; SCARADOZZI D.; CAITI A.
Classificazione: 1 Contributo su Rivista
Abstract: The paper presents a procedural methodology for the cooperation, at various level, of UUV and human operators to extract, in a non invasive way, as much information as possible from an underwater archaeological site with minimal expenditure of time and resources. Traditional methodologies of exploration of underwater archaeological sites have been enhanced thanks to new technologies and the possibility given to the archaeologist to promptly have a global information about the whole area of interest. In particular, in the paper, techniques for constructing augmented maps of the sites are illustrated. In the present approach, augmented maps are made accessible in real time to the archaeologist supervisor by means of a friendly interface. This allows to inform promptly the operators about the actual progresses of the survey, so that corrective actions can be eventually triggered on line. Furthermore, the possibility to contextualize the present survey data on wider scale maps (GIS) significantly enhances the global situation awareness of the archaeologists by pointing out correlations with the territory and with other sites. The experiences gathered on several missions on different archaeological sites have confirmed that the developed procedures guarantee an efficient and cost effective automation of the marine archaeologists’ work.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50171 Collegamento a IRIS

2009 Multi-Agent System Theory for modelling a Home Automation System
Proc. The 10th International Work-Conference on Artificial Neural Networks (IWANN2009)
Autore/i: Conte, Giuseppe; Morganti, Gianluca; Perdon, ANNA MARIA; Scaradozzi, David
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/72384 Collegamento a IRIS

2009 Underwater Vehicle Technology in the European Research project VENUS
UNDERWATER TECHNOLOGY
Autore/i: CONTE G; GAMBELLA L; SCARADOZZI D; S. ZANOLI; CAITI A; CALABRÒ V; ALCOCER A; ALVES J; CARDEIRA B; CUNHA R; CURADO F; OLIVEIRA P; OLIVEIRA A; PASCOAL A; RUFINO M; SEBASTIÃO L; SILVESTRE C
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/27349 Collegamento a IRIS

2009 Underwater Vehicle Technology in the VENUS project
UNDERWATER TECHNOLOGY
Autore/i: CONTE G.; GAMBELLA L.; SCARADOZZI D.; ZANOLI S.M.; CAITI A.; CALABRÒ V.; ALCOCER A.; ALVES J.; CARDEIRA B.; CUNHA R.; CURADO F.; OLIVEIRA P.; OLIVEIRA A.; PASCOAL A.; RUFINO M.; SEBASTIÃO L.; SILVESTRE C.
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50183 Collegamento a IRIS

2009 Multi-Agent System Theory for Resource Management in Home Automation Systems
JOURNAL OF PHYSICAL AGENTS
Autore/i: CONTE G; MORGANTI G; A. PERDON; SCARADOZZI D
Editore: [Madrid] : Red de Agentes Físicos Ministerio de Educación y Ciencia
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35739 Collegamento a IRIS

2009 Multi-Agent System Theory for Modelling a Home Automation System
JOURNAL OF PHYSICAL AGENTS
Autore/i: CONTE G; MORGANTI G; PERDON A.M; D. SCARADOZZI
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51269 Collegamento a IRIS

2009 Multi-agent system theory for modelling a home automation system
Bio-Inspired Systems: Computational and Ambient Intelligence
Autore/i: Morganti, Gianluca; Perdon, ANNA MARIA; Conte, Giuseppe; Scaradozzi, David
Editore: Springer
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A paradigm for modelling and analysing Home Automation Systems is introduced, based on Multi-Agent System theory. A rich and versatile environment for Home Automation System simulation is constructed for investigating the performances of the system. The exploitation of limited resources (electricity, gas, hot water) depends on behavioural parameters of the individual appliances. In order to deal with the problem of developing systematic design and validation procedures for control strategies, global performance indices for the system are introduced. Different strategies for allocating resources and establishing priorities in their use can therefore be tested and compared.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/41046 Collegamento a IRIS

2008 Robotics techniques for data acquisition in underwater archeology
Proc. 17th International Workshop on Robotics in Alpe-Adria-Danube Region
Autore/i: G. CONTE; S. M. ZANOLI; D. SCARADOZZI; A. CAITI; L. GAMBELLA
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52904 Collegamento a IRIS


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