A virtual sensor for backlash in robotic manipulators

Journal of Intelligent Manufacturing - Gear backlash is a quite serious problem in industrial robots, it causes vibrations and impairs the robot positioning accuracy. Backlash estimation allows...     

Unknown-state, unknown-input reconstruction in discrete-time nonminimum-phase systems: Geometric methods

The complete solution to the unknown-state, unknown-input reconstruction problem in systems with invariant zeros is inherently conditioned by the fact that, for any invariant zero, at least one initial state exists, such that the output is not affected when the mode of the invariant zero is properly injected into the system. Despite this intrinsic limitation, the problem of reconstructing the initial state and the inaccessible inputs from the available measurements has recently attracted remarkable interest, owing to its impact on the synthesis of enhanced-reliability control systems. This contribution consists of a geometric method which solves the unknown-state, unknown-input reconstruction problem in discrete-time systems with invariant zeros anywhere in the complex plane, except the unit circumference. The case of systems with the invariant zeros in the open set outside the unit disc is regarded as the basic one. The difficulties related to the presence of those invariant zeros are overcome by accepting a reconstruction delay commensurate to the invariant zero time constants and the accuracy required for reconstruction. The solution devised for that case also applies to systems without invariant zeros. However, in this case, reconstruction is exact and the delay depends on the number of iterations needed for a certain conditioned invariant algorithm to converge. Finally, the more general case of systems with invariant zeros lying anywhere in the complex plane, with the sole exception of the unit circumference, is reduced to the fundamental one through the synthesis of an appropriate filter.     

Multi-scale simulations of plasma with iPIC3D

The implicit Particle-in-Cell method for the computer simulation of plasma, and its implementation in a three-dimensional parallel code, called iPIC3D, are presented. The implicit integration in time of the Vlasov–Maxwell system, removes the numerical stability constraints and it enables kinetic plasma simulations at magnetohydrodynamics time scales. Simulations of magnetic reconnection in plasma are presented to show the effectiveness of the algorithm.     

A highly flexible,parallel virtual machine: design and experience of ILDJIT

ILDJIT, a new‐generation dynamic compiler and virtual machine designed to support parallel compilation, is introduced here. Our dynamic compiler targets the increasingly popular ECMA‐335 specification. The goal of this project is twofold: on one hand, it aims at exploiting the parallelism exposed by multi‐core architectures to hide the dynamic compilation latencies by pipelining compilation and execution tasks; on the other hand, it provides a flexible, modular and adaptive framework for dynamic code optimization. The ILDJIT organization and the compiler design choices are presented and discussed highlighting how adaptability and extensibility can be achieved. Thanks to the compilation latency masking effect of the pipeline organization, our dynamic compiler is able to mask most of the compilation delay, when the underlying hardware exposes sufficient parallelism. Even when running on a single core, the ILDJIT adaptive optimization framework manages to speedup the computation with respect to other open‐source implementations of ECMA‐335. Copyright © 2010 John Wiley & Sons, Ltd.     

Narrow-band filtering by means of triangular meta-material resonators based on RF MEMS cantilevers in CPW configuration

Microsystem Technologies - Triangular resonators, designed by using Radio Frequency Micro Electro Mechanical Systems (RF MEMS) cantilevers in coplanar waveguide (CPW) configuration, have been...     

A High Order Multi-Dimensional Characteristic Tracing Strategy for the Vlasov–Poisson System

In this paper, we consider a finite difference grid-based semi-Lagrangian approach for solving the Vlasov–Poisson (VP) system. Many of existing methods are based on dimensional splitting, which decouples the problem into solving linear advection problems, see Cheng and Knorr (J Comput Phys 22:330–351, 1976). However, such splitting is subject to the splitting error. If we consider multi-dimensional problems without splitting, difficulty arises in tracing characteristics with high order accuracy. Specifically, the evolution of characteristics is subject to the electric field which is determined globally from the distribution of particle density via Poisson’s equation. In this paper, we propose a novel strategy of tracing characteristics high order in time via a two-stage multi-derivative prediction–correction approach and by using moment equations of the VP system. With the foot of characteristics being accurately located, we propose to use weighted essentially non-oscillatory interpolation to recover function values between grid points, therefore to update the solution at the next time level. The proposed method does not have time step restriction as the Eulerian approach and enjoys high order spatial and temporal accuracy. The performance of the proposed schemes are numerically demonstrated via classical test problems such as Landau damping and two stream instabilities.     

Computer-aided engineering for sheet metal forming: definition of a springback quality function

Computer-aided engineering methods are extensively applied to sheet metal forming integrated design. The adoption of a new class of materials, the advanced high strength steels, has increased the occurrence of springback, and consequently the request for tools oriented to springback reduction and optimization. This paper presents an approximated formulation to compute the springback field after stamping through the finite element analysis of the process. This can be found assuming that the residual field of nodal forces after stamping produces a springback shape referable to a linear combination of n modes of vibration of the nominal shape of the component. The aim of this formulation is not that of substituting the finite element analysis of the springback but rather to make use of the coefficients of the linear combination, so to define a global quality function for springback. In this way, Robust Design methods or other current optimization procedures to improve the stamping process as for structural defects (such wrinkling, necking and flatness) can be applied also for the reduction of springback. The meaning of these coefficients will be shown through three test cases and the consistency of the formulation will be discussed according to the number of modes of vibration included in the computation.     

Advances in remote sensing of hydraulic roughness

Riparian vegetation plays a crucial role in affecting the floodplain hydraulic roughness, which in turn significantly influences the dynamics of flood waves. Systematic detection, identification and assessment of flow resistance factors using conventional field sampling is often unfeasible as these techniques are time-consuming and expensive. As in many other environmental monitoring problems, remote sensing may provide unprecedented mapping capabilities. In this article we present an overview focusing on the different methods that can be used to remotely derive floodplain hydraulic roughness. The overview is based on an extensive literature review on recent estimation techniques of riparian roughness using remote sensing data from different platforms. The outlined methods of floodplain roughness parameterization include: (1) classification-derived hydraulic roughness maps and (2) estimation of vegetation hydrodynamic properties. Possible directions for a multiscale analysis of riparian flow resistance are also described in a short section by focusing on the potential of data assimilation methods for the estimation of floodplain roughness. The literature reveals that many valuable remote-sensing techniques have been developed for riparian corridor parameterization. Methodologies based on the fusion of multispectral/temporal imagery with data of different origin, such as light detection and ranging (LiDAR) and radar/microwave, appear to be powerful tools for characterizing riparian ecosystems for hydraulic purposes.     

Collaborative clustering of XML documents

Clustering XML documents is extensively used to organize large collections of XML documents in groups that are coherent according to structure and/or content features. The growing availability of distributed XML sources and the variety of high-demand environments raise the need for clustering approaches that can exploit distributed processing techniques. Nevertheless, existing methods for clustering XML documents are designed to work in a centralized way. In this paper, we address the problem of clustering XML documents in a collaborative distributed framework. XML documents are first decomposed based on semantically cohesive subtrees, then modeled as transactional data that embed both XML structure and content information. The proposed clustering framework employs a centroid-based partitional clustering method that has been developed for a peer-to-peer network. Each peer in the network is allowed to compute a local clustering solution over its own data, and to exchange its cluster representatives with other peers. The exchanged representatives are used to compute representatives for the global clustering solution in a collaborative way. We evaluated effectiveness and efficiency of our approach on real XML document collections varying the number of peers. Results have shown that major advantages with respect to the corresponding centralized clustering setting are obtained in terms of runtime behavior, although clustering solutions can still be accurate with a moderately low number of nodes in the network. Moreover, the collaborativeness characteristic of our approach has revealed to be a convenient feature in distributed clustering as found in a comparative evaluation with a distributed non-collaborative clustering method.     

ISWEC: A gyroscopic mechanism for wave power exploitation

In the past four decades, hundreds of Wave Energy Converters (WECs) have been proposed and studied, but so far a final architecture to harvest wave power has not been identified. Many engineering problems are still to be solved, like survivability, durability and effective power capture in a variable wave climate. ISWEC (Inertial Sea Wave Energy Converter) is a system using the gyroscopic reactions provided from a spinning flywheel to extract power. The flywheel works inside a sealed floating body in order to be protected from the outer environment and grant a reliable and durable operation. The article summarizes the design procedure of a 1:45 scaled ISWEC device with rated power 2.2 W and the tank tests performed with a simplified plain float to verify the actual prototype power capabilities. The article then focuses on the implementation of a non-linear coupled model (mechanics + hydrodynamics) to improve the float shape in order to maximize the power absorption. The final result is a float shape capable to absorb a power almost three times bigger (5.96 W) than the initial float shape.