Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators

Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly challenging when obstacles are present in the manipulator workspace. In this paper a n-joint planar robot manipulator is considered and it is assumed that obstacles located in its workspace can be approximated in a conservative way with circles. The goal is to represent the obstacles in the robot configuration space. The representation allows to obtain an efficient and accurate trajectory planning and tracking. A simple but effective path planning strategy is proposed in the paper. Since path planning depends on tracking accuracy, in this paper an adequate tracking accuracy is guaranteed by means of a suitably designed Second Order Sliding Mode Controller (SOSMC). The proposed approach guarantees a collision-free motion of the manipulator in its workspace in spite of the presence of obstacles, as confirmed by experimental results.     

Using 3D Sound to Improve the Effectiveness of the Advanced Driver Assistance Systems

Future generation cars will be characterized by a wide range of Information Technology (IT) services providing safety and infotainment. This makes the car an information intensive environment where the visual channel is overloaded, putting the safety of drivers and passengers in jeopardy. We propose the use of a 3D auditory display to provide information from the Advanced Driver Assistance Systems. This reduces the eye-off-road time, exploiting the human capability to associate sounds with positions in space. Preliminary lab tests reveal the suitability of this approach. The system still has to be carefully tuned and personalized to achieve usability and reliability, but we think that it provides a complementary channel that is specially useful in low visibility conditions.     

Information diffusion in distributed OSN: The impact of trusted relationships

Distributed Online Social Networks (DOSN) are a valid alternative to OSN based on peer-to-peer communications. Without centralised data management, DOSN must provide the users with higher level of control over their personal information and privacy. Thus, users may wish to restrict their personal network to a limited set of peers, depending on the level of trust with them. This means that the effective social network (used for information exchange) may be a subset of the complete social network, and may present different structural patterns, which could limit information diffusion. In this paper, we estimate the capability of DOSN to diffuse content based on trust between social peers. To have a realistic representation of a OSN friendship graph, we consider a large-scale Facebook network, from which we estimate the trust level between friends. Then, we consider only social links above a certain threshold of trust, and we analyse the potential capability of the resulting graph to spread information through several structural indices. We test four possible thresholds, coinciding with the definition of personal social circles derived from sociology and anthropology. The results show that limiting the network to “active social contacts” leads to a graph with high network connectivity, where the nodes are still well-connected to each other, thus information can potentially cover a large number of nodes with respect to the original graph. On the other hand, the coverage drops for more restrictive assumptions. Nevertheless the re-insertion of a single excluded friend for each user is sufficient to obtain good coverage (i.e., always higher than 40 %) even in the most restricted graphs. We also analyse the potential capability of the network to spread information (i.e., network spreadability), studying the properties of the social paths between any pairs of users in the graph, which represent the effective channels traversed by information. The value of contact frequency between pairs of users determines a decay of trust along the path (the higher the contact frequency the lower the decay), and a consequent decay in the level of trustworthiness of information traversing the path. We show that selecting the link to re-insert in the network with probability proportional to its level of trust is the best re-insertion strategy, as it leads to the best connectivity/spreadability combination.     

Layer-oriented simulation tool

The Layer-Oriented Simulation Tool (LOST) is a numerical simulation code developed for analysis of the performance of multiconjugate adaptive optics modules following a layer-oriented approach. The LOST code computes the atmospheric layers in terms of phase screens and then propagates the phase delays introduced in the natural guide stars' wave fronts by using geometrical optics approximations. These wave fronts are combined in an optical or numerical way, including the effects of wave-front sensors on measurements in terms of phase noise. The LOST code is described, and two applications to layer-oriented modules are briefly presented. We have focus on the Multiconjugate adaptive optics demonstrator to be mounted upon the Very Large Telescope and on the Near-IR-Visible Adaptive Interferometer for Astronomy (NIRVANA) interferometric system to be installed on the combined focus of the Large Binocular Telescope.     

MONTE CARLO SIMULATION OF AGGREGATION PROCESSES STRUCTURAL PROPERTIES OF DEPOSITIONAL AGGREGATES

The usefulness of Monte Carlo simulation of aggregation phenomena is discussed and applied in analysis of the structure of particle deposits. The structural properties of depositional aggregates in single and multiparticle regimes are obtained and expressed in terms of fractal geometrical concepts. These properties are related to the Peclet number and to the concentration in the non-aggregate (vapour) phase. The topological properties of the aggregates are obtained from random walk simulation, thus confirming the anomalous properties of these structures, even in the case of multiparticle simulations, i.e. for high values of the concentration in the vapour phase.     

A reduced order model‐based preconditioner for the efficient solution of transient diffusion equations

This paper presents a novel class of preconditioners for the iterative solution of the sequence of symmetric positive‐definite linear systems arising from the numerical discretization of transient parabolic and self‐adjoint partial differential equations. The preconditioners are obtained by nesting appropriate projections of reduced‐order models into the classical iteration of the preconditioned conjugate gradient (PCG). The main idea is to employ the reduced‐order solver to project the residual associated with the conjugate gradient iterations onto the space spanned by the reduced bases. This approach is particularly appealing for transient systems where the full‐model solution has to be computed at each time step. In these cases, the natural reduced space is the one generated by full‐model solutions at previous time steps. When increasing the size of the projection space, the proposed methodology highly reduces the system conditioning number and the number of PCG iterations at every time step. The cost of the application of the preconditioner linearly increases with the size of the projection basis, and a trade‐off must be found to effectively reduce the PCG computational cost. The quality and efficiency of the proposed approach is finally tested in the solution of groundwater flow models. © 2016 The Authors. International Journal for Numerical Methods in Engineering Published by John Wiley & Sons Ltd.     

How changes affect software entropy: an empirical study

Context Software systems continuously change for various reasons, such as adding new features, fixing bugs, or refactoring. Changes may either increase the source code complexity and disorganization, or help to reducing it. Aim This paper empirically investigates the relationship of source code complexity and disorganization—measured using source code change entropy—with four factors, namely the presence of refactoring activities, the number of developers working on a source code file, the participation of classes in design patterns, and the different kinds of changes occurring on the system, classified in terms of their topics extracted from commit notes. Method We carried out an exploratory study on an interval of the life-time span of four open source systems, namely ArgoUML, Eclipse-JDT, Mozilla, and Samba, with the aim of analyzing the relationship between the source code change entropy and four factors: refactoring activities, number of contributors for a file, participation of classes in design patterns, and change topics. Results The study shows that (i) the change entropy decreases after refactoring, (ii) files changed by a higher number of developers tend to exhibit a higher change entropy than others, (iii) classes participating in certain design patterns exhibit a higher change entropy than others, and (iv) changes related to different topics exhibit different change entropy, for example bug fixings exhibit a limited change entropy while changes introducing new features exhibit a high change entropy. Conclusions Results provided in this paper indicate that the nature of changes (in particular changes related to refactorings), the software design, and the number of active developers are factors related to change entropy. Our findings contribute to understand the software aging phenomenon and are preliminary to identifying better ways to contrast it.     

A backoff strategy for model‐based experiment design under parametric uncertainty

Model‐based experiment design techniques are an effective tool for the rapid development and assessment of dynamic deterministic models, yielding the most informative process data to be used for the estimation of the process model parameters. A particular advantage of the model‐based approach is that it permits the definition of a set of constraints on the experiment design variables and on the predicted responses. However, uncertainty in the model parameters can lead the constrained design procedure to predict experiments that turn out to be, in practice, suboptimal, thus decreasing the effectiveness of the experiment design session. Additionally, in the presence of parametric mismatch, the feasibility constraints may well turn out to be violated when that optimally designed experiment is performed, leading in the best case to less informative data sets or, in the worst case, to an infeasible or unsafe experiment. In this article, a general methodology is proposed to formulate and solve the experiment design problem by explicitly taking into account the presence of parametric uncertainty, so as to ensure both feasibility and optimality of the planned experiment. A prediction of the system responses for the given parameter distribution is used to evaluate and update suitable backoffs from the nominal constraints, which are used in the design session to keep the system within a feasible region with specified probability. This approach is particularly useful when designing optimal experiments starting from limited preliminary knowledge of the parameter set, with great improvement in terms of design efficiency and flexibility of the overall iterative model development scheme. The effectiveness of the proposed methodology is demonstrated and discussed by simulation through two illustrative case studies concerning the parameter identification of physiological models related to diabetes and cancer care. © 2009 American Institute of Chemical Engineers AIChE J, 2010     

Reforming of olive mill wastewater through a Pd-membrane reactor

This work investigates the exploitation of olive mill wastewater (OMW) for producing hydrogen in a membrane reformer.