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.     

Comparison of shear strength tests on AV119 epoxy-joined ceramics

The results of an experimental investigation on epoxy-joined CVD SiC and alumina tested in shear and apparent shear mode by four different configurations are presented. Ceramics have been joined by an epoxy adhesive (AV119), which is not to be considered as the final joining material for high temperature applications, but just as a model brittle joining material chosen to obtain several joined samples in a reasonable time. Advantages and disadvantages of each configuration are discussed and compared to results obtained with the same epoxy-joined carbon/carbon composites, tested by the same shear tests.     

Groebner Bases and Distance of Cyclic Codes

 Recently some methods have been proposed to find the distance of cyclic codes using Gr?bner bases. We present a similar method, whose computational cost is significantly lower. Received: April 24, 2001; revised version: February 14, 2002     

Mofete geothermal field

This report deals with the Mofete geothermal field, which was discovered in southern Italy by AGIP, the Italian state-owned company for exploration of oil, gas and other alternative energy resources, such as geothermal. AGIP is the main operator in the Mofete geothermal field, in joint venture with ENEL, the National Electricity Board. Seven wells have been drilled, and two producing aquifers found at depths between 500 and 2000 m. The preliminary interpretation of a long-term test (three months), together with the model of the field, suggest that a 10 MW power-plant will operate in the near future in the limited area considered favourable so far for geothermal production.     

Viable synthesis of a self-assembling regioregular thiophenic copolymer for second-order non-linear optics

Regioregular azobenzene-substituted polythiophenic copolymers were prepared by a regiospecific organometallic polycondensation procedure based on a Grignard metathesis reaction. Copolymers with a high content of chromophoric groups in the side chains and a high degree of configurational order of the backbones were obtained. A sample was also functionalized with hydroxyalkyl chains capable of setting up ordered supramolecular structures through hydrogen bonds. The final materials were fully characterized via NMR, IR, elemental analysis, GPC, DSC and X-ray diffraction. Moreover, measurements of NLO activity on polymer films showed the synthetic strategies adopted and monomers used to be correct. Values obtained by the in situ deprotection of the interacting functional groups after the alignment of the chromophorized side chains were very promising, proving the procedure to be suitable for industrial and commercial applications.     

Land Subsidence Spreading Factor of the Northern Adriatic Gas Fields, Italy

The land subsidence spreading factor χ provides a useful straightforward indication on how much of a gas/oil reservoir compaction induced by field development migrates to ground surface with a possible adverse impact on the stability of low‐lying coastal areas. This factor depends primarily on the ratio between the depth of burial and a representative horizontal dimension of the reservoir. However, an important influence is also exerted by the active bottom/lateral aquifer hydraulically connected to the field (called “waterdrive” in reservoir engineering) that may undergo an extensive depressurization also after the field abandonment, thus contributing to enhance the overall land settlement. In the Northern Adriatic basin, Italy, χ is evaluated using a nonlinear finite element model of three representative gas reservoirs (Chioggia Mare, Dorotea, and Dosso degli Angeli) surrounded by important bottom/lateral aquifers in the interval depth between 1000 and 3300 m. Results show that χ may easily approach and even exceed one for the deepest field as well, contrary to the prediction of land subsidence based on the compaction of the gas‐bearing formations alone, that can thus be largely underestimated.     

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.