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1.
Real-time inverse dynamics control of parallel manipulators using general-purpose multibody software
This work deals with the problem of computing the inverse dynamics of complex constrained mechanical systems for real-time
control applications. The main goal is the control of robotic systems using model-based schemes in which the inverse model
itself is obtained using a general purpose multibody software, exploiting the redundant coordinate formalism. The resulting
control scheme is essentially equivalent to a classical computed torque control, commonly used in robotics applications. This
work proposes to use modern general-purpose multibody software to compute the inverse dynamics of complex rigid mechanisms
in an efficient way, so that it suits the requirements of realistic real-time applications as well. This task can be very
difficult, since it involves a higher number of equations than the relative coordinates approach. The latter is believed to
be less general, and may suffer from topology limitations. The use of specialized linear algebra solvers makes this kind of
control algorithms usable in real-time for mechanism models of realistic complexity. Numerical results from the simulation
of practical applications are presented, consisting in a “delta” robot and a bio-mimetic 11 degrees of freedom manipulator
controlled using the same software and the same algorithm. 相似文献
2.
Pierangelo Ciurlia 《Computers & Mathematics with Applications》2011,62(6):2518-2534
This paper is concerned with the valuation of European continuous-installment options where the aim is to determine the initial premium given a constant installment payment plan. The distinctive feature of this pricing problem is the determination, along with the initial premium, of an optimal stopping boundary since the option holder has the right to stop making installment payments at any time before maturity. Given that the initial premium function of this option is governed by an inhomogeneous Black-Scholes partial differential equation, we can obtain two alternative characterizations of the European continuous-installment option pricing problem, for which no closed-form solution is available. First, we formulate the pricing problem as a free boundary problem and using the integral representation method, we derive integral expressions for both the initial premium and the optimal stopping boundary. Next, we use the linear complementarity formulation of the pricing problem for determining the initial premium and the early stopping curve implicitly with a finite difference scheme. Finally, the pricing problem is posed as an optimal stopping problem and then implemented by a Monte Carlo approach. 相似文献
3.
Alessia Mauri Alessandra Duse Giacomo Palm Roberto Previtali Stefania Maria Bova Sara Olivotto Sara Benedetti Francesca Coscia Pierangelo Veggiotti Cristina Cereda 《International journal of molecular sciences》2022,23(21)
GLUT1 deficiency syndrome (GLUT1DS1; OMIM #606777) is a rare genetic metabolic disease, characterized by infantile-onset epileptic encephalopathy, global developmental delay, progressive microcephaly, and movement disorders (e.g., spasticity and dystonia). It is caused by heterozygous mutations in the SLC2A1 gene, which encodes the GLUT1 protein, a glucose transporter across the blood-brain barrier (BBB). Most commonly, these variants arise de novo resulting in sporadic cases, although several familial cases with AD inheritance pattern have been described. Twenty-seven Italian pediatric patients, clinically suspect of GLUT1DS from both sporadic and familial cases, have been enrolled. We detected by trios sequencing analysis 25 different variants causing GLUT1DS. Of these, 40% of the identified variants (10 out of 25) had never been reported before, including missense, frameshift, and splice site variants. Their structural mapping on the X-ray structure of GLUT1 strongly suggested the potential pathogenic effects of these novel disease-related mutations, broadening the genotypic spectrum heterogeneity found in the SLC2A1 gene. Moreover, 24% is located in a vulnerable region of the GLUT1 protein that involves transmembrane 4 and 5 helices encoded by exon 4, confirming a mutational hotspot in the SLC2A1 gene. Lastly, we investigated possible correlations between mutation type and clinical and biochemical data observed in our GLUT1DS cohort, revealing that splice site and frameshift variants are related to a more severe phenotype and low CSF parameters. 相似文献
4.
Antonio Abate Annamaria Petrozza Vittoria Roiati Simone Guarnera Henry Snaith Francesco Matteucci Guglielmo Lanzani Pierangelo Metrangolo Giuseppe Resnati 《Organic Electronics》2012,13(11):2474-2478
We report on the use of a fluorinated imidazolium ionic liquid as a source of iodide ions in solvent-based electrolytes for DSSCs. Efficient dye regeneration and fast charge transport in the fluorinated electrolyte result in an overall improvement of the device performances compared to conventional hydrogenated ionic liquids. 相似文献
5.
Application and validation of incrementally complex models for wind turbine aerodynamics,isolated wind turbine in uniform inflow conditions 下载免费PDF全文
A comparison of several incrementally complex methods for predicting wind turbine performance, aeroelastic behavior, and wakes is provided. Depending on a wind farm's design, wake interference can cause large power losses and increased turbulence levels within the farm. The goal is to employ modeling methods to reach an improved understanding of wake effects and to use this information to better optimize the layout of new wind farms. A critical decision faced by modelers is the fidelity of the model that is selected to perform simulations. The choice of model fidelity can affect the accuracy, but will also greatly impact the computational time and resource requirements for simulations. To help address this critical question, three modeling methods of varying fidelity have been developed side by side and are compared in this article. The models from low to high complexity are as follows: a blade element‐based method with a free‐vortex wake, an actuator disc‐based method, and a full rotor‐based method. Fluid/structure interfaces are developed for the aerodynamic modeling approaches that allow modeling of discrete blades and are then coupled with a multibody structural dynamics solver in order to perform an aeroelastic analysis. Similar methods have individually been tested by researchers, but we suggest that by developing a suite of models, they can be cross‐compared to grasp the subtleties of each method. The modeling methods are applied to the National Renewable Energy Laboratory Phase VI rotor to predict the turbine aerodynamic and structural loads and then also the wind velocities in the wake. The full rotor method provides the most accurate predictions at the turbine and the use of adaptive mesh refinement to capture the wake to 20 radii downstream is proven particularly successful. Though the full rotor method is unmatched by the lower fidelity methods in stalled conditions and detailed prediction of the downstream wake, there are other less complex conditions where these methods perform as accurately as the full rotor method. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
6.
The paper describes the application of parallel techniques to amultibody multidisciplinary formulation. The problem is stated interms of a system of nonlinear Differential-Algebraic Equations(DAE). The parallel solution is obtained using a sub-structuringdomain decomposition method, that is able to exploit thecharacteristic quasi-monodimensional topology that multibodymodels usually present. The presence of explicit constraints inform of algebraic equations requires particular care in thetreatment of the related unknowns, to avoid local singularityproblems. The code has been successfully tested on differentcomputer architectures. Special attention has been dedicated toproduce a code that will efficiently work on a cluster of PCs.Results of three test problems, regarding the simulation of anonlinear beam bending and of complex aeroservomechanical systemsas an helicopter rotor and a tiltrotor aircraft, are presented. 相似文献
7.
Ferruccio Ceriotti Emma Guagnellini Francesco Zoppi Norberto Montalbetti Carlo Okely Pierangelo Bonini 《Journal of Automated Methods and Management in Chemistry》1989,11(5):206-211
A multicentre evaluation of the Monarch centrifugal analyser is
reported. Precision, linearity and accuracy were assessed by
comparison with routine methods. Calibration stability, photometric
and dispensing accuracy, and carry-over related to samples
and reagents were also evaluated. The overall performance of the
instrument was good, showing an excellent photometric and
dispensing accuracy, absence of sample-dependent carry-over, and almost
negligible reagent carry-over. Good precision, linearity and
correlation with routine methods were found for the parameters
tested. The instrument is reliable and is now used as the routine
clinical chemistry analyser in two of the three laboratories taking
part in the evaluation. 相似文献
8.
Marco Alberti Pierangelo Dell��Acqua Lu��s Moniz Pereira 《Annals of Mathematics and Artificial Intelligence》2011,62(3-4):161-186
Many applications (such as system and user monitoring, runtime verification, diagnosis, observation-based decision making, intention recognition) all require to detect the occurrence of an event in a system, which entails the ability to observe the system. Observation can be costly, so it makes sense to try and reduce the number of observations, without losing full certainty about the event??s actual occurrence. In this paper, we propose a formalization of this problem. We formally show that, whenever the event to be detected follows a discrete spatial or temporal pattern, then it is possible to reduce the number of observations. We discuss exact and approximate algorithms to solve the problem, and provide an experimental evaluation of them. We apply the resulting algorithms to verification of linear temporal logics formulæ. Finally, we discuss possible generalizations and extensions, and, in particular, how event detection can benefit from logic programming techniques. 相似文献
9.
Luca Galbiati Pierangelo Andreini 《International Communications in Heat and Mass Transfer》1992,19(6):791-799
Experimental results of flow pattern for vertical downward two-phase flow in capillary tubes are reported and flow pattern regime maps are presented. In addition theoretically based transition criteria for the flow pattern are presented. The experimental results and theory seem to match each other fairly well. When results given in this paper are compared with empirical ones presented in literature stratified flow has not been reported in this study. Additional experiments were undertaken and inlet mixing effects have been found to be extremely important for the existence of fully developed flow. 相似文献
10.
Lorenzo Landini Daniel Souza Monteiro de Araujo Mustafa Titiz Pierangelo Geppetti Romina Nassini Francesco De Logu 《International journal of molecular sciences》2022,23(9)
The transient receptor potential ankyrin 1 (TRPA1), a member of the TRP superfamily of channels, is primarily localized in a subpopulation of primary sensory neurons of the trigeminal, vagal, and dorsal root ganglia, where its activation mediates neurogenic inflammatory responses. TRPA1 expression in resident tissue cells, inflammatory, and immune cells, through the indirect modulation of a large series of intracellular pathways, orchestrates a range of cellular processes, such as cytokine production, cell differentiation, and cytotoxicity. Therefore, the TRPA1 pathway has been proposed as a protective mechanism to detect and respond to harmful agents in various pathological conditions, including several inflammatory diseases. Specific attention has been paid to TRPA1 contribution to the transition of inflammation and immune responses from an early defensive response to a chronic pathological condition. In this view, TRPA1 antagonists may be regarded as beneficial tools for the treatment of inflammatory conditions. 相似文献