Energy shaping control of underactuated mechanical systems with fluidic actuation

Energy shaping is a remarkably effective control strategy which can be applied to a wide range of systems, including underactuated mechanical systems. However, research in this area has generally neglected actuator dynamics. While this is often appropriate, it might result in degraded performance in the case of fluidic actuation. In this work we present some new results on energy shaping control for underactuated mechanical systems for which the control action is mediated by a pressurized ideal fluid. In particular, we introduce an extended multi-step energy shaping and damping-assignment controller design procedure that builds upon the Interconnection-and-damping-assignment Passivity-based-control methodology in a modular fashion to account for the pressure dynamics of the fluid. Stability conditions are assessed with a Lyapunov approach, the effect of disturbances is discussed, and the case of redundant actuators is illustrated. The proposed approach is demonstrated with numerical simulations for a modified version of the classical ball-on-beam example, which employs two identical cylinders, either hydraulic or pneumatic, to actuate the beam

Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics

In this work we present some new results on energy shaping control for underactuated mechanical systems with high-order actuator dynamics. To this end, we propose an extension of the Interconnection and damping assignment Passivity based control methodology to account for actuator dynamics. This brings the following new results: i) a potential and kinetic energy shaping and damping assignment procedure that yields two alternative controllers; ii) a potential energy shaping and damping assignment procedure for a narrower class of underactuated mechanical systems. The proposed approach is illustrated with numerical simulations on three examples: an Acrobot system with a series elastic actuator; a soft continuum manipulator actuated by electroactive polymers; a two-mass-spring system actuated by a DC motor

A basic protocol for the acoustic characterization of small and medium-sized classrooms

To promote a fast and effective characterization of the sound environment in small and medium-sized classrooms, a basic measurement protocol, based on a minimum number of parameters and positions, is provided. Measurements were taken in 29 occupied classrooms belonging to 13 primary schools in Turin, Italy, that differ in location and typology. The background noise level was acquired during silent and group activities, and the reverberation time, speech clarity, useful-to-detrimental ratio and speech level, were acquired along the main axis of each classroom and in one or two offset positions. To reduce the number of measured parameters that can be used to fully characterize classroom acoustics, data were divided into two groups on the basis of a cutoff value of maximum occupied reverberation time in the case of moderate and severe requirements. Given the strong correlation among the quantities, thresholds were identified for the other acoustical parameters, and their accuracy and precision were tested to assess their ability to classify the acoustic quality as compliant or non-compliant. Results suggest that more convenient parameters, like clarity in the central position of the classroom, can be used instead of reverberation time to classify classroom acoustics

THERMODYNAMIC ORC CYCLE DESIGN OPTIMIZATION FOR MEDIUM-LOW TEMPERATURE ENERGY SOURCES

In the large spectrum of organic fluids suitable for Rankine cycles, a fluid that is already wellknown and available on industrial scale but currently excluded from this kind of application has been selected. This choice is due to the remarkable characteristics of the fluid, such as its high molecular weight, good thermal stability, non-flammability, and atoxicity. Compared to those fluids nowadays common in the ORC market, its thermodynamic properties and fluid dynamic behavior lead to a peculiar configuration of the cycle: • Supercritical cycle, when heat input is at medium-high temperature; • Massive regeneration, to obtain higher efficiency; • Low specific work of the turbine; • Relatively high volumetric expansion ratio and relatively low absolute inlet volumetric flow; Accordingly, an innovative cycle design has been developed, including a once-through Hairpin primary heat exchanger and a multi-stage radial outflow expander. This last innovative component has been designed to get the best performance with the chosen fluid: • The high inlet/outlet volumetric flow ratio is well combined with the change in cross section across the radius; • Compared to an axial turbine, the lower inlet volumetric flow is compensated by higher blades at the first stage. It is feasible thanks to the change in section available along the radius, so that there is no need for partial admission; • The prismatic blade leads to constant velocity diagrams across the blade span; • It minimizes tip leakages and disk friction losses, due to the single disk / multi-stage configuration; • The intrinsical limit of a radial outflow expander to develop high enthalpy drop is not relevant for this cycle, presenting itself a very low enthalpy drop. Moreover the tip speed is limited by the low speed of sound and consequently this kind of expander suits well with this cycle arrangement. The results of this study, conducted through thermodynamic simulations, CFD, stress analysis and economic optimization show an ORC system that reaches high efficiencies, comparable to those typical of existing system

An experimental comparison of several PWM controllers for a single-phase AC-DC converter

Published versio

Measurements of acoustical parameters in the ancient open-air theatre of Tyndaris (Sicily, Italy)

The emerging field of archaeoacoustics is attracting increasing research attention from scholars of different disciplines: the investigation of the acoustic features of ancient open-air theatres is possibly one of its main themes. In this paper, the outcomes of a measurement campaign of acoustical parameters in accordance with ISO 3382-1 in the ancient theatre of Tyndaris (Sicily) are presented and compared with datasets from other sites. Two sound sources were used (firecrackers and dodecahedron) and their differences were analysed. A very good reproducibility has been shown between the two measurement chains, with differences on average of 0.01 s for reverberation time T20, and less than 0.3 dB for Clarity C50 and C80 and for sound strength. In general, results show that the reverberation time and strength of sound values are relatively low when compared with other theatres because of the lack of the original architectural element of the scaenae frons. When combining this effect with the obvious condition of an unroofed space, issues emerge in terms of applicability of the protocols recommended in the ISO standard. This raises the question of whether different room acoustics parameters should be used to characterise open-air ancient theatres

Eliminating ambiguities for quantum corrections to strings moving in AdS4×CP3AdS_4\times \mathbb{CP}^3

We apply a physical principle, previously used to eliminate ambiguities in quantum corrections to the 2 dimensional kink, to the case of spinning strings moving in $AdS_4\times \mathbb{CP}^3$, thought of as another kind of two dimensional soliton. We find that this eliminates the ambiguities and selects the result compatible with AdS/CFT, providing a solid foundation for one of the previous calculations, which found agreement. The method can be applied to other classical string "solitons".Comment: 18 pages, latex; references added, comments added at end of section 4, a few words changed; footnote added on page 1

Effect of competitive acoustic environments on speech intelligibility

Excessive noise and reverberation times degrade listening abilities in everyday life environments. This is particularly true for school settings. Most classrooms in Italy are settled in historical buildings that generate competitive acoustic environments. So far, few studies investigated the effect of real acoustics on speech intelligibility and on the spatial release from masking, focusing more on laboratory conditions. Also, the effect of noise on speech intelligibility was widely investigated considering its energetic rather than its informational content. Therefore, a study involving normal hearing adults was performed presenting listening tests via headphone and considering the competitive real acoustics of two primary-school classrooms with reverberation time of 0.4 s and 3.1 s, respectively. The main objective was the investigation of the effect of reverberation and noise on the spatial release from masking to help the design of learning environments. Binaural room impulse responses were acquired, with noise sources at different azimuths from the listener’s head. The spatial release from masking was significantly affected by noise type and reverberation. Longer reverberation times brought to worst speech intelligibility, with speech recognition thresholds higher by 6 dB on average. Noise with an informational content was detrimental by 7 dB with respect to an energetic noise

Effectiveness of Different Sample Treatments for the Elemental Characterization of Bees and Beehive Products

Bee health and beehive products’ quality are compromised by complex interactions between multiple stressors, among which toxic elements play an important role. The aim of this study is to optimize and validate sensible and reliable analytical methods for biomonitoring studies and the quality control of beehive products. Four digestion procedures, including two systems (microwave oven and water bath) and different mixture reagents, were evaluated for the determination of the total content of 40 elements in bees and five beehive products (beeswax, honey, pollen, propolis and royal jelly) by using inductively coupled plasma mass and optical emission spectrometry. Method validation was performed by measuring a standard reference material and the recoveries for each selected matrix. The water bath-assisted digestion of bees and beehive products is proposed as a fast alternative to microwave-assisted digestion for all elements in biomonitoring studies. The present study highlights the possible drawbacks that may be encountered during the elemental analysis of these biological matrices and aims to be a valuable aid for the analytical chemist. Total elemental concentrations, determined in commercially available beehive products, are presented

Modelling mean radiant temperature in outdoor environments: Contrasting the approaches of different simulation tools

Global warming and increasing urbanization are expected to threaten public health in cities, by increasing the heat stress perceived by the inhabitants. Outdoor thermal comfort conditions are influenced by the material and the geometric features of the surrounding urban fabric at both the urban and building scales. In built environments, performance-aware design choices related to street paving or building façade can enhance outdoor thermal comfort in their surroundings. Reliable estimations of outdoor thermal comfort conditions are required to evaluate and control the micro-bioclimatic influences of different design choices. The mean radiant temperature is the physical variable that has the greatest influence on outdoor thermal comfort conditions during summertime. Since its calculation is complex, the available simulation tools employ different approaches and assumptions to estimate it, and potential users need to be aware of their capabilities and simplifications. This research compares the calculation procedures and assumptions of different performance simulation tools (i.e. ENVI-met, TRNSYS, Ladybug/Honeybee, CitySim, and SOLENE-microclimat) to predict the mean radiant temperature in outdoor spaces, based on the available information in the scientific literature. Their ability to account for different radiative components in both the longwave and shortwave spectra is summarized, and practical information regarding the degree of interoperability with the modelling environments and the level of geometrical detail of the virtual model supported by the tools is provided. This work aims to help potential users in the selection of the most appropriate performance tool, based on the requirement of their projects