Stima e reiezione del disturbo nel controllo di un quadotor

Il controllo di piccoli velivoli in ambiente esterni è reso difficili da errori di modellazione, errori di misura dovuti a sensori low cost e disturbi esterni. Questa tesi sviluppa una metodologia per la stima e reiezione dei disturbi esterni e degli errori di modellazione. La metodologia progettata è completamente basata sui sistemi lineari, infatti sia il modello nominale sia i filtri utilizzati sono lineari. È stato progettato un osservatore del disturbo per il moto lineare utilizzando coordinate di tipo inerziale, mentre per il moto angolare si sono utilizzato coordinate in terna solidale al velivolo. Sono stati definiti dei modelli nominali del sistema e dei disturbi che inglobano sia errori di modellazione sia disturbi esterni. Il tuning dei filtri presenti nell'osservatore è stato effettuato tramite problema di ottimo vincolato. Progettato l'osservatore si è svolto una analisi delle influenze dei disturbi esterni, errori di modellazione e di misura sul sistema nominale. L'osservatore può essere progettato indipendentemente dal controllo che è sintetizzato sul modello nominale scelto. Progettati dei semplici controllori con uno schema decentralizzato sono state nuovamente analizzate le influenze degli errori di misura, di modellazione e disturbi esterni sul sistema controllato. I risultati sono stati corroborati attraverso un simulatore non lineare del quadrotor

Spherical Wrist Manipulator Local Planner for Redundant Tasks in Collaborative Environments

: Standard industrial robotic manipulators use well-established high performing technologies. However, such manipulators do not guarantee a safe Human-Robot Interaction (HRI), limiting their usage in industrial and medical applications. This paper proposes a novel local path planner for spherical wrist manipulators to control the execution of tasks where the manipulator number of joints is redundant. Such redundancy is used to optimize robot motion and dexterity. We present an intuitive parametrization of the end-effector (EE) angular motion, which decouples the rotation of the third joint of the wrist from the rest of the angular motions. Manipulator EE motion is controlled through a decentralized linear system with closed-loop architecture. The local planner integrates a novel collision avoidance strategy based on a potential repulsive vector applied to the EE. Contrary to classic potential field approaches, the collision avoidance algorithm considers the entire manipulator surface, enhancing human safety. The local path planner is simulated in three generic scenarios: (i) following a periodic reference, (ii) a random sequence of step signal references, and (iii) avoiding instantly introduced obstacles. Time and frequency domain analysis demonstrated that the developed planner, aside from better parametrizing redundant tasks, is capable of successfully executing the simulated paths (max error = 0.25°) and avoiding obstacles

Modular soft mechatronic manipulator for minimally invasive surgery (MIS): overall architecture and development of a fully integrated soft module

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Label-free fiber optic optrode for the detection of class C beta-lactamases expressed by drug resistant bacteria

This paper reports the experimental assessment of an automated optical assay based on label free optical fiber optrodes for the fast detection of class C beta-lactamases (AmpC BLs), actually considered as one of the most important sources of resistance to beta-lactams antibiotics expressed by resistant bacteria. Reflection-type long period fiber gratings (RT-LPG) have been used as highly sensitive label free optrodes, while a higher affine boronic acid based ligand was here selected to enhance the overall assay performances compared to those obtained in our first demonstration. In order to prove the feasibility analysis towards a fully automated optical assay, an engineered system was developed to simultaneously manipulate and interrogate multiple fiber optic optrodes in the different phases of the assay. The automated system tested in AmpC solutions at increasing concentrations demonstrated a limit of detection (LOD) of 6 nM, three times better when compared with the results obtained in our previous work. Moreover, the real effectiveness of the proposed optical assay has been also confirmed in complex matrices as the case of lysates of Escherichia coli overexpressing AmpC. (C) 2017 Optical Society of Americ

Large expert-curated database for benchmarking document similarity detection in biomedical literature search

Document recommendation systems for locating relevant literature have mostly relied on methods developed a decade ago. This is largely due to the lack of a large offline gold-standard benchmark of relevant documents that cover a variety of research fields such that newly developed literature search techniques can be compared, improved and translated into practice. To overcome this bottleneck, we have established the RElevant LIterature SearcH consortium consisting of more than 1500 scientists from 84 countries, who have collectively annotated the relevance of over 180 000 PubMed-listed articles with regard to their respective seed (input) article/s. The majority of annotations were contributed by highly experienced, original authors of the seed articles. The collected data cover 76% of all unique PubMed Medical Subject Headings descriptors. No systematic biases were observed across different experience levels, research fields or time spent on annotations. More importantly, annotations of the same document pairs contributed by different scientists were highly concordant. We further show that the three representative baseline methods used to generate recommended articles for evaluation (Okapi Best Matching 25, Term Frequency-Inverse Document Frequency and PubMed Related Articles) had similar overall performances. Additionally, we found that these methods each tend to produce distinct collections of recommended articles, suggesting that a hybrid method may be required to completely capture all relevant articles. The established database server located at https://relishdb.ict.griffith.edu.au is freely available for the downloading of annotation data and the blind testing of new methods. We expect that this benchmark will be useful for stimulating the development of new powerful techniques for title and title/abstract-based search engines for relevant articles in biomedical research.Peer reviewe

Feedback control of soft robot actuators via commercial flex bend sensors

Soft robotics is an emerging field that takes advantage of compliant materials and makes use of nonstandard actuators. Flexible fluid actuators (FFAs) use fluid pressure to produce high deformation of elastomeric-based structures. However, closed-loop control of such actuators is still very challenging due to the lack of robust, reliable, and inexpensive sensors that can be integrated onto highly deformable actuator structures, involving very low cost materials and manufacturing. This paper presents a systematic approach to implement the feedback control of FFA-based soft robotic bending modules by using commercial flex bend sensors. A flex bend sensor detects the module curvature in one direction, and its response is processed by an on board microcontroller and sent to the central control system. Such sensor integration enables the closed-loop control of modular robotic architectures, often used in soft robotics. Once integrated with the soft module, the sensor response was calibrated by the use of a ground truth electro-magnetic tracking system in order to characterize its behavior when combined with the relative FFA. A feedback control using a low-pass filter and a proportional-integral controller was designed and used to evaluate the dynamic response and the position accuracy of the integrated module. With such closed-loop control, the module tip is positioned with less than 1 mm accuracy, which can be considered a relevant result in the soft robotics field