Modellazione e simulazione di un alimentatore non convenzionale per applicazioni ferroviarie

Modellazione e simulazione di un apparato di alimentazione ad aria compressa da utilizzarsi per strumentazione ferroviaria. Considerazioni su alcuni tipi di batterie

confined spaces industrial inspection with micro aerial vehicles and laser range finder localization

This work addresses the problem of semi-automatic inspection and navigation in confined environments. A system that overcomes many challenges at the state of the art is presented. It comprises a mu..

SARFID on UGVs: UHF-RFID localization in retail applications

This paper presents the application of the phase-based SARFID technique to locate static tags with respect to a UHF-RFID reader carried by an Unmanned Grounded Vehicle (UGV). The UGV can autonomously move inside a complex indoor environment avoiding obstacles as it exploits Laser Range data to create a real-time map of the scenario. The knowledge of the reader antenna trajectory is achieved through a Simultaneous Localization and Mapping (SLAM) procedure. The bi-dimensional tag position can be estimated with centimeter accuracy by employing the SARFID technique with two reader antennas. Differently from other localization techniques, neither reference tags (anchor tags) nor large phased array antennas are required

Towards an autonomous flying robot for inspections in open and constrained spaces2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14)

A Micro Aerial Vehicle (MAV) capable of navigating in outdoor environments by means of proprioceptive data fusion techniques as well as in indoor and particularly in constrained spaces is here presented. The aim of this system is to inspect failures or procedures correctness inside dangerous areas where human presence should be avoided for long or short time periods. This solution has been oriented toward the specific context of visual inspection of industrial area and it has been tested in a laboratory testbed. In this paper we present hardware and software development of a MAV that can reliably navigate both in outdoor and indoor scenarios making it possible to autonomously change the working location

Particle Swarm Optimization in SAR-based Method enabling Real-Time 3D Positioning of UHF-RFID Tags

This paper presents a particle swarm optimization (PSO) in synthetic aperture radar (SAR) methods to enable real-time 3D localization of UHF-RFID tags. The reader antennas are moved through a moving agent (e.g., unmanned aerial vehicle, unmanned ground vehicle, robot) and they collect several phase samples by resembling a synthetic array. Thanks to the PSO approach the 3D matching function of the SAR method can be calculated in a reduced number of points by keeping an acceptable localization error. A numerical analysis demonstrates the method applicability through a comparison with conventional SAR methods based on the exhaustive search (3D dense grid) of the maximum point. Localization performance is investigated when an agent is equipped with a single antenna moving along a 3D trajectory or with two reader antennas at different height running a planar trajectory. Then, an experimental campaign in indoor scenario with an RFID-equipped unmanned ground vehicle shows the method effectiveness in performing real-time 3D positioning with centimeter-order localization error