Risultati di ricerca
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R. Costanzi, D. Fenucci, V. Manzari, A. Caiti: "Bearing-only AUV tracking performance: the effect of uncertainty in underwater nodes position", MTS/IEEE Oceans ’16, Monterey (USA), September 2016
We analyze a specific practical problem of bearing-only localization of a stationary target using noisy measurements from three sensors. It is well understood that the performance of any target position estimator is considerably influenced by the...
https://phd.dii.unipi.it/pubblicazioni/item/1215-r-costanzi,-d-fenucci,-v-manzari,-a-caiti-bearing-only-auv-tracking-performance-the-effect-of-uncertainty-in-underwater-nodes-position-,-mts-ieee-oceans-’16,-monterey-usa-,-september-2016.html -
D. Fenucci, A. Caffaz, R. Costanzi, E. Fontanesi, V. Manzari, L. Sani, M. Stifani, D. Tricarico, A. Turetta and A. Caiti: "WAVE: a wave energy recovery module for long endurance gliders and AUVs", MTS/IEEE Oceans ’16, Monterey (USA), September 2016
The WAVE (Wave-powered Autonomous Vehicle for marine Exploration) project involves the development of a novel hybrid oceanographic glider/Autonomous Underwater Vehicle (AUV) with power recharging capabilities from environmental renewable sources, aiming...
https://phd.dii.unipi.it/pubblicazioni/item/1214-d-fenucci,-a-caffaz,-r-costanzi,-e-fontanesi,-vincenzo-manzari,-l-sani,-m-stifani,-d-tricarico,-a-turetta-and-a-caiti-wave-a-wave-energy-recovery-module-for-long-endurance-gliders-and-auvs-,-mts-ieee-oceans-’16,-monterey-usa-,-sept-2016.html -
B. Allotta, A. Caiti, R. Costanzi, F. Fanelli, D. Fenucci, E. Meli, A. Ridolfi: "A new AUV navigation system exploiting unscented Kalman filter", Ocean Engineering, 2016
The development of precise and robust navigation strategies for Autonomous Underwater Vehicles (AUVs) is fundamental to reach the high level of performance required by complex underwater tasks, often including more than one AUV. One of the main factors...
https://phd.dii.unipi.it/pubblicazioni/item/1213-b-allotta,-a-caiti,-r-costanzi,-f-fanelli,-d-fenucci,-e-meli,-a-ridolfi-a-new-auv-navigation-system-exploiting-unscented-kalman-filter-,-ocean-engineering,-2016.html -
B. Allotta, A. Caiti, L. Chisci, R. Costanzi, F. Di Corato, C. Fantacci, D. Fenucci, E. Meli, A. Ridolfi: "An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles", Mechatronics, 2016
Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discrimi- nant role towards the success of complex underwater missions involving one or more AUVs. The quality of the filtering algorithm for the estimation of the...
https://phd.dii.unipi.it/publications/item/1212-b-allotta,-a-caiti,-l-chisci,-r-costanzi,-f-di-corato,-c-fantacci,-d-fenucci,-e-meli,-a-ridolfi-an-unscented-kalman-filter-based-navigation-algorithm-for-autonomous-underwater-vehicles-,-mechatronics,-2016.html -
F. Fabiani, D. Fenucci, T. Fabbri, A. Caiti: "A Distributed, Passivity–Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network", IFAC Conference on Control Applications in Marine Systems (CAMS) '16, Trondheim (NO), September 2016
This paper presents a cooperative and distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communication constraints. Virtual couplings dene interaction control forces between...
https://phd.dii.unipi.it/pubblicazioni/item/1211-f-fabiani,-d-fenucci,-t-fabbri,-a-caiti-a-distributed,-passivity–based-control-of-autonomous-mobile-sensors-in-an-underwater-acoustic-network-,-cams’16-ifac-conference-on-control-applications-in-marine-systems,-trondheim-no-,-september-2016.html -
D. Fenucci, A. Caiti, E. Simetti and G. Casalino: "Underwater communication requirements in coordinated autonomous manipulation: The MARIS project," 2016 IEEE Third Underwater Communications and Networking Conference (UComms), Lerici, Italy, 2016
This paper addresses the communication requirements needed within the MARIS project, which involves several Italian institutions. The goal of the MARIS project is to develop technologies for autonomous underwater interventions, in particular to enable...
https://phd.dii.unipi.it/pubblicazioni/item/1210-d-fenucci,-a-caiti,-e-simetti-and-g-casalino-underwater-communication-requirements-in-coordinated-autonomous-manipulation-the-maris-project,-2016-ieee-third-underwater-communications-and-networking-conference-ucomms-,-lerici,-italy,-2016.html -
F. Fabiani, D. Fenucci, T. Fabbri, A. Caiti: “A Passivity–Based Framework for Coordinated Distributed Control of AUV teams: guaranteeing Stability in presence of Range Communication Constraints”, MTS/IEEE Oceans ’16, Monterey (USA), September 2016
This paper presents a cooperative, distance-based, distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communications constraints. The classic graph theory provides the essential tools to...
https://phd.dii.unipi.it/publications/item/1209-f-fabiani,-d-fenucci,-t-fabbri,-a-caiti-“a-passivity–based-framework-for-coordinated-distributed-control-of-auv-teams-guaranteeing-stability-in-presence-of-range-communication-constraints”,-mts-ieee-oceans-’16,-monterey-usa-,-september-2016.html -
G. M. Gasparri, F. Fabiani, M. Garabini, L. Pallottino, M. G. Catalano, G. Grioli, R. Persichini, A. Bicchi: “Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios”, Humanoids’16 IEEE – RAS International Conference
Compliance in robot design and control is often introduced to improve the robot performance in tasks where interaction with environment or human is required. However a rigorous method to choose the correct level of compliance is still not available. In...
https://phd.dii.unipi.it/pubblicazioni/item/1208-g-m-gasparri,-f-fabiani,-m-garabini,-l-pallottino,-m-g-catalano,-g-grioli,-r-persichini,-a-bicchi-“robust-optimization-of-system-compliance-for-physical-interaction-in-uncertain-scenarios”,-humanoids’16-ieee-–-ras-international-conference.html -
F. Fabiani, D. Fenucci, T. Fabbri, A. Caiti: “A Passivity–Based Framework for Coordinated Distributed Control of AUV teams: guaranteeing Stability in presence of Range Communication Constraints”, Oceans’16 MTS/IEEE, Monterey (USA), September 2016
This paper presents a cooperative, distance-based, distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communications constraints. The classic graph theory provides the essential tools to...
https://phd.dii.unipi.it/pubblicazioni/item/1207-f-fabiani,-d-fenucci,-t-fabbri,-a-caiti-“a-passivity-–-based-framework-for-coordinated-distributed-control-of-auv-teams-guaranteeing-stability-in-presence-of-range-communication-constraints”,-oceans’16-mts-ieee,-monterey-usa-,-september-2016.html -
A. Bartolini, A. Caiti, E. Ciaramella, P. Conte, G. Cossu, D. Costa, S. Grechi, R. Nuti, D. Scaradozzi, A. Sturniolo: “OptoCOMM: development and experimentation of a new optical wireless underwater modem”, IEEE/MTS OCEANS 16, Monterey, September 2016
This paper presents our recent advancements in the development of the underwater optical wireless modems, designed within the OptoCOMM project. The target performance of the optical modem is to achieve the data rate of 10 Mbit/s at a distance of at...
https://phd.dii.unipi.it/pubblicazioni/item/1204-a-bartolini,-a-caiti,-e-ciaramella,-p-conte,-g-cossu,-d-costa,-s-grechi,-r-nuti,-d-scaradozzi,-a-sturniolo-“optocomm-development-and-experimentation-of-a-new-optical-wireless-underwater-modem”,-ieee-mts-oceans-16,-monterey,-september-2016.html -
F. Fabiani, D. Fenucci, T. Fabbri, A. Caiti: "A Distributed, Passivity–Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network", CAMS’16 IFAC Conference on Control Applications in Marine Systems, Trondheim (NO), September 2016
This paper presents a cooperative and distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communication constraints. Virtual couplings dene interaction control forces between...
https://phd.dii.unipi.it/pubblicazioni/item/1205-f-fabiani,-d-fenucci,-t-fabbri,-a-caiti-a-distributed,-passivity-–-based-control-of-autonomous-mobile-sensors-in-an-underwater-acoustic-network-,-cams’16-ifac-conference-on-control-applications-in-marine-systems,-trondheim-no-,-september-2016.html -
A. Caiti, P. Gjanci, S. Grechi, R. Nuti, C. Petrioli, L. Picari, D. Spaccini: “OptoCOMM and SUNSET to enable large data offloading in Underwater Wireless Sensor Networks”, IEEE/MTS OCEANS 16, Monterey, September 2016
In this paper we present the initial implementation of an integrated optical and acoustic system that can enable large data transfer between mobile and static nodes in Underwater Wireless Sensor Networks (UWSNs). The proposed system is based on the...
https://phd.dii.unipi.it/pubblicazioni/item/1203-a-caiti,-p-gjanci,-s-grechi,-r-nuti,-c-petrioli,-l-picari,-d-spaccini-“optocomm-and-sunset-to-enable-large-data-offloading-in-underwater-wireless-sensor-networks”,-ieee-mts-oceans-16,-monterey,-september-2016.html -
S. Grechi, A. Caiti: “Comparison between Optimal Control Allocation with Mixed Quadratic & Linear Programming Techniques”, IFAC CAMS16, Trondheim, September 2016
The paper provides a comparison between different control allocation techniques in over-actuated Autonomous Underwater Vehicles. The pseudoinverse, Linear Programming (LP), Quadratic Programming (QP), Mixed Integer Linear Programming (MILP) and Mixed...
https://phd.dii.unipi.it/pubblicazioni/item/1202-s-grechi,-a-caiti-“comparison-between-optimal-control-allocation-with-mixed-quadratic-linear-programming-techniques”,-ifac-cams16,-trondheim,-september-2016.html -
A. Caiti, E. Ciaramella, P. Conte, G. Cossu, D. Costa, S. Grechi, R. Nuti, D. Scaradozzi, A. Sturniolo: “OptoCOMM: Introducing a New Optical Underwater Wireless Communication Modem”, IEEE UCOMMS16, Lerici, September 2016
OptoCOMM aims at demonstrating the potential, at physical level, of a communication facility for the SUNRISE platform constituted by an Optical Underwater Wireless Communication (OUWC) module with target performance of 10 Mb/s transmission rate at 10...
https://phd.dii.unipi.it/pubblicazioni/item/1200-a-caiti,-e-ciaramella,-p-conte,-g-cossu,-d-costa,-s-grechi,-r-nuti,-d-scaradozzi,-a-sturniolo-“optocomm-introducing-a-new-optical-underwater-wireless-communication-modem”,-ieee-ucomms16,-lerici,-september-2016.html -
F. Fabiani, S. Grechi, S. Della Tommasina, A. Caiti: "A NLPCA Hybrid Approach for AUV Thrusters Fault Detection and Isolation", SysTol’16 3rd International Conference on Control and Fault–Tolerant Systems, Barcellona (ES), September 2016
The objective of this paper is to address the problem of Fault Detection and Isolation (FDI) on thrusters of an over-actuated Autonomous Underwater Vehicle (AUV) under on/off abrupt faults. The goal is pursued through Non-Linear Principal Component...
https://phd.dii.unipi.it/pubblicazioni/item/1201-f-fabiani,-s-grechi,-s-della-tommasina,-a-caiti-a-nlpca-hybrid-approach-for-auv-thrusters-fault-detection-and-isolation-,-systol’16-3rd-international-conference-on-control-and-fault-–-tolerant-systems,-barcellona-es-,-september-2016.html -
F. Fabiani, S. Grechi, S. Della Tommasina, A. Caiti: “A NLPCA Hybrid Approach for AUV Thrusters Fault Detection and Isolation”. IEEE SysTol16, Barcelona, September 2016.
The objective of this paper is to address the problem of Fault Detection and Isolation (FDI) on thrusters of an over-actuated Autonomous Underwater Vehicle (AUV) under on/off abrupt faults. The goal is pursued through Non-Linear Principal Component...
https://phd.dii.unipi.it/pubblicazioni/item/1199-f-fabiani,-s-grechi,-s-della-tommasina,-a-caiti-“a-nlpca-hybrid-approach-for-auv-thrusters-fault-detection-and-isolation”-ieee-systol16,-barcelona,-september-2016.html -
V Bartalesi, C. Meghini, D., Metilli, P. Andriani: “Usability Evaluation of the Digital Library DanteSources”. In Proceedings of International Conference on Human-Computer Interaction (pp. 191-203). Springer International Publishing, July 2016
In this paper we present DanteSources, a Digital Library of Dante Alighieri’s primary sources, i.e. the works of other authors that Dante cites in his texts. Currently, this information is scattered in many books, making it difficult for the scholars to...
https://phd.dii.unipi.it/pubblicazioni/item/1195-v-bartalesi,-c-meghini,-d-,-metilli,-p-andriani-“usability-evaluation-of-the-digital-library-dantesources”-in-proceedings-of-international-conference-on-human-computer-interaction-pp-191-203-springer-international-publishing,-july-2016.html -
V. Bartalesi, C. Meghini, D. Metilli: “Steps Towards a Formal Ontology of Narratives Based on Nar-ratology”, in Proceeding of Seventh International Workshop on Computational Models of Narrative Interaction (pp. 41-50). OASICS, July 2016
Narrative is emerging as a notion that may enable overcoming the limitations of the discovery functionality (only ranked lists of objects) offered by information systems to their users. We present preliminary results on modelling narratives by means of...
https://phd.dii.unipi.it/pubblicazioni/item/1194-v-bartalesi,-c-meghini,-d-metilli-“steps-towards-a-formal-ontology-of-narratives-based-on-nar-ratology”,-in-proceeding-of-seventh-international-workshop-on-computational-models-of-narrative-interaction-pp-41-50-oasics,-openaccess-series-in-in.html -
V. Bartalesi, C. Meghini, D. Metilli, P. Andriani, M. Tavoni: “DanteSources: a Digital Library for Studying Dante Alighieri's Primary Sources”. In Proceeding of AIUCD Annual Conference, December 2015
We present DanteSources, a focused Digital Library that aims at building innovative services supporting scholars in creating, evolving and consulting a digital encyclopaedia of Dante Alighieri’s works. DanteSources is endowed with web services that...
https://phd.dii.unipi.it/pubblicazioni/item/1193-v-bartalesi,-c-meghini,-d-metilli,-p-andriani,-m-tavoni-“dantesources-a-digital-library-for-studying-dante-alighieri-s-primary-sources”-in-proceeding-of-aiucd-annual-conference-2015.html -
V. Bartalesi, P. Andriani, D. Metilli, C. Meghini, M. Tavoni. DanteSources: una biblioteca digitale delle fonti dantesche. Le forme e la storia. Rubettino Editore, September 2016
Un tipo importante di conoscenza studiata in campo umanistico è rappresentato dalle fonti primarie di testi letterari, ovvero le opere di altri autori a cui uno scrittore fa riferimento nei propri testi. Solitamente questa conoscenza è riportata nei...
https://phd.dii.unipi.it/pubblicazioni/item/1192-v-bartalesi,-p-andriani,-d-metilli,-c-meghini,-m-tavoni-dantesources-una-biblioteca-digitale-delle-fonti-dantesche-le-forme-e-la-storia-rubettino-editore,-september-2016.html
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