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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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