Multidimensional project control system: applicazione di verifica della qualità dei progetti in Despar Italia c.r.l.

La dissertazione affronterà il tema del controllo qualità nei progetti, applicando conoscenze, tecniche e strumenti propri del Project e del Multiproject Management. L’analisi partirà svolgendo, nel primo capitolo, considerazioni introduttive riguardo le due discipline citate. Lo scopo ultimo sarà quello di elaborare un sistema di controllo integrato della qualità, indirizzato principalmente al Project Management che è presente in una qualsiasi organizzazione che opera per progetti. Nel secondo capitolo verrà illustrato il metodo denominato Multidimensional Project control System sul quale il modello sviluppato in seguito si basa. La progettazione di un sistema di controllo è una parte importante dello sforzo di gestione di un progetto. Tale sistema è basato su una serie di obiettivi di progetto e sulla loro importanza relativa e fonda la sua natura su una sistematica valutazione in corso d’opera dello stato di conformità del progetto, sia a livello di processo che a livello di output. Nel capitolo conclusivo si affronta l’obiettivo principale di questo elaborato. Sono stati forniti dati e documenti dall’azienda Despar Italia c.r.l. ed è stato chiesto di sviluppare un metodo di controllo che il Project Management potesse utilizzare per implementare un processo di verifica della qualità di progetto. Viene quindi descritta l’azienda, come il Management pianifica, gestisce e controlla i progetti e quali necessità devono essere soddisfatte. Si procede poi con l’illustrazione e spiegazione del metodo sviluppato, chiarito da un esempio esplicativo. L’elaborato si concluderà con delle riflessioni finali, proponendo critiche e spunti per eventuali sviluppi futuri.

Hardware-In-The Loop setup and test of an air spring control system

In this work, a Hardware-in-the-loop test bench is designed. The bench is used to test the behaviour of an electronic control unit used in Maserati to control the dynamics of an air spring system. First the mathematical model of the plant has been defined, then the simulation enviroment and the test environment have been set up. The performed tests succesfully highlighted some bugs in the device under test.

Grant-Free Access for Massive IoT Based on Interference Cancellation and Massive MIMO

Recent years have witnessed an increasing evolution of wireless mobile networks, with an intensive research work aimed at developing new efficient techniques for the future 6G standards. In the framework of massive machine-type communication (mMTC), emerging Internet of Things (IoT) applications, in which sensor nodes and smart devices transmit unpredictably and sporadically short data packets without coordination, are gaining an increasing interest. In this work, new medium access control (MAC) protocols for massive IoT, capable of supporting a non-instantaneous feedback from the receiver, are studied. These schemes guarantee an high time for the acknowledgment (ACK) messages to the base station (BS), without a significant performance loss. Then, an error floor analysis of the considered protocols is performed in order to obtain useful guidelines for the system design. Furthermore, non-orthogonal multiple access (NOMA) coded random access (CRA) schemes based on power domain are here developed. The introduction of power diversity permits to solve more packet collision at the physical (PHY) layer, with an important reduction of the packet loss rate (PLR) in comparison to the number of active users in the system. The proposed solutions aim to improve the actual grant-free protocols, respecting the stringent constraints of scalability, reliability and latency requested by 6G networks.

Design and Implementation of Single phase 230V to Three Phase Inverter Based on the Embedded System STM-32 Applied to motor control

In the field of Power Electronics, several types of motor control systems have been developed using STM microcontroller and power boards. In both industrial power applications and domestic appliances, power electronic inverters are widely used. Inverters are used to control the torque, speed, and position of the rotor in AC motor drives. An inverter delivers constant-voltage and constant-frequency power in uninterruptible power sources. Because inverter power supplies have a high-power consumption and low transfer efficiency rate, a three-phase sine wave AC power supply was created using the embedded system STM32, which has low power consumption and efficient speed. It has the capacity of output frequency of 50 Hz and the RMS of line voltage. STM32 embedded based Inverter is a power supply that integrates, reduced, and optimized the power electronics application that require hardware system, software, and application solution, including power architecture, techniques, and tools, approaches capable of performance on devices and equipment. Power inverters are currently used and implemented in green energy power system with low energy system such as sensors or microcontroller to perform the operating function of motors and pumps. STM based power inverter is efficient, less cost and reliable. My thesis work was based on STM motor drives and control system which can be implemented in a gas analyser for operating the pumps and motors. It has been widely applied in various engineering sectors due to its ability to respond to adverse structural changes and improved structural reliability. The present research was designed to use STM Inverter board on low power MCU such as NUCLEO with some practical examples such as Blinking LED, and PWM. Then we have implemented a three phase Inverter model with Steval-IPM08B board, which converter single phase 230V AC input to three phase 380 V AC output, the output will be useful for operating the induction motor.

Sicurezza di rete, analisi del traffico e monitoraggio.

Il lavoro è stato suddiviso in tre macro-aree. Una prima riguardante un'analisi teorica di come funzionano le intrusioni, di quali software vengono utilizzati per compierle, e di come proteggersi (usando i dispositivi che in termine generico si possono riconoscere come i firewall). Una seconda macro-area che analizza un'intrusione avvenuta dall'esterno verso dei server sensibili di una rete LAN. Questa analisi viene condotta sui file catturati dalle due interfacce di rete configurate in modalità promiscua su una sonda presente nella LAN. Le interfacce sono due per potersi interfacciare a due segmenti di LAN aventi due maschere di sotto-rete differenti. L'attacco viene analizzato mediante vari software. Si può infatti definire una terza parte del lavoro, la parte dove vengono analizzati i file catturati dalle due interfacce con i software che prima si occupano di analizzare i dati di contenuto completo, come Wireshark, poi dei software che si occupano di analizzare i dati di sessione che sono stati trattati con Argus, e infine i dati di tipo statistico che sono stati trattati con Ntop. Il penultimo capitolo, quello prima delle conclusioni, invece tratta l'installazione di Nagios, e la sua configurazione per il monitoraggio attraverso plugin dello spazio di disco rimanente su una macchina agent remota, e sui servizi MySql e DNS. Ovviamente Nagios può essere configurato per monitorare ogni tipo di servizio offerto sulla rete.

Motion Control of an Advanced Electric Implement for Agricultural Autonomous Vehicles

Nowadays, the development of intelligent and autonomous vehicles used to perform agricultural activities is essential to improve quantity and quality of agricultural productions. Moreover, with automation techniques it is possible to reduce the usage of agrochemicals and minimize the pollution. The University of Bologna is developing an innovative system for orchard management called ORTO (Orchard Rapid Transportation System). This system involves an autonomous electric vehicle capable to perform agricultural activities inside an orchard structure. The vehicle is equipped with an implement capable to perform different tasks. The purpose of this thesis project is to control the vehicle and the implement to perform an inter-row grass mowing. This kind of task requires a synchronized motion between the traction motors and the implement motors. A motion control system has been developed to generate trajectories and manage their synchronization. Two main trajectories type have been used: a five order polynomial trajectory and a trapezoidal trajectory. These two kinds of trajectories have been chosen in order to perform a uniform grass mowing, paying a particular attention to the constrains of the system. To synchronize the motions, the electronic cams approach has been adopted. A master profile has been generated and all the trajectories have been linked to the master motion. Moreover, a safety system has been developed. The aim of this system is firstly to improve the safety during the motion, furthermore it allows to manage obstacle detection and avoidance. Using some particular techniques obstacles can be detected and recovery action can be performed to overcome the problem. Once the measured force reaches the predefined force threshold, then the vehicle stops immediately its motion. The whole project has been developed by employing Matlab and Simulink. Eventually, the software has been translated into C code and executed on the TI Lauchpad XL board.

LQG control policy design against agent identity privacy problem

This thesis project studies the agent identity privacy problem in the scalar linear quadratic Gaussian (LQG) control system. For the agent identity privacy problem in the LQG control, privacy models and privacy measures have to be established first. It depends on a trajectory of correlated data rather than a single observation. I propose here privacy models and the corresponding privacy measures by taking into account the two characteristics. The agent identity is a binary hypothesis: Agent A or Agent B. An eavesdropper is assumed to make a hypothesis testing on the agent identity based on the intercepted environment state sequence. The privacy risk is measured by the Kullback-Leibler divergence between the probability distributions of state sequences under two hypotheses. By taking into account both the accumulative control reward and privacy risk, an optimization problem of the policy of Agent B is formulated. The optimal deterministic privacy-preserving LQG policy of Agent B is a linear mapping. A sufficient condition is given to guarantee that the optimal deterministic privacy-preserving policy is time-invariant in the asymptotic regime. An independent Gaussian random variable cannot improve the performance of Agent B. The numerical experiments justify the theoretic results and illustrate the reward-privacy trade-off. Based on the privacy model and the LQG control model, I have formulated the mathematical problems for the agent identity privacy problem in LQG. The formulated problems address the two design objectives: to maximize the control reward and to minimize the privacy risk. I have conducted theoretic analysis on the LQG control policy in the agent identity privacy problem and the trade-off between the control reward and the privacy risk.Finally, the theoretic results are justified by numerical experiments. From the numerical results, I expected to have some interesting observations and insights, which are explained in the last chapter.

Neural Network Based UAV Fault Tolerant Control with Aerodynamic Disturbance Estimation and Compensation

In this thesis, the problem of controlling a quadrotor UAV is considered. It is done by presenting an original control system, designed as a combination of Neural Networks and Disturbance Observer, using a composite learning approach for a system of the second order, which is a novel methodology in literature. After a brief introduction about the quadrotors, the concepts needed to understand the controller are presented, such as the main notions of advanced control, the basic structure and design of a Neural Network, the modeling of a quadrotor and its dynamics. The full simulator, developed on the MATLAB Simulink environment, used throughout the whole thesis, is also shown. For the guidance and control purposes, a Sliding Mode Controller, used as a reference, it is firstly introduced, and its theory and implementation on the simulator are illustrated. Finally the original controller is introduced, through its novel formulation, and implementation on the model. The effectiveness and robustness of the two controllers are then proven by extensive simulations in all different conditions of external disturbance and faults.

Design of a bang-bang pressure regulation system for cold gas and plasma engines

In this thesis the design of a pressure regulation system for space propulsion engines (electric and cold gas) has been performed. The Bang-Bang Control (BBC) method has been implemented through the open/close command on a solenoid valve, and the mass flow rate of the propellant has been fixed with suitable flow restrictors. At the beginning, research for the comparison between mechanical and electronic (for BBC) pressure regulators has been performed, which resulted in enough advantages for the selection of the second valve type. The major advantage is about the possibility to have a variable outlet pressure with a variable inlet pressure through a simple remote command, while in mechanical pressure regulators the ratio between inlet and outlet pressures must be mechanically settled. Different pressure control schemes have been analyzed, changing number of solenoid valves, flow restrictors and plenums. For each scheme the valve’s frequencies were evaluated with simplified mathematical models and with the use of simulators implemented on Python; the results obtained from those two methods matched quiet well. From all the schemes it was possible to observe varying frequency and duty cycle, for changes in different parameters. This results, after experimental checks, can be used to design the control system for a given total number of cycles that a specific solenoid valve can guarantee. Finally, tests were performed and it was possible to verify the goodness of the control system. Moreover from the tests it was possible to deduce some tips in order to optimize the running of the simulator.

Simulation and Implementation of a PMSM Sensorless Control Algorithm for Submarine Applications

In this thesis, the study and the simulation of two advanced sensorless speed control techniques for a surface PMSM are presented. The aim is to implement a sensorless control algorithm for a submarine auxiliary propulsion system. This experimental activity is the result of a project collaboration with L3Harris Calzoni, a leader company in A&D systems for naval handling in military field. A Simulink model of the whole electric drive has been developed. Due to the satisfactory results of the simulations, the sensorless control system has been implemented in C code for STM32 environment. Finally, several tests on a real brushless machine have been carried out while the motor was connected to a mechanical load to simulate the real scenario of the final application. All the experimental results have been recorded through a graphical interface software developed at Calzoni.