Tap-Off Power From the Overhead Shield Wires of an HV Transmission Line

In recent years, there was an increase of ancillary service loads, such as signaling systems, inspection robots, surveillance cameras, and other monitoring devices distributed along high-voltage transmission lines which require low-power dc voltage supplies. This paper investigates the use of the induced voltage in the shield wires of an overhead 525 kV transmission line as a primary power source. Since phase current variations throughout the day affect the induced voltage in the overhead ground wire, a step-down dc-dc converter is used after rectification of the ac voltage to provide a regulated dc output voltage. The initial encouraging results obtained indicate that this form of power supply can be a feasible and cost-effective alternative for feeding small ancillary service loads. The simulation results are validated by field measurements as well as the installation of a 200 W voltage stabilization system prototype.

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is important to highlight that the design aspects must be seriously considered in order to overcome hardware limitations and achieve control simplification. The controllers of a UAV (Unmanned Aerial Vehicle) robot deal with highly unstable dynamics and strong axes coupling. Furthermore, any additional embedded sensor increases the robot total weight and therefore, decreases its operating time. The best balance between embedded electronics and robot operating time is desired. This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases. Based on this model we carried out the development of a simulation tool based on MatLab/Simulink that was fundamental for setting the controllers' parameters. This tool allowed us to simulate and improve the OS4 controllers in different modeled environments and test different approaches. After that, the controllers were embedded in the real robot and the results proved to be very robust and feasible. In addition to this, the controller has the advantage of being compatible with future path planners that we are developing.

Detection of gait perturbations based on proprioceptive information. Application to Limit Cycle Walkers

Walking on irregular surfaces and in the presence of unexpected events is a challenging problem for bipedal machines. Up to date, their ability to cope with gait disturbances is far less successful than humans': Neither trajectory controlled robots, nor dynamic walking machines (Limit CycleWalkers) are able to handle them satisfactorily. On the contrary, humans reject gait perturbations naturally and efficiently relying on their sensory organs that, if needed, elicit a recovery action. A similar approach may be envisioned for bipedal robots and exoskeletons: An algorithm continuously observes the state of the walker and, if an unexpected event happens, triggers an adequate reaction. This paper presents a monitoring algorithm that provides immediate detection of any type of perturbation based solely on a phase representation of the normal walking of the robot. The proposed method was evaluated in a Limit Cycle Walker prototype that suffered push and trip perturbations at different moments of the gait cycle, providing 100% successful detections for the current experimental apparatus and adequately tuned parameters, with no false positives when the robot is walking unperturbed.

Reasoning about shadows in a mobile robot environment

This paper describes a logic-based formalism for qualitative spatial reasoning with cast shadows (Perceptual Qualitative Relations on Shadows, or PQRS) and presents results of a mobile robot qualitative self-localisation experiment using this formalism. Shadow detection was accomplished by mapping the images from the robot’s monocular colour camera into a HSV colour space and then thresholding on the V dimension. We present results of selflocalisation using two methods for obtaining the threshold automatically: in one method the images are segmented according to their grey-scale histograms, in the other, the threshold is set according to a prediction about the robot’s location, based upon a qualitative spatial reasoning theory about shadows. This theory-driven threshold search and the qualitative self-localisation procedure are the main contributions of the present research. To the best of our knowledge this is the first work that uses qualitative spatial representations both to perform robot self-localisation and to calibrate a robot’s interpretation of its perceptual input.

Taller del proyecto AVORA, robot submarino de la ULPGC-PLOCAN dentro de Ciberlandia 2013

Celebrado el 24 de mayo en el Edificio de Informática y Matemáticas de la ULPGC

A-TIRMA: A small autonomous sailboat

Máster Universitario en Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería (SIANI)

On the use of a low-cost thermal sensor to improve kinect people detection in a mobile robot

[EN]Detecting people is a key capability for robots that operate in populated environments. In this paper, we have adopted a hierarchical approach that combines classifiers created using supervised learning in order to identify whether a person is in the view-scope of the robot or not. Our approach makes use of vision, depth and thermal sensors mounted on top of a mobile platform.

Automatic initialization for facial analysis in interactive robotics

[EN]This paper focuses on four different initialization methods for determining the initial shape for the AAM algorithm and their particular performance in two different classification tasks with respect to either the facial expression DaFEx database and to the real world data obtained from a robot’s point of view.

Structure learning of graphical models for task-oriented robot grasping

In the collective imaginaries a robot is a human like machine as any androids in science fiction. However the type of robots that you will encounter most frequently are machinery that do work that is too dangerous, boring or onerous. Most of the robots in the world are of this type. They can be found in auto, medical, manufacturing and space industries. Therefore a robot is a system that contains sensors, control systems, manipulators, power supplies and software all working together to perform a task. The development and use of such a system is an active area of research and one of the main problems is the development of interaction skills with the surrounding environment, which include the ability to grasp objects. To perform this task the robot needs to sense the environment and acquire the object informations, physical attributes that may influence a grasp. Humans can solve this grasping problem easily due to their past experiences, that is why many researchers are approaching it from a machine learning perspective finding grasp of an object using information of already known objects. But humans can select the best grasp amongst a vast repertoire not only considering the physical attributes of the object to grasp but even to obtain a certain effect. This is why in our case the study in the area of robot manipulation is focused on grasping and integrating symbolic tasks with data gained through sensors. The learning model is based on Bayesian Network to encode the statistical dependencies between the data collected by the sensors and the symbolic task. This data representation has several advantages. It allows to take into account the uncertainty of the real world, allowing to deal with sensor noise, encodes notion of causality and provides an unified network for learning. Since the network is actually implemented and based on the human expert knowledge, it is very interesting to implement an automated method to learn the structure as in the future more tasks and object features can be introduced and a complex network design based only on human expert knowledge can become unreliable. Since structure learning algorithms presents some weaknesses, the goal of this thesis is to analyze real data used in the network modeled by the human expert, implement a feasible structure learning approach and compare the results with the network designed by the expert in order to possibly enhance it.

Coordinated Control of Robotic Swarms in Unknown Environments

This thesis gathers the work carried out by the author in the last three years of research and it concerns the study and implementation of algorithms to coordinate and control a swarm of mobile robots moving in unknown environments. In particular, the author's attention is focused on two different approaches in order to solve two different problems. The first algorithm considered in this work deals with the possibility of decomposing a main complex task in many simple subtasks by exploiting the decentralized implementation of the so called \emph{Null Space Behavioral} paradigm. This approach to the problem of merging different subtasks with assigned priority is slightly modified in order to handle critical situations that can be detected when robots are moving through an unknown environment. In fact, issues can occur when one or more robots got stuck in local minima: a smart strategy to avoid deadlock situations is provided by the author and the algorithm is validated by simulative analysis. The second problem deals with the use of concepts borrowed from \emph{graph theory} to control a group differential wheel robots by exploiting the Laplacian solution of the consensus problem. Constraints on the swarm communication topology have been introduced by the use of a range and bearing platform developed at the Distributed Intelligent Systems and Algorithms Laboratory (DISAL), EPFL (Lausanne, CH) where part of author's work has been carried out. The control algorithm is validated by demonstration and simulation analysis and, later, is performed by a team of four robots engaged in a formation mission. To conclude, the capabilities of the algorithm based on the local solution of the consensus problem for differential wheel robots are demonstrated with an application scenario, where nine robots are engaged in a hunting task.

Architectures and design patterns for functional design of logic control and diagnostics in industrial automation

Recently in most of the industrial automation process an ever increasing degree of automation has been observed. This increasing is motivated by the higher requirement of systems with great performance in terms of quality of products/services generated, productivity, efficiency and low costs in the design, realization and maintenance. This trend in the growth of complex automation systems is rapidly spreading over automated manufacturing systems (AMS), where the integration of the mechanical and electronic technology, typical of the Mechatronics, is merging with other technologies such as Informatics and the communication networks. An AMS is a very complex system that can be thought constituted by a set of flexible working stations, one or more transportation systems. To understand how this machine are important in our society let considerate that every day most of us use bottles of water or soda, buy product in box like food or cigarets and so on. Another important consideration from its complexity derive from the fact that the the consortium of machine producers has estimated around 350 types of manufacturing machine. A large number of manufacturing machine industry are presented in Italy and notably packaging machine industry,in particular a great concentration of this kind of industry is located in Bologna area; for this reason the Bologna area is called “packaging valley”. Usually, the various parts of the AMS interact among them in a concurrent and asynchronous way, and coordinate the parts of the machine to obtain a desiderated overall behaviour is an hard task. Often, this is the case in large scale systems, organized in a modular and distributed manner. Even if the success of a modern AMS from a functional and behavioural point of view is still to attribute to the design choices operated in the definition of the mechanical structure and electrical electronic architecture, the system that governs the control of the plant is becoming crucial, because of the large number of duties associated to it. Apart from the activity inherent to the automation of themachine cycles, the supervisory system is called to perform other main functions such as: emulating the behaviour of traditional mechanical members thus allowing a drastic constructive simplification of the machine and a crucial functional flexibility; dynamically adapting the control strategies according to the different productive needs and to the different operational scenarios; obtaining a high quality of the final product through the verification of the correctness of the processing; addressing the operator devoted to themachine to promptly and carefully take the actions devoted to establish or restore the optimal operating conditions; managing in real time information on diagnostics, as a support of the maintenance operations of the machine. The kind of facilities that designers can directly find on themarket, in terms of software component libraries provides in fact an adequate support as regard the implementation of either top-level or bottom-level functionalities, typically pertaining to the domains of user-friendly HMIs, closed-loop regulation and motion control, fieldbus-based interconnection of remote smart devices. What is still lacking is a reference framework comprising a comprehensive set of highly reusable logic control components that, focussing on the cross-cutting functionalities characterizing the automation domain, may help the designers in the process of modelling and structuring their applications according to the specific needs. Historically, the design and verification process for complex automated industrial systems is performed in empirical way, without a clear distinction between functional and technological-implementation concepts and without a systematic method to organically deal with the complete system. Traditionally, in the field of analog and digital control design and verification through formal and simulation tools have been adopted since a long time ago, at least for multivariable and/or nonlinear controllers for complex time-driven dynamics as in the fields of vehicles, aircrafts, robots, electric drives and complex power electronics equipments. Moving to the field of logic control, typical for industrial manufacturing automation, the design and verification process is approached in a completely different way, usually very “unstructured”. No clear distinction between functions and implementations, between functional architectures and technological architectures and platforms is considered. Probably this difference is due to the different “dynamical framework”of logic control with respect to analog/digital control. As a matter of facts, in logic control discrete-events dynamics replace time-driven dynamics; hence most of the formal and mathematical tools of analog/digital control cannot be directly migrated to logic control to enlighten the distinction between functions and implementations. In addition, in the common view of application technicians, logic control design is strictly connected to the adopted implementation technology (relays in the past, software nowadays), leading again to a deep confusion among functional view and technological view. In Industrial automation software engineering, concepts as modularity, encapsulation, composability and reusability are strongly emphasized and profitably realized in the so-calledobject-oriented methodologies. Industrial automation is receiving lately this approach, as testified by some IEC standards IEC 611313, IEC 61499 which have been considered in commercial products only recently. On the other hand, in the scientific and technical literature many contributions have been already proposed to establish a suitable modelling framework for industrial automation. During last years it was possible to note a considerable growth in the exploitation of innovative concepts and technologies from ICT world in industrial automation systems. For what concerns the logic control design, Model Based Design (MBD) is being imported in industrial automation from software engineering field. Another key-point in industrial automated systems is the growth of requirements in terms of availability, reliability and safety for technological systems. In other words, the control system should not only deal with the nominal behaviour, but should also deal with other important duties, such as diagnosis and faults isolations, recovery and safety management. Indeed, together with high performance, in complex systems fault occurrences increase. This is a consequence of the fact that, as it typically occurs in reliable mechatronic systems, in complex systems such as AMS, together with reliable mechanical elements, an increasing number of electronic devices are also present, that are more vulnerable by their own nature. The diagnosis problem and the faults isolation in a generic dynamical system consists in the design of an elaboration unit that, appropriately processing the inputs and outputs of the dynamical system, is also capable of detecting incipient faults on the plant devices, reconfiguring the control system so as to guarantee satisfactory performance. The designer should be able to formally verify the product, certifying that, in its final implementation, it will perform itsrequired function guarantying the desired level of reliability and safety; the next step is that of preventing faults and eventually reconfiguring the control system so that faults are tolerated. On this topic an important improvement to formal verification of logic control, fault diagnosis and fault tolerant control results derive from Discrete Event Systems theory. The aimof this work is to define a design pattern and a control architecture to help the designer of control logic in industrial automated systems. The work starts with a brief discussion on main characteristics and description of industrial automated systems on Chapter 1. In Chapter 2 a survey on the state of the software engineering paradigm applied to industrial automation is discussed. Chapter 3 presentes a architecture for industrial automated systems based on the new concept of Generalized Actuator showing its benefits, while in Chapter 4 this architecture is refined using a novel entity, the Generalized Device in order to have a better reusability and modularity of the control logic. In Chapter 5 a new approach will be present based on Discrete Event Systems for the problemof software formal verification and an active fault tolerant control architecture using online diagnostic. Finally conclusive remarks and some ideas on new directions to explore are given. In Appendix A are briefly reported some concepts and results about Discrete Event Systems which should help the reader in understanding some crucial points in chapter 5; while in Appendix B an overview on the experimental testbed of the Laboratory of Automation of University of Bologna, is reported to validated the approach presented in chapter 3, chapter 4 and chapter 5. In Appendix C some components model used in chapter 5 for formal verification are reported.

Zum Transport von partikelgebundenen Schadstoffen in der ungesättigten Zone

Bei einer Risikoabschätzung bezüglich einer Gefährdung des Schutzgutes Grundwasser müssen alle relevanten Transportpfade, auf denen Schadstoffe durch die Bodenzone bis ins Grundwasser verlagert werden, identifiziert und quantifiziert werden. Die Verlagerung von Schadstoffen gebunden an mobile Partikel im Sickerwasser wird dabei oft vernachlässigt. In dieser Arbeit wurden sowohl experimentelle Untersuchungen zum Partikeltransport in der Bodenzone als auch Szenarienmodellierungen hinsichtlich der Wechselwirkung Partikel/Schadstoff durchgeführt. Die experimentellen ungesättigten Säulenversuche wurden unter naturnahen stationären und instationären hydraulischen und hydrochemischen Bedingungen durchgeführt. Dabei wurde der Einfluss der Parameter Durchmesser Bodenmatrix, Partikelgröße, Beregnungsintensität, Oberflächenspannung und Hydrochemie auf den Transport von natürlichen und synthetischen Partikeln untersucht. Des Weiteren wurden Untersuchungen zur partikelgebundenen Verlagerung von Phenanthren durchgeführt. In einer numerischen Szenarienmodellierung mit dem Modell SMART wurde untersucht, unter welchen Randbedingungen der Transport von Partikeln gleichzeitig zu signifikanten partikelgebundenen Schadstoffkonzentrationen im Grundwasser führt. Dabei wurden die Parameter Lithologie Partikel/Boden, Hydrophobizität Schadstoff, Partikelkonzentration, Partikeldurchmesser sowie Körnung Bodenmatrix variiert. Die Ergebnisse dieser Arbeit zeigen, dass der partikelgebundene Schadstofftransportpfad in der ungesättigten Bodenzone in verschiedenen Szenarien den Anteil mobiler Schadstoffe, die mit dem Sickerwasser ins Grundwasser gelangen, signifikant erhöht. Auf Basis der experimentellen und theoretischen Untersuchungen wurde ein zweistufiges Bewertungsschema entwickelt, das bereits im Vorfeld einer Risikoabschätzung als Entscheidungshilfe hinsichtlich der Relevanz einer Mobilisierung, eines Transports und des Rückhalts von partikelgebundenen Schadstoffen in der ungesättigten Zone dient.

Nonlinear Control Strategies for Cooperative Control of Multi-Robot Systems

This thesis deals with distributed control strategies for cooperative control of multi-robot systems. Specifically, distributed coordination strategies are presented for groups of mobile robots. The formation control problem is initially solved exploiting artificial potential fields. The purpose of the presented formation control algorithm is to drive a group of mobile robots to create a completely arbitrarily shaped formation. Robots are initially controlled to create a regular polygon formation. A bijective coordinate transformation is then exploited to extend the scope of this strategy, to obtain arbitrarily shaped formations. For this purpose, artificial potential fields are specifically designed, and robots are driven to follow their negative gradient. Artificial potential fields are then subsequently exploited to solve the coordinated path tracking problem, thus making the robots autonomously spread along predefined paths, and move along them in a coordinated way. Formation control problem is then solved exploiting a consensus based approach. Specifically, weighted graphs are used both to define the desired formation, and to implement collision avoidance. As expected for consensus based algorithms, this control strategy is experimentally shown to be robust to the presence of communication delays. The global connectivity maintenance issue is then considered. Specifically, an estimation procedure is introduced to allow each agent to compute its own estimate of the algebraic connectivity of the communication graph, in a distributed manner. This estimate is then exploited to develop a gradient based control strategy that ensures that the communication graph remains connected, as the system evolves. The proposed control strategy is developed initially for single-integrator kinematic agents, and is then extended to Lagrangian dynamical systems.

Inverse Static Analysis of Massive Parallel Arrays of Three-State Actuators via Artificial Intelligence

Massive parallel robots (MPRs) driven by discrete actuators are force regulated robots that undergo continuous motions despite being commanded through a finite number of states only. Designing a real-time control of such systems requires fast and efficient methods for solving their inverse static analysis (ISA), which is a challenging problem and the subject of this thesis. In particular, five Artificial intelligence methods are proposed to investigate the on-line computation and the generalization error of ISA problem of a class of MPRs featuring three-state force actuators and one degree of revolute motion.

Oxygen-containing polycyclic aromatic hydrocarbons (OPAHs) and their parent-PAHs in soil

In spite of the higher toxicity of oxygen-containing polycyclic aromatic hydrocarbons (OPAHs) than of their parent-PAHs, there are only a few studies of the concentrations, composition pattern, sources and fate of OPAHs in soil, the presumably major environmental sink of OPAHs. This is related to the fact that there are only few available methods to measure OPAHs together with PAHs in soil. rnThe objectives of my thesis were to (i) develop a GC/MS-based method to measure OPAHs and their parent-PAHs in soils of different properties and pollution levels, (ii) apply the method to soils from Uzbekistan and Slovakia and (iii) investigate into the fate of OPAHs, particularly their vertical transport in soilrnI optimized and fully evaluated an analytical method based on pressurized liquid extraction, silica gel column chromatographic fractionation of extracted compounds into alkyl-/parent-PAH and OPAH fractions, silylation of hydroxyl-/carboxyl-OPAHs with N,O-bis(trimethylsilyl)trifluoracetamide and GC/MS quantification of the target compounds. The method was targeted at 34 alkyl-/parent-PAHs, 7 carbonyl-OPAHs and 19 hydroxyl-/carboxyl-OPAHs. I applied the method to 11 soils from each of the Angren industrial region (which hosts a coal mine, power plant, rubber factory and gold refinery) in Uzbekistan and in the city of Bratislava, the densely populated capital of Slovakia.rnRecoveries of five carbonyl-OPAHs in spike experiments ranged between 78-97% (relative standard deviation, RSD, 5-12%), while 1,2-acenaphthenequinone and 1,4-naphtho-quinone had recoveries between 34-44%% (RSD, 19-28%). Five spiked hydroxyl-/carboxyl-OPAHs showed recoveries between 36-70% (RSD, 13-46%), while others showed recoveries <10% or were completely lost. With the optimized method, I determined, on average, 103% of the alkyl-/parent-PAH concentrations in a certified reference material.rnThe ∑OPAHs concentrations in surface soil ranged 62-2692 ng g-1 and those of ∑alkyl-/parent-PAHs was 842-244870 ng g-1. The carbonyl-OPAHs had higher concentrations than the hydroxyl-/carboxyl-OPAHs. The most abundant carbonyl-OPAHs were consistently 9-fluorenone (9-FLO), 9,10-anthraquinone (9,10-ANQ), 1-indanone (1-INDA) and benzo[a]anthracene-7,12-dione (7,12-B(A)A) and the most abundant hydroxyl-/carboxyl-OPAH was 2-hydroxybenzaldehyde. The concentrations of carbonyl-OPAHs were frequently higher than those of their parent-PAHs (e.g., 9-FLO/fluorene >100 near a rubber factory in Angren). The concentrations of OPAHs like those of their alkyl-/parent-PAHs were higher at locations closer to point sources and the OPAH and PAH concentrations were correlated suggesting that both compound classes originated from the same sources. Only for 1-INDA and 2-biphenylcarboxaldehyde sources other than combustion seemed to dominate. Like those of the alkyl-/parent-PAHs, OPAH concentrations were higher in topsoils than subsoils. Evidence of higher mobility of OPAHs than their parent-PAHs was provided by greater subsoil:topsoil concentration ratios of carbonyl-OPAHs (0.41-0.82) than their parent-PAHs (0.41-0.63) in Uzbekistan. This was further backed by the consistently higher contribution of more soluble 9-FLO and 1-INDA to the ∑carbonyl-OPAHs in subsoil than topsoil at the expense of 9,10-ANQ, 7,12-B(A)A and higher OPAH/parent-PAH concentration ratios in subsoil than topsoil in Bratislava.rnWith this thesis, I contribute a suitable method to determine a large number of OPAHs and PAHs in soil. My results demonstrate that carbonyl-OPAHs are more abundant than hydroxyl-/carboxyl-OPAHs and OPAH concentrations are frequently higher than parent-PAH concentrations. Furthermore, there are indications that OPAHs are more mobile in soil than PAHs. This calls for appropriate legal regulation of OPAH concentrations in soil.