Jose Breñosa, Manuel Ferre
This paper presents the development of a force control loop in a teleoperation system with master and slave robotic devices. The force control based on current control loop has been applied to a teleoperation open platform consisting on electric master device, hydraulic slave robot and equipment for data acquisition and control programming. This force control loop is applied in each master joint using a custom designed electronic board with current sensors for closing the control loop. This board gives information about the current consumption and the direction of rotation of each motor...
TC4 Symposium 2014
· TC4
· 2014
· Download
Gianmichele Siano, Luigi Glielmo
This paper describes a series of projects developed for a Real-Time Control course addressed to CS and EE students. The objective of this work is to show the realization of robotics experiments using low cost hardware. During the course the students are immersed in a realistic design environment, where they can strengthen the theoretical principles while improving their abilities to think, analyse, and solve problems using "learning by doing" approach.
TC4 Symposium 2014
· TC4
· 2014
· Download
Alberto Pretto, Giorgio Grisetti
IMUs (Inertial Measurement Units) are extensively used in many robotics applications such as navigation and mapping tasks. In almost all these systems, inertial measurements are fused with data coming from other sensors (e.g., GPS sensors, range finders, cameras, . . . ). For better results, the IMU should be carefully calibrated, in order to minimize the propagation of systematic errors. But what happens if for brief periods data coming from the other sensors are missing? Can we trust the IMU in these cases? In this paper, we present a robust and simple method to calibrate an IMU without...
TC4 Symposium 2014
· TC4
· 2014
· Download
Stefano Scheggi, Gionata Salvietti
The use of robots in Urban Search and Rescue (USAR) has been widely studied in the last two decades. This scenario offers a unique opportunity to investigate Human Robot Interaction (HRI) in unstructured environments. In this paper, we present a possible paradigm of communication between human and robot based on haptic guidance. In particular, we developed a HRI framework in which the human agent is guided by a robot through a vibrating bracelet. The robot has on-board the necessary sensors to localize itself on a map or to build a new map in case of debris or collapsed walls. Moreover, the...
TC4 Symposium 2014
· TC4
· 2014
· Download
M. Pisco, F. Galeotti, R. Parente, G. Quero, A. Iadicicco, M. Giordano, A. Cusano
The “Lab on Fiber” technology has been recently proposed as a valuable route for the realization of novel and highly functionalized technological platforms completely integrated in a single optical fiber in communication and sensing applications. As a follow up of the proposed technological approach, here, we present recent results on the fabrication of metallo-dielectric structures on the optical fiber tip by using a selfassembly technique. The pursued approach basically consists in the preliminary preparation of a patterned polymeric film by the breath figure technique, directly on the...
TC4 Symposium 2014
· TC4
· 2014
· Download
Carlo Edoardo Campanella, Lorenzo Mastronardi, Francesco De Leonardis, Vittorio M.N. Passaro
In this paper we report on a splitting mode resonant sensor based on a ring cavity formed by closing on itself a pi-shifted fiber Bragg grating. In particular, this cavity allows to obtain a spectral response characterized by a splitting mode structure, composed by both symmetric and antisymmetric resonances. The modal splitting occurs very close to the Bragg wavelength, where the pi-shifted fiber Bragg grating shows its transmission resonant maximum. In this region, for particular index modulation depths of the fiber Bragg grating, the linewidth of the two antysimmetrical modes suffers of...
TC4 Symposium 2014
· TC4
· 2014
· Download
Elena Pettinelli, Elisabetta Mattei, Barbara Cosciotti, Federico di Paolo, Sebastian Emauel Lauro
In this work we present the results obtained in two different experiments aimed at evaluating the capability of Ground Penetrating Radar to detect buried metal weapons. The first experiment was conducted acquiring radar data on a layer of synthetic sand in which a metal gun was hidden at shallow depth. The second experiment was conducted in the field, collecting radar data in an area where four different objects were buried (at about 30cm) in sandy volcanic soil. The radar survey was performed for different soil water contents (dry and wet conditions). The results show how the capability to...
TC4 Symposium 2014
· TC4
· 2014
· Download
Stefano Di Pasquale, Sabino Giarnetti, Fabio Leccese, Daniele Trinca, Maurizio Caciotta
A new platform for Power Quality measurement based on PIC 32 family microcontroller has been realized and tested. The board is able to determine the frequency of the mains implementing the Curve Fitting Algorithm and is able to detect punctual events as short interruptions. The device allows performing high accuracy measurements and is a good candidate as platform to use in civil suit in the subject of Power Quality analysis.
TC4 Symposium 2014
· TC4
· 2014
· Download
Giuseppe Schirripa Spagnolo, Lorenzo Cozzella, Maurizio Caciotta, Roberto Colasanti, Gianluca Ferrari
Artwork counterfeiting is a wide problem in the art market, both for private subject and museums. In this paper an innovative system based on smartphone acquisition and mobile application is depicted to verify artwork authenticity based on random intrinsic object characteristics. This approach is based on biometry paradigm (analogue fingerprinting). The paper present a stand-alone solution, and an internet-based one, necessary for granting security verification also in case of problem with the used RFID tag. The proposed method uses an RFID Tag and a 2D barcode, in conjunction with an...
TC4 Symposium 2014
· TC4
· 2014
· Download
Giuseppe Schirripa Spagnolo, Donato Papalillo, Lorenzo Cozzella, Fabio Leccese
In many cases, forensic scientists rely on measurements as a basis for their opinions. In the past, forensic scientists, testifying about such measurements, have often presented the court with a single point value. The problem is that there is an unavoidable and an inherent element of uncertainty in every measurement. The metrology has developed several methods of quantifying a measurement’s margin of error or uncertainty. By using these methods, the testifying expert can put the trier in a much better position to determine the appropriate evidentiary weight of the measurement. The purpose...
TC4 Symposium 2014
· TC4
· 2014
· Download