Massimiliano Ruffo, Mario Di Castro, Luca Molinari, Roberto Losito, Alessandro Masi, Jan Kovermann, Luis Rodrigues
Autonomous robots are becoming essential for a vast range of applications ranging from inspection to manipulation, often used for unstructured and harsh environments. Navigation sensors are part of the framework needed to operate such robots. In this paper a novel range finder sensor based on Time-Of-Flight technology is presented, this being suitable for integrating in aerial and ground robots. Speed, low weight and scalability are improved unique features compared to the state of the art in range finding solutions. Preliminary test results and comparison with other sensors of similar scope...
TC4 Symposium 2014
· TC4
· 2014
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Mario Di Castro, Alessandro Masi, Giacomo Lunghi, Roberto Losito
Robots indoor autonomous navigation is a crucial requirement for many challenging applications like the inspection of unstructured and harsh environments. Simultaneous Localization and Mapping (SLAM) is a key component to navigate autonomously. A novel embedded incremental algorithm that could be used on ground or aerial robots to localize and create 3D maps of an unknown GPS-denied environment, is presented. The algorithm is processing-wise light, is executed on board in real time and is suitable to be integrated in a full framework for autonomous navigation. It has been validated using a...
TC4 Symposium 2014
· TC4
· 2014
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Paolo Tripicchio, Massimo Satler, Carlo Alberto Avizzano, Massimo Bergamasco
Autonomous navigation is a complex task that requires both sensing capabilities to react to sudden environmental changes or map the environment and reasoning to schedule the next action to perform. Starting from basic sensing technology used in the majority of mobile robotic systems, the introduction of sensor fusion techniques allows to obtain useful information to solve the localization, mapping and navigation problems. Applications of these methods to achieve specific robot capabilities will be presented starting from object detection and recognition, passing to scene classification and...
TC4 Symposium 2014
· TC4
· 2014
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Kun-Chih Tsai, Win-Ti Lin, Jiunn-Haur Shaw, Cheng-Tsair Yang, Chun-Min Su
The paper presents construction, metrological testing and field practice of a Liquefied Petroleum Gas (LPG) transfer standard (TS). This meter package was tested first with water as working medium and re-tested with propane and butane at the National Measurement Institute of Australia (NMIA). The rational is that NMIs maintaining LPG legal measurement infrastructure could simplify the traceability method by utilizing water as test medium while keeping the same accuracy. In addition, the meter package is intended to replace the conventional gravimetric approach, which requires tedious in-situ...
Moritz Leopoldo Cordova Murillo, Thomas Lederer
The present paper presents an improved method for the diverter error determination method according to the international recommendation ISO4185. By extending this test it is possible to make a qualitative test of the overall status of a gravimetric ?ow test rig. The proposed method has been successfully applied to results of diverter tests of the large water ?ow calibration facilities of the PTB in Braunschweig and Berlin. It is shown that by applying this method also the repeatability of the ?ow meter used, and of the test bench alone can be estimated.
Carme Valero, Eduard Egusquiza
At present, new renewables like wind, solar and marine energy are having a strong development. The generation of energy by renewables has the disadvantage that it depends on atmospheric conditions. It means that they can generate energy at any moment independently if this energy is required or not by the consumers. For the stability of the electrical grid, supply and demand of energy has to be matched. The surplus of energy produced when consumption is low has to be stored and delivered again when consumption is high. Therefore, the future of renewables is tied directly to the future of...
TC10 Workshop on Technical Diagnostics 2014
· TC10
· 2014
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Piotr Bilski
The paper presents the application of multiple classifiers to increase the accuracy of the fault detection module. The structure of the module is presented with the applied voting mechanisms. The classifiers implemented to the fault detection operation are briefly described. Issues of the practical implementation are considered. The scheme is used in the diagnostics of the analog part of the MEMS accelerometer. The paper is concluded with the possible prospects for the proposed scheme.
TC10 Workshop on Technical Diagnostics 2014
· TC10
· 2014
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Loredana Cristaldi, Marco Faifer, Massimo Lazzaroni, Mohamed Mahmoud Abdel Fattah Khalil, Marcantonio Catelani, Lorenzo Ciani
Failure modes analysis and diagnostic architectures are very interesting aspects for plants based on PV panel. In fact, these plants are called to operate for many years. The monitoring of plant parameters and performances is a very important task that can be obtained by means a well-designed monitoring system. This approach allows to improve complex system maintenance policies and, at the same time, to achieve a reduction of unexpected failure occurrences in the most critical components.
TC10 Workshop on Technical Diagnostics 2014
· TC10
· 2014
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Marcantonio Catelani, Lorenzo Ciani, Bianca Sereni, Andrea Zanobini
This research was conducted with the aim of analyzing two of the main metrological characteristics of any measurement system: Repeatability and Reproducibility. Both of these features play an important role in the analysis of the reliability of the measurement systems and they can give us a lot of information about who and what influences any measuring system. The analysis of Repeatability and Reproducibility is generally carried out through the use of the study Gage R&R. This study is very useful because it permits us to understand which are the decisive factors to state the reliability of...
TC10 Workshop on Technical Diagnostics 2014
· TC10
· 2014
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M. Catelani, L. Ciani, S. Rossin, M. Venzi
This paper is focused on sensitivity analysis achieved on system reliability: sensitivity assessment allows putting in discussion nominal values taken from a generic database and focus on uncertainty quantification and propagation of uncertainty from input to output. There are many sources of uncertainty that can affect input data and this uncertainty imposes a limit on our confidence in the response of the model. In this paper sensitivity analysis is achieved on GE Oil&Gas mineral lube oil console, a system forced to endure extreme process and environmental conditions. In order to have a...
TC10 Workshop on Technical Diagnostics 2014
· TC10
· 2014
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