TLD Design and Development for Vibration Mitigation in Structures

Colucci, Francesca; Simone, Marco Claudio De; Guida, Domenico

doi:10.1007/978-3-030-18072-0_7

Cited by 39 publications

(3 citation statements)

References 63 publications

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“…Despite the fact that it was created to close the gap of realistic robot simulation in outdoor environments, the users mostly use it for indoor simulations. Gazebo attempts to create realistic worlds for the robots, relying heavily on physics-based characteristics; what it means is that, when the model is pushed, pulled, knocked over, or carried "reflecting the physics" [48].…”

Section: Methodsmentioning

confidence: 99%

“…The mathematical modelling of mobile robots, in general, is carried out in order to understand their behaviour in an established acting environment. This mathematical formulation describes the kinematic and dynamic models that will serve as the basis for the design and control of robots in general [48,56]. When designing mobile robots, the aim is to achieve models with levels of reliability and manoeuvrability necessary to fulfil the desired functionalities, such as precision and speed, while having stable mechanical structures [57].…”

Section: Wheeled Robot Modelling In a Gazebo-based Environmentmentioning

confidence: 99%

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Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

Rivera¹,

Simone

Guida

2019

Machines

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The fusion of different technologies is the base of the fourth industrial revolution. Companies are encouraged to integrate new tools in their production processes in order to improve working conditions and increase productivity and production quality. The integration between information, communication technologies and industrial automation can create highly flexible production models for products and services that can be customized through real-time interactions between consumer, production and machinery throughout the production process. The future of production, therefore, depends on increasingly intelligent machinery through the use of digital systems. The key elements for future integrated devices are intelligent systems and machines, based on human–machine interaction and information sharing. To do so, the implementation of shared languages that allow different systems to dialogue in a simple way is necessary. In this perspective, the use of advanced prototyping tools like Open-Source programming systems, the development of more detailed multibody models through the use of CAD software and the use of self-learning techniques will allow for developing a new class of machines capable of revolutionizing our companies. The purpose of this paper is to present a waypoint navigation activity of a custom Wheeled Mobile Robot (WMR) in an available simulated 3D indoor environment by using the Gazebo simulator. Gazebo was developed in 2002 at the University of Southern California. The idea was to create a high-fidelity simulator that gave the possibility to simulate robots in outdoor environments under various conditions. In particular, we wanted to test the high-performance physics Open Dynamics Engine (ODE) and the sensors feature present in Gazebo for prototype development activities. This choice was made for the possibility of emulating not only the system under analysis, but also the world in which the robot will operate. Furthermore, the integration tools available with Solidworks and Matlab-Simulink, well known commercial platforms of modelling and robotics control respectively, are also explored.

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Section: Methodsmentioning

confidence: 99%

Section: Wheeled Robot Modelling In a Gazebo-based Environmentmentioning

confidence: 99%

Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

Rivera¹,

Simone

Guida

2019

Machines

Self Cite

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“…The purpose of robotic system development is to create systems that can perform work autonomously. The development of these kinds of systems requires the solving of problems in mechanics [7], control [8], and actuation [9]. The first step is to define the various component parts and to define their relative position within space.…”

Section: Background Informationmentioning

confidence: 99%

Modeling an Industrial Robotic Manipulator in the Electromechanical Domain

Maria Pappalardo,

Guida

2023

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In this work, a prototype of a robotic manipulator is developed and its dynamic analysis is per- formed. The system under study was analyzed in a multi-domain environment using two MATLAB tool- boxes, that is, Simscape Multibody and Simscape Electrical. By doing so, an accurate electromechanical model was constructed in this paper. Subsequently, a nonlinear controller was designed for the trajectory tracking of the end effector of the robotic manipulator. The control architecture employed in this work is a Proportional-Derivative (PD) control scheme, which is widely used in industrial applications. The nu- merical results presented in the paper demonstrate the effectiveness of the methodology followed in this investigation.

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