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Time-Domain Dominance Condition for Decentralized Variable Structure Control of Systems in Input-Output Form

TitleTime-Domain Dominance Condition for Decentralized Variable Structure Control of Systems in Input-Output Form
Publication TypeConference Paper
Year of Publication1994
Conference NameProc. Int. Workshop on Variable Structure and Lyapunov Techniques
Publication Languageeng
AuthorsBicchi, A, Balluchi, A, Balestrino, A
Conference LocationBenevento
KeywordsAutonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems

Closed-Loop Steering and Path Following for Unicycle-like Vehicles: a Simple Liapunov Function Based Approach

TitleClosed-Loop Steering and Path Following for Unicycle-like Vehicles: a Simple Liapunov Function Based Approach
Publication TypeConference Paper
Year of Publication1994
Conference NameProc. IFAC Int. Symposium on Robot Control
Publication Languageeng
AuthorsCasalino, G, Aicardi, M, Bicchi, A, Balestrino, A
PublisherElsevier Science, Oxford, UK
Conference LocationCapri
KeywordsAutonomous Vehicles, Nonlinear Control Systems

Efficient Parallel Algorithm for Optimal Block Decomposition of Transfer Function Matrices for Decentralized Control of Large-Scale Systems

TitleEfficient Parallel Algorithm for Optimal Block Decomposition of Transfer Function Matrices for Decentralized Control of Large-Scale Systems
Publication TypeConference Paper
Year of Publication1993
Conference NameProc. Conference on Decision and Control
Publication Languageeng
AuthorsBalluchi, A, Balestrino, A, Bicchi, A
KeywordsHybrid and Embedded Control Systems, Nonlinear Control Systems

Distributed intrusion detection for secure consensus computations

TitleDistributed intrusion detection for secure consensus computations
Publication TypeConference Paper
Year of Publication2007
Conference NameProc. IEEE Int. Conf. on Decision and Control
Pagination5594-5599
Date PublishedDecember
Publication Languageeng
AuthorsPasqualetti, F, Bicchi, A, Bullo, F
KeywordsEmbedded Control, Robotics
Abstract

This paper focuses on trustworthy computation systems and proposes a novel intrusion detection scheme for averaging networks with misbehaving nodes. This prototypical control problem is relevant in network security applications. The objective is for each node to detect and isolate the misbehaving nodes using only the information flow adopted by standard averaging protocols. We focus on the single misbehaving node problem. Our technical approach is based on the theory of Unknown Input Observability. First, we give necessary and sufficient conditions for the misbehavior to be observable and for the identity of the faulty node to be detectable. Second, we design a distributed unknown input estimator, and we characterize its convergence rate in the

Integrating Two Haptic devices for Performance Enhancement

TitleIntegrating Two Haptic devices for Performance Enhancement
Publication TypeConference Paper
Year of Publication2007
Conference NameWorld Haptics Conference 2007
Pagination139-144
Publication Languageeng
AuthorsScilingo, EP, Sgambelluri, N, Tonietti, G, Bicchi, A
KeywordsHaptics
Abstract

This paper deals with a new configuration for a haptic system, which is able to simultaneously replicate independent force/displacement and force/area behaviors of a given material. Being force/area information a relevant additional haptic cue for improving softness discrimination, this system allows to extend the range of materials whose rheology can be carefully mimicked. Moreover, according to the Hertz theory, two objects with different curvature radius having the same force/displacement behavior can respond with different contact area to the same applied force. These behaviors can be effectively replicated by the integrated haptic system here proposed enabling and independent control of force/displacement and force/area. The system is comprised of a commercial device (Delta Haptic Device) serially coupled with a Contact Area Spread Rate (CASR) device. Two specimens of a material and two of another one, all with different curvature radii, were identified and modeled in terms of force/area and force/displacement. These behaviors were successfully tracked by the integrated haptic system here proposed.

An MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration

TitleAn MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration
Publication TypeConference Paper
Year of Publication2007
Conference NameThe 10th Annual International Workshop on Presence
Pagination79-83
Publication Languageeng
AuthorsVanello, N, Hartwig, V, Tesconi, M, Zupone, G, Sgambelluri, N, Tognetti, A, Ricciardi, E, Scilingo, EP, Bicchi, A, Pietrini, P, De Rossi, D, Landini, L
EditorLaura Moreno, Starlab Barcelona, SL
KeywordsHaptics

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