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IEEE International Conference on System of systems engineering (SoSE)

作者： Alessandro Bozzi Simone Graffione José Jiménez Roberto Sacile Enrico Zero Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France

Scheduling is a key component of manufacturing systems. In general, it describes how multiple jobs or workloads are processed within a limited set of resources to achieve certain manufacturing objectives, such as minimizing the makespan or weighted tardiness. Nevertheless, as the demand for customized and versatile products increased, these systems became more flexible by incorporating flexible manufacturing processes. As a result, it is possible to vary either the machine operations or the product route within highly automated and connected material handling systems. Therefore, the scheduling process is more complex as it involves solving the routing problem within different alternatives and sharing redundant resources between multiple production processes, thereby increasing workload and bottlenecks within the system. Thus, it is imperative to address the scheduling problem while taking into account the physical constraints caused by shared machines and product routing. This paper proposes a Mixed Integer Linear Programming algorithm to solve the flow-shop scheduling problem and minimize the makespan while balancing the machine usage to limit emergent behaviours due to over-utilization. The robustness of the approach is then verified in the case of delays which alter the processing time on machines. Experiments on a limited instance of a flexible manufacturing system confirm the effectiveness of the solution, with a small increase in completion time even for high-magnitude delays.

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Q-learning with temporal memory to navigate turbulence

arXiv

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arXiv 2024年

作者： Rando, Marco James, Martin Verri, Alessandro Rosasco, Lorenzo Seminara, Agnese MaLGa Department of computer science bioengineering robotics and systems engineering University of Genova Genova Italy MalGa Department of Civil Chemical and Environmental Engineering University of Genoa Genoa Italy

We consider the problem of olfactory searches in a turbulent environment. We focus on agents that respond solely to odor stimuli, with no access to spatial perception nor prior information about the odor. We ask whether navigation to a target can be learned robustly within a sequential decision making framework. We develop a reinforcement learning algorithm using a small set of interpretable olfactory states and train it with realistic turbulent odor cues. By introducing a temporal memory, we demonstrate that two salient features of odor traces, discretized in few olfactory states, are sufficient to learn navigation in a realistic odor plume. Performance is dictated by the sparse nature of turbulent odors. An optimal memory exists which ignores blanks within the plume and activates a recovery strategy outside the plume. We obtain the best performance by letting agents learn their recovery strategy and show that it is mostly casting cross wind, similar to behavior observed in flying insects. The optimal strategy is robust to substantial changes in the odor plumes, suggesting minor parameter tuning may be sufficient to adapt to different environments. © 2024, CC BY-NC-ND.

关键词： Odors

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Transition to Zero Emissions: Cooperative Planning of Carriers' Trips Using Electric and Diesel Vehicles

Transition to Zero Emissions: Cooperative Planning of Carrie...

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International Conference on Intelligent Transportation

作者： Claudia Caballini Simona Sacone Mahnam Saeednia Dept. DIATI - Transport Systems Politecnico di Torino 1 Turin Italy Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Genova Italy Department of Transport and Planning Faculty of Civil Engineering Delft The Netherlands

Road freight transport is responsible for a large part of the emissions produced by the transport sector. To achieve Europe's environmental targets, electrification of the transport sector seems to be the most feasible approach. However, complete electrification of the fleet requires an investment that may not be affordable for many small and medium-sized carriers with limited economic margins. In this respect, gradual electrification of fleet and achieving full utilization of their capacity in meeting total demand is a desirable transition phase. This includes leveraging business models such as resource sharing. This paper proposes an optimization model for cooperative planning of truck carrier operations in a seaport environment, using a mixture of diesel and electric truck fleet. Sharing is motivated by a compensation mechanism and aims to maximize the carriers' profit. The planning approach is evaluated using a data-set and results show the success of the model in generating combinations of trips and assigning them to the heterogeneous fleet of vehicles.

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Like Robots, Like Humans: Pupil Dilation During Collaborative Object Manipulation

Like Robots, Like Humans: Pupil Dilation During Collaborativ...

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International Conference on Advanced robotics (ICAR)

作者： Linda Lastrico Nuno Ferreira Duarte Alessandro Carfí Francesco Rea Fulvio Mastrogiovanni José Santos-Victor Alessandra Sciutti Cognitive Architecture for Collaborative Technologies Unit (CONTACT) Italian Institute of Technology Genoa Italy Institute for Systems and Robotics (ISR) Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS)

It is well known that pupil dilation reflects an increase in cognitive load during tasks that demand mental effort. Inspired by this, we questioned whether the same effect occurs during social interactions, particularly in joint object manipulation tasks that require attention and coordination for successful completion. In the first scenario, we measure pupil dilation during human-human interactive actions (handover), either as the object giver or receiver, against an individual action (pick-and-place). In the second scenario, pupillometry is associated with human-to-robot handovers. We present the two publicly available datasets collected in these contexts. Our results show a strong link between pupil dilation and collaborative actions, with both humans and robots. Indeed, an increment in pupil size corresponds to the object handover, which presents the added complexity of mutual coordination. Conversely, individual actions do not elicit the same physiological response at the level of the pupil. In both scenarios, we used objects with different physical properties, cups with varying water levels, but this factor influenced pupil dilation (and presumably, the mental workload) only during the interaction with the robot. With this study, we explore pupillometry as a physiological metric to evaluate cognitive load for collaborative object manipulation during human-human or human-robot collaborations.

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Optimization-based reliability assessment of multi-energy systems 31st

Optimization-based reliability assessment of multi-energy sy...

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31st European Safety and Reliability Conference, ESREL 2021

作者： Wu, Raphael Bussino, Emanuela Bracco, Stefano Siri, Silvia Gabrielli, Paolo Sansavini, Giovanni Reliability and Risk Engineering Laboratory ETH Zurich Switzerland Electrical Electronics and Telecommunication Engineering and Naval Architecture Department University of Genova Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

ISBN: (纸本)9789811820168

Multi-energy systems (MES) connect different energy networks using conversion technologies, leveraging alternative supply paths and redundancy to improve the integration of renewable energy, the reliability and the profitability of energy supply. This paper investigates MES reliability by integrating a pre-and post-failure operational optimization into a reliability assessment based on an alternating renewal process. Expected energy not supplied and uninterrupted supply times are used to quantify the MES’ ability to withstand failures of technologies, networks and external grid supply. The method is applied to a Swiss MES that supplies thermal and electrical energy demands of a mixed-use district. A comparison of system configurations with electricity-and gas-based conversion technologies, energy storage and distributed photovoltaic generation shows that both electricity- and gas-based MES are highly reliable due to the high reliability of the Swiss electricity grid. Introducing centralized battery storage and distributed photovoltaic panels further increases the probability of uninterrupted supply and decreases the expected energy not supplied. However, reliability is not always increased by introducing conversion technologies that couple energy carriers. In fact, heat pumps introduce a dependency of the heat supply on electricity, while combined heat and power plants can be less reliable than other technologies, thus increasing the expected energy not supplied. © ESREL 2021. Published by Research Publishing, Singapore.

关键词： Cogeneration plants

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Modelling Traffic Scenarios via Markovian Opinion Dynamics

Modelling Traffic Scenarios via Markovian Opinion Dynamics

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International Conference on Intelligent Transportation

作者： Elisa Gaetan Laura Giarré Simona Sacone Paolo Falcone Carl-Johan Heiker Engineering Department ‘Enzo Ferrari’ University of Modena and Reggio Emilia Modena Italy Department of Informatics Bioengineering Robotics and Systems Engineering ‘DIBRIS’ University of Genova Italy Department of Electrical Engineering Mechatronics group Chalmers University of Technology Gothenburg Sweden

We address the question of whether opinion dynamics models can be exploited in novel scenarios, such as traffic flow on highway lanes. In this paper, we design a Markovian model and compare its predictions with those obtained from the widely recognized Cell Transmission Model (CTM) for the same traffic scenario. We identify potential challenges that may arise and propose strategies to address them. Furthermore, we present a concise demonstration showcasing the predictive capabilities of our proposed model through a small-scale example.

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Optimal Scheduling and Control of a Fuel Cell-based Microgrid using a Reference Governor Approach

Optimal Scheduling and Control of a Fuel Cell-based Microgri...

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European Control Conference (ECC)

作者： Daria Bellotti Yassine Ennassiri Giulio Ferro Loredana Magistri Michela Robba Thermochemical Power Group (TPG) DIME University of Genoa Via Montallegro 1 Genoa Italy DIBRIS - Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genova Italy

This paper proposes a new approach for the optimal operation and control of a Proton Exchange Membrane Fuel Cell (PEMFC) in a microgrid. This approach is based on a bi-level optimization architecture: an economic optimization for the operational management at the higher level, and a control-oriented optimization problem, based on a Reference Governor (RG) approach, at the lower level. The economic optimization imposes flexibility in the power production of the PEMFC. This operating behavior may cause violation of the equipment operating limits when switching from one power level to another, thus provoking the premature aging phenomena that leads to poor performance of the system. With the RG real-time control approach, the operating limits of the system are being respected despite the forced variability and better performances are obtained compared to the classical Proportional-Integer (PI) controller. This work focuses on the stack’s temperature as the key process variable to control. The effectiveness of the control approach is proved by a significant reduction in the sudden changes of the PEMFC stack temperature by up to 85% via a real case study.

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Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped

arXiv

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arXiv 2023年

作者： Dadiotis, Ioannis Laurenzi, Arturo Tsagarakis, Nikos Humanoid and Human-Centered Mechatronics Research Line Italian Institute of Technology Genoa16163 Italy The Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa16145 Italy

Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment constraints may require the quadruped manipulator to be equipped with high redundancy as well as whole-body motion coordination capabilities. This work presents an experimental evaluation of a whole-body Model Predictive Control (MPC) framework achieving real-time performance on a dual-arm quadruped platform consisting of 37 actuated joints. To the best of our knowledge this is the legged manipulator with the highest number of joints to be controlled with real-time whole-body MPC so far. The computational efficiency of the MPC while considering the full robot kinematics and the centroidal dynamics model builds upon an open-source DDP-variant solver and a state-of-the-art optimal control problem formulation. Differently from previous works on quadruped manipulators, the MPC is directly interfaced with the low-level joint impedance controllers without the need of designing an instantaneous whole-body controller. The feasibility on the real hardware is showcased using the CENTAURO platform for the challenging task of picking a heavy object from the ground. Dynamic stepping (trotting) is also showcased for first time with this robot. The results highlight the potential of replanning with whole-body information in a predictive control loop. Copyright © 2023, The Authors. All rights reserved.

关键词： Model predictive control

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Bayesian estimation of trunk-leg coordination during walking using phase oscillator models

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Neuroscience Research 2025年 215卷 47-55页

作者： Furukawa, Haruma Arai, Takahiro Funato, Tetsuro Aoi, Shinya Aoyagi, Toshio Graduate School of Informatics Kyoto University Yoshida-Honmachi Kyoto Sakyo-ku 606-8501 Japan Japan Agency for Marine-Earth Science and Technology 3173-25 Showa-cho Kanazawa-ku Kanagawa Yokohama-shi 236-0001 Japan Department of Mechanical Engineering and Intelligent Systems Graduate School of Informatics and Engineering The University of Electro-Communications 1-5-1 Choufugaoka Tokyo Choufu 182-8585 Japan Department of Mechanical Science and Bioengineering Graduate School of Engineering Science The University of Osaka 1-3 Machikaneyama Osaka Toyonaka 560-8531 Japan

In human walking, the legs and other body parts coordinate to produce a rhythm with appropriate phase relationships. From the point of view for rehabilitating gait disorders, such as Parkinson Disorders, it is important to understand the control mechanism of the gait rhythm. A previous study showed that the antiphase relationship of the two legs during walking is not strictly controlled using the reduction of the motion of the legs during walking to coupled phase oscillators. However, the control mechanisms other than those of the legs remains unknown. In particular, the trunk moves in tandem with the legs and must play an important role in stabilizing walking because it is above the legs and accounts for more than half of the mass of the human body. This study aims to uncover the control mechanism of the leg-trunk coordination in the sagittal plane using the coupled phase oscillators model and Bayesian estimation. We demonstrate that the leg-trunk coordination is not strictly controlled, as well as the interleg coordination. © 2024 The Authors

关键词： Coupled phase oscillators Human walking Leg-trunk coordination Synchronization

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Isometric force matching asymmetries depend on the position of the left hand regardless of handedness 12th

Isometric force matching asymmetries depend on the position ...

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12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020

作者： Ballardini, Giulia Casadio, Maura Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy

ISBN: (纸本)9783030581466

Several studies highlighted differences in behavioral performance between the two hands, either due to hand dominance or to specialization of the brain hemisphere. In a previous study, right-handed individuals performed a bimanual isometric force-matching task with the arms in different configurations. There we found that the accuracy of the performance depended on the position of the left hand. Matching performance was worse when the left hand was in the lower position, regardless the symmetry of the arm configurations. In the present study, we tested the hypothesis that this effect is related to handedness, i.e., that in both right- and left-handed individuals the performance depends on the position of the non-dominant hand. Left-handed and age-matched right-handed participants were required to apply simultaneously the same amount of force in the upward direction, with the arms in symmetric or asymmetric configurations. No visual feedback of limb positions was provided. We found that for both groups the absolute and the signed (bias) difference of force between the sides depended on the position of the left hand. Thus, this role of the left arm was not determined by handedness, but likely by the specialization of the brain hemisphere. However, handedness influenced the performance: left-handers had a higher absolute error than right-handers in almost all conditions. No main effect of the left hand position was found for the variable error, but left-handers in most configurations had higher variable error when the left hand was in the lower position. © The Author(s) 2020.

关键词： Errors

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