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We consider dynamic trading of a portfolio of assets in discrete periods over a finite time horizon, with arbitrary time-varying distribution of asset returns. The goal is to maximize the total expected revenue from the portfolio, while respecting constraints on the portfolio such as a required terminal portfolio and leverage and risk limits. The revenue takes into account the gross cash generated...
The Research Project "Walls for All" (“Le Mura per Tutti”) aims at the realization on the historical walls of Lucca city, Tuscany, Italy, of a mobility aid system for visually impaired people able to provide guidance and context information on a predefined outdoor safe path, thanks to a traditional white cane equipped with custom electronics (Smart Cane) and a smartphone featuring an ad-hoc...
In this paper we present a low cost navigation system, called ARIANNA, primarily designed for visually impaired people. ARIANNA (pAth Recognition for Indoor Assisted NavigatioN with Augmented perception) permits to find some points of interests in an indoor environment by following a path painted or sticked on the floor. The path is detected by the camera of the smartphone which also generates a vibration...
Cultural heritage is often not accessible to visually impaired and blind people, hardly ever when dealing with two-dimensional artworks like, for instance, paintings. In fact, despite tactile reproductions of 3D works of art such as sculptures or architectural models are quite common, a real barrier between blind people and pictorial artworks still exists, obviously due to their intrinsic 2D format...
Trained guide dogs and canes provide the visually impaired with the highest degree of independence; however, they are very limited in guiding the user towards a specific desired location, especially in an unknown environment. The assistance of other people represents a feasible solution, but it does not improve the idea of autonomous guidance and privacy. In this paper we present a remote guidance...
Design of a four-wheel vehicle model using in-wheel permanent magnet synchronous motor (PMSM) based electric drives is outlined in the paper. System architecture, components and basic control principles are presented. The vehicle model is intended to be applied as an experimental platform to support control design processes in association with electric vehicles that use minimized level of mechanics,...
The increasingly stringent vehicle emission constraints press on the car manufacturers to decrease in hydrocarbons quantities from evaporative emission system. Activated carbon canister has been used for 30 years to capture the gasoline vapors from fuel evaporative system whose most of vehicles are equipped. The newer amendments on Low-Emission Vehicle programs, known as LEV-II, recently adopted by...
In this paper we propose and experimentally validate within an ad hoc Hardware In the Loop (HIL) environment a novel approach for the control of a fleet of vehicles. In particular, the Cooperative Adaptive Cruise Control (CACC) for vehicles platooning is extended to the case when, due to the recent advances on vehicular wireless technologies, each vehicle can communicate not only with its follower...
In this paper, we propose an Hoc robust observer-based control to prevent rollover of the vehicle when road adhesion and other conditions change. In this work, we take into account that roll rate and yaw rate can be measured easily by sensors, but roll angle and lateral velocity are not measured. After giving the nonlinear model of the vehicle, its representation by a Takagi-Sugeno (T-S) fuzzy model...
This paper describes a Model Predictive Control (MPC) design for the thermal management of cabin heat in Hybrid Electric Vehicles (HEVs). Due to the augmented complexity of the energy flow in recent energy-efficient vehicles in comparison to conventional vehicles, control degrees of freedom are increased, as many components can achieve the same functionality of heating up the cabin temperature. This...
The paper proposes the design of a variable-geometry suspension system, which affects both steering by generating additional steering angle and wheel tilting by modifying the camber angle. The control system must guarantee various performances such as trajectory tracking, the reduction of the chassis roll angle and the minimization of half-track change. The control design is based on a two-step procedure...
This paper proposes a dual adaptive control methodology for extremum control of stochastic Hammerstein systems that are subject to uncertainty and characterised by a nonlinear second-order polynomial function. The design is based on an explicit-type innovations dual cost function that leads to a control law which balances out the need for caution when using uncertain parameter estimates to effect...
Adaptive feedforward broadband vibration (or noise) compensation is currently used when a correlated measurement with the disturbance is available. Most of the active vibration control systems feature an internal “positive” mechanical feedback between the compensation system and the reference source (a correlated measurement with the disturbance). Such systems have often also a feedback control loop...
The direct torque control of induction motor has good dynamic performance of torque and flux. However, the switching frequency (in the case of conventional DTC) is variable and difficult to control due to the use of hysteresis controllers. This lack of control over frequency is the origin of torque and flux ripples. Similarly, the use of a voltage inverter with two levels limits the power of the drive...
This paper discusses a proposed control strategy based on fuzzy logic for three-phase PWM rectifiers. This technique is called direct control of fuzzy power (DPCF). The objective of this paper is to replace both hysteresis controllers that role for setting the active and reactive power by a single fuzzy controller which adjusts both active and reactive power at the same time. The aim of this work...
The problem of exact model matching by static state feedback is revisited. The main approaches applied to solve the problem are reviewed. The original solution based on matrix fraction descriptions is used to obtain a new parametric stable solution to the model matching problem. A constructive procedure is given that is based on column degree control and determinant control of a polynomial matrix...
We cope with the task of output feedback stabilization of a parametrically uncertain linear plants of arbitrary relative degree under the matching harmonic disturbances of unknown frequency ω. Advancing the previously obtained results for the hybrid “consecutive compensator” controller, we present two different event-based switching algorithms incorporating only current measurements of the system...
Failure of power electronic systems plays a substantial role in the breakdown of hybrid vehicle electric drive systems. Early detection of faults can avoid aggregation of the failure and prevent catastrophic consequences. The aim of this paper is to test the sensitivity of statistical moments on power semiconductor faults in a bidirectional DC/DC converter interfacing the main hybrid energy storage...
In this paper the problem of active fault detection for a non-linear discrete-time stochastic system over an infinite time horizon is considered. The faults in the system are modeled by switching between fault-free and finitely many faulty models. The optimal active fault detector is derived by reformulating the original problem and solving corresponding Bellman's functional equation. A suboptimal...
This work presents an optimization strategy that maximizes the leak locatability performance of water distribution networks (WDN). The goal is to characterize and determine a sensor configuration that guarantees a maximum degree of locatability while the sensor configuration cost satisfies a budgetary constraint. The method is based on pressure sensitivity matrix analysis and an exhaustive search...
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