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308 results on '"Gianluca Antonelli"'

1. Consensus-Based Model Predictive Control for Active Power and Voltage Regulation in Active Distribution Networks

Author

Gianluca Antonelli, Giuseppe Fusco, and Mario Russo

Subjects
active distribution networks, distributed energy resources, MIMO models, distributed model predictive control, parameter uncertainty, simulations, Technology
Abstract

In this paper, a consensus-based model predictive control (Cb-MPC) scheme is proposed to control the active power and voltage at all nodes in grid-connected active distribution networks (ADNs) with multiple distributed energy resources (DERs). The proposed design methodology is based on a multiple-input multiple-output (MIMO) model of an ADN which accounts for both the internal and external interactions among the control loops of the DERs. To achieve the control objective, each DER unit is equipped with a controller–observer system. In particular, the observer implements the consensus algorithm to estimate the collective system state by exchanging data only with its neighbors. The scope of the controller is to solve the MPC optimal problem based on its collective state estimate, and, due to the presence of an integral term in the control action, it is robust against any unknown scenarios of the ADN, which are represented by uncertainty in the model parameters. The results of numerical simulations validate the effectiveness of the proposed method in the presence of unknown changes in the operating conditions of the ADN and of communication using a sample and hold function.

Published
2024
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2. An Observability Metric for Underwater Vehicle Localization Using Range Measurements

Author

Filippo Arrichiello, Gianluca Antonelli, Antonio Pedro Aguiar, and Antonio Pascoal

Subjects
range-only localization, observability metric, underwater vehicle, Chemical technology, TP1-1185
Abstract

The paper addresses observability issues related to the general problem of single and multiple Autonomous Underwater Vehicle (AUV) localization using only range measurements. While an AUV is submerged, localization devices, such as Global Navigation Satellite Systems, are ineffective, due to the attenuation of electromagnetic waves. AUV localization based on dead reckoning techniques and the use of affordable motion sensor units is also not practical, due to divergence caused by sensor bias and drift. For these reasons, localization systems often build on trilateration algorithms that rely on the measurements of the ranges between an AUV and a set of fixed transponders using acoustic devices. Still, such solutions are often expensive, require cumbersome calibration procedures and only allow for AUV localization in an area that is defined by the geometrical arrangement of the transponders. A viable alternative for AUV localization that has recently come to the fore exploits the use of complementary information on the distance from the AUV to a single transponder, together with information provided by on-board resident motion sensors, such as, for example, depth, velocity and acceleration measurements. This concept can be extended to address the problem of relative localization between two AUVs equipped with acoustic sensors for inter-vehicle range measurements. Motivated by these developments, in this paper, we show that both the problems of absolute localization of a single vehicle and the relative localization of multiple vehicles can be treated using the same mathematical framework, and tailoring concepts of observability derived for nonlinear systems, we analyze how the performance in localization depends on the types of motion imparted to the AUVs. For this effect, we propose a well-defined observability metric and validate its usefulness, both in simulation and by carrying out experimental tests with a real marine vehicle during which the performance of an Extended Kalman Filter state observer is shown to depend on the types of motion imparted to the vehicle.

Published
2013
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27. Occupational exposure to arsenic, mercury and UV radiation and risk of melanoma: a case–control study from Italy

Author

Giulia Collatuzzo, Paolo Boffetta, Emi Dika, Giovanni Visci, Carlotta Zunarelli, Simona Mastroeni, Gianluca Antonelli, and Cristina Fortes

Subjects
Public Health, Environmental and Occupational Health
Abstract

Melanoma is mainly caused by sunlight radiation, but other environmental risk factors are not well known. We investigated the association between cutaneous melanoma and occupational exposure to arsenic, mercury and UV radiation.A hospital-based case-control study was conducted in the inpatient wards of IDI-San Carlo Rome, Italy, including 304 incident cases of cutaneous melanoma and 305 frequency-matched controls. Detailed sociodemographic, clinical and host-related factors were collected, and all participants were physically examined using dermoscopy and following standard protocol for recording pigmented lesions. Four experts assessed exposure to arsenic, mercury and UV radiation based on occupational history. A multidimensional variable was created for each risk factor, by combining intensity and probability of exposure. Multivariable logistic regression models were run to calculate odds ratios (OR) and 95% confidence intervals (CI) of the association between exposure to these agents and melanoma.A total of 5.4% of the cases vs 2.4% of the controls were exposed to arsenic (OR = 3.12; 95% CI = 1.10-8.86 for high probability and high exposure to arsenic) after controlling for sex, age, smoking status, number of nevi, phototype and history of sunburns in childhood/adolescence. Occupational exposure to mercury and UV radiation was not associated with the risk of melanoma.Subjects exposed to arsenic at the workplace may be at increased risk of developing cutaneous melanoma in comparison to subjects not exposed to this agent. Further studies should be designed to investigate occupational exposure to arsenic and mercury and melanoma and confirm the findings are warranted.

Published
2022

45. Robot Dynamics Identification: A Reproducible Comparison With Experiments on the Kinova Jaco

Author

Giuseppe Gillini, Alessandro Marino, Gianluca Antonelli, and Giacomo Golluccio

Subjects
Identification (information), Control and Systems Engineering, Dynamics (music), Computer science, Robot, Control engineering, Solid modeling, Electrical and Electronic Engineering, Surgical robot, Computer Science Applications, Data modeling, Robot control
Abstract

Identifying the dynamic parameters of robots is a longstanding topic in robot control, and, recently, research in the area witnessed a renewal of activity. This is motivated by the high performance required for model-based control of, for example, legged or surgical robots and the need to obtain realistic simulations of such systems.

Published
2021

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