Nicholas CartocciIstituto Italiano di Tecnologia | IIT · Department of Advanced Robotics
Nicholas Cartocci
Master of Engineering
About
24
Publications
2,266
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
85
Citations
Publications
Publications (24)
The aim of this paper is to infer the development of a control and sensor strategy for an industrial wearable wrist exoskeleton through preliminary classification and prediction of workers' actions gathered in a real working environment. The effort intensity, correlated with the exerted force, and sensor strategy optimization are considered and eva...
The wingsuit represents one of the first wearable solutions to allow human flight and is also the only one that can be used for high-altitude flight. This paper investigates the possible benefits that could arise from using a powered wingsuit equipped with a directional thruster positioned near the flyer's feet. Specifically, a control logic that c...
Developing a general-purpose wearable real-time fall-detection system is still a challenging task, especially for healthy and strong subjects, such as industrial workers that work in harsh environments. In this work, we present a hybrid approach for fall detection and prevention, which uses the dynamic model of an inverted pendulum to generate simu...
The longitudinal dynamics of a wingsuit are investigated by analyzing the strengths and limitations of an assistive control system. We propose a control logic that reproduces the control modality used by a flying flyer driving the suit when following a desired descent trajectory specified by way-points. The control logic is based on a discrete-time...
Falls from heights cause severe injuries to workers with significant consequences for the entire healthcare and economic system. A key aspect of developing fall prevention systems is the early prediction and/or detection of the fall event. However, this is challenging due to the quantity, quality, and heterogeneity of data and processing time requi...
In this paper, a model-based control approach is proposed for autonomous vision-based tracking of a moving target by a quadrotor vehicle. The considered problem presents several key
challenges related to the lack of observability of the relative range, which affects line-of-sight measurements, and the incomplete knowledge of the target dynamic resp...
In-flight sensor fault diagnosis and recursive combination of residual signals via the Dempster-Shafer (DS) theory have been considered in this study. In particular, a novel evidence-based combination rule of residual errors as a function of a reliability measure derived from streaming data is proposed for the purpose of online robust sensors fault...
In this paper PCA and D-PCA techniques are applied for the design of a Data Driven diagnostic Fault Isolation (FI) and Fault Estimation (FE) scheme for 18 primary sensors of a semi-autonomous aircraft. Specifically, Contributions-based, and Reconstruction-based Contributions approaches have been considered. To improve FI performance an inference me...
Developing a general-purpose wearable real-time fall-detection system is still a challenging task, especially for healthy and strong subjects, such as industrial workers that work in harsh environments. In this work, we present a hybrid approach for fall detection and prevention, which uses the dynamic model of an inverted pendulum to generate simu...
In this paper, a data-driven scheme for the robust Fault Isolation of multiple sensor faults is proposed. Robustness to modelling uncertainty and noise is achieved via the optimized design of the processing blocks. The main idea of the study is the introduction of a Pre-Isolation block that selects a restricted set of sensors containing (with high...
A general robust data-driven scheme for the Fault Detection, Isolation and Estimation of multiple sensor faults is proposed and validated using multi-flight data records. Robustness to modelling uncertainty and noise is achieved through an optimized data-driven design of the three blocks that constitute the scheme. First, a robust Fault Detection (...
Linear dependence of variables is a commonly used assumption in most diagnostic systems for which many robust methodologies have been developed over the years. In case the system nonlinearities are relevant, fault diagnosis methods, relying on the assumption of linearity, might potentially provide unsatisfactory results in terms of false alarms and...
View Video Presentation: https://doi.org/10.2514/6.2022-2046.vid The linear representation of nonlinear systems dynamics has a tremendous potential to enable the estimation, prediction, and control of nonlinear systems using standard and well-known methodologies available for linear systems. Numerical algorithms such as the Extended Dynamic Mode De...
In-flight sensor fault diagnosis and recursive
combination of residual signals via the Dempster-Shafer (DS) theory have been considered in this study. In particular, a novel evidence-based combination rule of residual errors as a function of a reliability measure derived from streaming data is proposed for the purpose of online robust sensor fault...
Recent catastrophic events in aviation have shown that current fault diagnosis schemes may not be enough to ensure a reliable and prompt sensor fault diagnosis. This paper describes a comparative analysis of consolidated data-driven sensor Fault Isolation (FI) and Fault Estimation (FE) techniques using flight data. Linear regression models, identif...
In this paper, it is presented an approach for the design of a feedback Model Reference Adaptive Controller (MRAC) for uncertain linear systems with guaranteed evolution of the closed-loop error trajectories within a computable robust invariant set. The estimation of the UUB region has been derived exploiting robust quadratic stability arguments as...
The AGROBOT project is aimed at the realisation
and experimental validation of an autonomous robot with the purpose of supporting innovative agricolture approaches suitable for territories characterised by small, family owned agricultural firms, with not too large fields located in hilly areas. The project will demonstrate the suitability of precis...
The aim of this work is to compare various state-of-the-art techniques aimed at solving the problem of Fault Isolation of a fault on an aircraft. Starting from this main aim, the work has also been extended to compare techniques that correctly estimate the extent of the fault that has occurred. The comparison on these issues is carried out using sp...
In recent years the man-machine relationship has increasingly focused on the use of robots or drones to carry out functions previously performed by people or mechanical, an example could be the use made of it in the working, military, medical, surgical, photographic, public security. The aim of this thesis work is the design and assembly of an APR...