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Electro-hydraulic servo-actuators (EHSAs) are currently considered the state-of-the art solution for the control of the primary flight control systems of civil and military aircraft. Combining the expected service life of a commercial aircraft with the fact that electro-hydraulic technology is employed in the vast majority of currently in-service aircraft and is planned to be used on future platforms as well, the development of an effective Prognostic and Health Management (PHM) system could provide significant advantages to fleet operators and aircraft maintenance, such as the reduction of unplanned flight disruptions and increased availability of the aircraft. The occurrence of excessive internal leakage within the EHSAs is one of the most common causes of return from the field of flight control actuators, making this failure mode a priority in the definition of any dedicated PHM routine. This paper presents a case study on the design of a prognostic system for this degradation mode, in the context of a wider effort toward the definition of a prognostic framework suitable to work on in-flight data. The study is performed by means of a high-fidelity simulation model supported by experimental activities. Results of both the simulation and the experimental work are used to select a suitable feature, then implemented within the prognostic framework based on particle filtering. The algorithm is at first theoretically discussed, and then tested against several degradation patterns. Performances are evaluated through state-of-the-art metrics, showing promising results and providing the basis towards future applications on real in-flight data.
Antonio Carlo Bertolino; Andrea De Martin; Giovanni Jacazio; Massimo Sorli. A Case Study on the Detection and Prognosis of Internal Leakages in Electro-Hydraulic Flight Control Actuators. Actuators 2021, 10, 215 .
AMA StyleAntonio Carlo Bertolino, Andrea De Martin, Giovanni Jacazio, Massimo Sorli. A Case Study on the Detection and Prognosis of Internal Leakages in Electro-Hydraulic Flight Control Actuators. Actuators. 2021; 10 (9):215.
Chicago/Turabian StyleAntonio Carlo Bertolino; Andrea De Martin; Giovanni Jacazio; Massimo Sorli. 2021. "A Case Study on the Detection and Prognosis of Internal Leakages in Electro-Hydraulic Flight Control Actuators." Actuators 10, no. 9: 215.
Antonio C. Bertolino; Gabriele Lombardi; Massimo Sorli; Stefano Mauro. Modelling of Energy Accumulation in Belt Conveyor Systems Under Faulty Conditions. 2021, 1 .
AMA StyleAntonio C. Bertolino, Gabriele Lombardi, Massimo Sorli, Stefano Mauro. Modelling of Energy Accumulation in Belt Conveyor Systems Under Faulty Conditions. . 2021; ():1.
Chicago/Turabian StyleAntonio C. Bertolino; Gabriele Lombardi; Massimo Sorli; Stefano Mauro. 2021. "Modelling of Energy Accumulation in Belt Conveyor Systems Under Faulty Conditions." , no. : 1.
Antonio C. Bertolino; Stefano Mauro; Giovanni Jacazio; Massimo Sorli. Multibody Dynamic Model of a Double Nut Preloaded Ball Screw Mechanism With Lubrication. 2021, 1 .
AMA StyleAntonio C. Bertolino, Stefano Mauro, Giovanni Jacazio, Massimo Sorli. Multibody Dynamic Model of a Double Nut Preloaded Ball Screw Mechanism With Lubrication. . 2021; ():1.
Chicago/Turabian StyleAntonio C. Bertolino; Stefano Mauro; Giovanni Jacazio; Massimo Sorli. 2021. "Multibody Dynamic Model of a Double Nut Preloaded Ball Screw Mechanism With Lubrication." , no. : 1.
Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 collaborative robots from Universal Robots. According to the acquired experimental data, this procedure allows for reducing the error on the estimated joint torques of about 90% with respect to the one obtained using only the information provided by the manufacturer. The present research also highlights how changes in the robot operating conditions affect its dynamic behavior. In particular, the identification process has been applied to a data set obtained commanding the same trajectory multiple times to both robots under rising joints temperatures. Average reductions of the viscous friction coefficients of about 20% and 17% for the UR3 and the UR5 robots, respectively, have been observed. Moreover, it is shown how the manipulator mounting configuration affects the number of the base dynamic parameters necessary to properly estimate the robots’ joints torques. The ability of the proposed model to take into account different mounting configurations is then verified by performing the identification procedure on a data set generated through a digital twin of a UR5 robot mounted on the ceiling.
Andrea Raviola; Roberto Guida; Andrea De Martin; Stefano Pastorelli; Stefano Mauro; Massimo Sorli. Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots. Robotics 2021, 10, 83 .
AMA StyleAndrea Raviola, Roberto Guida, Andrea De Martin, Stefano Pastorelli, Stefano Mauro, Massimo Sorli. Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots. Robotics. 2021; 10 (3):83.
Chicago/Turabian StyleAndrea Raviola; Roberto Guida; Andrea De Martin; Stefano Pastorelli; Stefano Mauro; Massimo Sorli. 2021. "Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots." Robotics 10, no. 3: 83.
Electro-Hydraulic Servo-Actuators (EHSAs) are mainly used to command primary flight control surfaces in military and commercial aircraft. Since these devices are crucial for vehicle stability and maneuverability, a correct assessment of their health status is mandatory. Within this framework, a joint research project (HyDiag), held by Politecnico di Torino and Lufthansa Technik AG (LHT), aims to provide a more efficient and reliable procedure to determine the operating conditions of the EHSA. A smart and automatic sequence, able to extract several health features of the Unit Under Test (UUT), has been developed and integrated. The present paper discusses the implementation of a collaborative robot, equipped with a vision system and customized tools, for both health features extraction, and maintenance tasks on unserviceable servo-actuators. The main challenges related to the automation of such complex tasks in a real working environment are highlighted, togetherwith the advantages brought by the proposed approach. The paper also presents the first results of an ongoing experimental campaign. Specifically, it reports the enhancements of the maintenance procedures using collaborative robotics and possible future developments.
Andrea Raviola; Michele Antonacci; Francesco Marino; Giovanni Jacazio; Massimo Sorli; Gerko Wende. Collaborative Robotics: Enhance Maintenance Procedures on Primary Flight Control Servo-Actuators. Applied Sciences 2021, 11, 4929 .
AMA StyleAndrea Raviola, Michele Antonacci, Francesco Marino, Giovanni Jacazio, Massimo Sorli, Gerko Wende. Collaborative Robotics: Enhance Maintenance Procedures on Primary Flight Control Servo-Actuators. Applied Sciences. 2021; 11 (11):4929.
Chicago/Turabian StyleAndrea Raviola; Michele Antonacci; Francesco Marino; Giovanni Jacazio; Massimo Sorli; Gerko Wende. 2021. "Collaborative Robotics: Enhance Maintenance Procedures on Primary Flight Control Servo-Actuators." Applied Sciences 11, no. 11: 4929.
The variation of the valve lift is a fairly common strategy currently adopted in several in-service internal combustion engines to optimize their performance depending on the operating conditions of the vehicle. The most critical aspect to consider during the conceptual design phase of a cam switch system is the extremely narrow window of opportunity to perform the cam change, which duration is defined by the time during which the corresponding valve lift is null. To meet this requirement and ensure safe, repeatable movements, a novel architecture based on the combination of a new electromechanical actuator and its dedicated control system is presented. The architecture is at first introduced with reference to the numerous examples available in the literature, and hence mathematically described. The dynamic model of the system derived from the presented equation is then used to study the performance of the presented solution and define its control strategy. Results are finally presented and discussed.
Andrea De Martin; Giovanni Jacazio; Massimo Sorli. A Novel Electromechanical Solution for Cam-Switching in High Performance Internal Combustion Engines. Journal of Dynamic Systems, Measurement, and Control 2020, 142, 1 .
AMA StyleAndrea De Martin, Giovanni Jacazio, Massimo Sorli. A Novel Electromechanical Solution for Cam-Switching in High Performance Internal Combustion Engines. Journal of Dynamic Systems, Measurement, and Control. 2020; 142 (7):1.
Chicago/Turabian StyleAndrea De Martin; Giovanni Jacazio; Massimo Sorli. 2020. "A Novel Electromechanical Solution for Cam-Switching in High Performance Internal Combustion Engines." Journal of Dynamic Systems, Measurement, and Control 142, no. 7: 1.
Recent trend in the aeronautic industry is to introduce a novel prognostic solution for critical systems in the attempt to increase vehicle availability, reduce costs, and optimize the maintenance policy. Despite this, there is a general lack of literature about prognostics for hydraulic flight control systems, especially looking at helicopter applications. The present research was focused on a preliminary study for an integrated framework of fault detection and failure prognosis tailored for one of the most common architectures for flight control actuation. Starting from a high-fidelity dynamic model of the system, two different faults were studied and described within a dedicated simulation environment: the opening of a crack in the coils of the centering springs of the actuator and the wear of the inner seals. Both failure modes were analyzed through established models available in the literature and their evolution simulated within the model of the actuator. Hence, an in-depth feature selection process was pursued aimed at the definition of signals suitable for both diagnosis and prognosis. Results were then reported through an accuracy-sensitivity plane and used to define a prognostic routine based on particle filtering techniques. The more significant contribution of the present research was that no additional sensors are needed so that the prognostic system can be potentially implemented for in-service platforms.
Andrea Nesci; Andrea De Martin; Giovanni Jacazio; Massimo Sorli. Detection and Prognosis of Propagating Faults in Flight Control Actuators for Helicopters. Aerospace 2020, 7, 20 .
AMA StyleAndrea Nesci, Andrea De Martin, Giovanni Jacazio, Massimo Sorli. Detection and Prognosis of Propagating Faults in Flight Control Actuators for Helicopters. Aerospace. 2020; 7 (3):20.
Chicago/Turabian StyleAndrea Nesci; Andrea De Martin; Giovanni Jacazio; Massimo Sorli. 2020. "Detection and Prognosis of Propagating Faults in Flight Control Actuators for Helicopters." Aerospace 7, no. 3: 20.
The article proposes the design of a test bench simulator to test a parallel hybrid propulsion architecture for aeronautical applications. The virtual test bench simulates, in a scaled version, the real test bench, designed for a power of about 0.4 MW. After presenting the architecture of the real propulsion system, the virtual test bench is described. The real system is basically composed by a paralleled electric motor and thermal engine which provide mechanical power to the propeller. Saving cost and volume the test bench is composed by electric motors simulates the behaviors of the real propulsion system despite their differences. The dynamic relationships expressing the transmission of torque between the components, and the method of down-sizing the power delivered are highlighted. Particular attention is given to the real inertia actions that must be simulated on the virtual test bench. An application of the proposed methodology is then presented through the simulation of the take-off phase, and the torque time histories, angular velocities and powers generated on the virtual test bench are used to verify the corresponding time histories expected in the real system.
Luca Boggero; Sabrina Corpino; Andrea De Martin; Giuseppe Evangelista; Marco Fioriti; Massimo Sorli. A Virtual Test Bench of a Parallel Hybrid Propulsion System for UAVs. Aerospace 2019, 6, 77 .
AMA StyleLuca Boggero, Sabrina Corpino, Andrea De Martin, Giuseppe Evangelista, Marco Fioriti, Massimo Sorli. A Virtual Test Bench of a Parallel Hybrid Propulsion System for UAVs. Aerospace. 2019; 6 (7):77.
Chicago/Turabian StyleLuca Boggero; Sabrina Corpino; Andrea De Martin; Giuseppe Evangelista; Marco Fioriti; Massimo Sorli. 2019. "A Virtual Test Bench of a Parallel Hybrid Propulsion System for UAVs." Aerospace 6, no. 7: 77.
Building a high-fidelity model to identify a connection between a measurable signal variation and the onset and growth of a fault, which can then evolve in a failure, is a method to develop a prognostic and health management system. With this goal, this paper is focused on the development of a high-fidelity dynamic model of the ball screw component of flight control electro-mechanical actuators. This model can represent the roll/slip transition in the spheres/grooves contact points depending on dynamic operative conditions. It is suitable for various defects injection, such as friction increase, preload variation or mechanical backlash. The effect of such defects on the mechanical direct efficiency is investigated since it is a parameter which can be easily measured experimentally, and which may be a suitable candidate as health feature or as an indicator of faults onset and progression within the mechanism. This approach is intended to track the health status of the component and consequently avoid unexpected in-service failure, which may have a high cost, especially in the aerospace sector.
Antonio Carlo Bertolino; Massimo Sorli; Giovanni Jacazio; Stefano Mauro. Lumped parameters modelling of the EMAs’ ball screw drive with special consideration to ball/grooves interactions to support model-based health monitoring. Mechanism and Machine Theory 2019, 137, 188 -210.
AMA StyleAntonio Carlo Bertolino, Massimo Sorli, Giovanni Jacazio, Stefano Mauro. Lumped parameters modelling of the EMAs’ ball screw drive with special consideration to ball/grooves interactions to support model-based health monitoring. Mechanism and Machine Theory. 2019; 137 ():188-210.
Chicago/Turabian StyleAntonio Carlo Bertolino; Massimo Sorli; Giovanni Jacazio; Stefano Mauro. 2019. "Lumped parameters modelling of the EMAs’ ball screw drive with special consideration to ball/grooves interactions to support model-based health monitoring." Mechanism and Machine Theory 137, no. : 188-210.
Gerotor pumps are widely used for fuel and lubricating oil distribution, since they provide an economic and compact solution for low-pressure fluid systems. Made of two internally coupled gears, their behavioral and operative performances are strictly tied to their geometrical designs. Traditionally, the external gear features circular lobes that give origin to a cycloidal profile for the internal rotor. In this paper, the use of profiles based on asymmetric lobes made of elliptic arcs is further explored and expanded. At first, a complete mathematical framework describing the pump geometry and its dynamic behavior is provided, while algorithms used to compute a selected number of performance indexes are presented and when possible, verified. Hence, a single-objective optimization procedure is applied to the traditional cycloidal profile, in order to minimize each of the following quantities: the flow rate irregularity, the expected wear rate, and the estimated rotor mass. Finally, a multi-objective optimization process based on evolutionary strategy is employed, to obtain several asymmetric profiles minimizing the combination of two or more performance indexes. The results are hence compared, and the merits associated with the use of asymmetric lobes are presented.
Andrea De Martin; Giovanni Jacazio; Massimo Sorli. Optimization of Gerotor Pumps with Asymmetric Profiles through an Evolutionary Strategy Algorithm. Machines 2019, 7, 17 .
AMA StyleAndrea De Martin, Giovanni Jacazio, Massimo Sorli. Optimization of Gerotor Pumps with Asymmetric Profiles through an Evolutionary Strategy Algorithm. Machines. 2019; 7 (1):17.
Chicago/Turabian StyleAndrea De Martin; Giovanni Jacazio; Massimo Sorli. 2019. "Optimization of Gerotor Pumps with Asymmetric Profiles through an Evolutionary Strategy Algorithm." Machines 7, no. 1: 17.
The present report highlights the current and future role of techniques and methodologies of the Mechanics of Machines, both in the design of devices and systems, and in the university training courses. The underlying theme of the presentation lays in the interpretation of the physical phenomenon which oversees the operation of the machines. This is the foundation allowing to define an input-output interaction between the physical quantities operating on the machine. The cause-effect relation offers the possibility to determine a set of analytical relations for the prediction of the operation of the machine and to simulate theoretical and / or numerical trends in time or frequency domain of the significant mechanical quantities. It is evident the magnitude of the physical phenomena that arise in the operation of a machine, resulting in a broad variety of related Mechanics of Machines topics: from the contact between bodies analysis to tribological aspects, from body geometry to kinematics, from the rigid to deformable body dynamics, from the interaction between mechanical bodies to manmachine interaction, from the kinematic and dynamic behavior of a mechanical system to its interface with the actuators, sensing and control, just to name some of them. It should also be considered that the interpretation of the physical phenomenon of organs of machines has to be supported by significant experimental campaigns, specifically reproduced in laboratory, or related to data from real applications in the different application domains. The evolution of Mechanics of Machines proved in the years to be able to respond to these two interacting and converging questions: on the one hand the need to identify analytical relations, possibly not based on sole mappings of data, but rather on representative analytical relations of physical quantities, and on the other hand, the need, even at the university level, to conduct appropriate laboratory test campaigns related to the real field operation of the machine. With reference to the first objective, the need to determine algorithms, typically non-linear, and the consequent simulations setups, has resulted in the passage of the Machine Mechanics from a theoretical subject, to a subject with strong computational valences creating tools for the prediction of the behavior of devices and systems, in relation to their diagnosis and health state. The second objective has required the achievement of competence also in the field of the test rigs, of sensing and measuring / data acquisition systems. The paper deals with the identification and the presentation of the different areas related to Machine Mechanics, exposing in a matrix the enabling technologies on the one hand and the application domains to which they apply in the other hand. The enabling technologies traditionally belong to the topics of kinematics, statics, dynamics (linear and nonlinear), to the interactions with the environment (force fields, interactions...
Massimo Sorli. LA MECCANICA DELLE MACCHINE NELL’INNOVAZIONE DEI PRODOTTI E DEI PROCESSI. Istituto Lombardo - Accademia di Scienze e Lettere - Incontri di Studio 2018, 1 .
AMA StyleMassimo Sorli. LA MECCANICA DELLE MACCHINE NELL’INNOVAZIONE DEI PRODOTTI E DEI PROCESSI. Istituto Lombardo - Accademia di Scienze e Lettere - Incontri di Studio. 2018; ():1.
Chicago/Turabian StyleMassimo Sorli. 2018. "LA MECCANICA DELLE MACCHINE NELL’INNOVAZIONE DEI PRODOTTI E DEI PROCESSI." Istituto Lombardo - Accademia di Scienze e Lettere - Incontri di Studio , no. : 1.
This paper deals with a method for static and dynamic modeling of a three-way pneumatic proportional valve actuated by means of a proportional solenoid, which can be applied in robust design, condition monitoring, and development of advanced control strategies. Test-beds for the experimental identification of the main physical parameters of the valve are described along with the proposed experimental methods. A mechatronic dynamic model of the valve is then presented, which considers the servo-solenoid as the electromagnetic subsystem, the moving parts of the valve as the mechanical subsystem, and the fluid parts for flow-rate control as the pneumatic subsystem. Finally, the proposed mechatronic dynamic model is validated by comparing the experimental and simulated diagrams for adsorbed current, spool position, and instantaneous flow-rate.
Massimo Sorli; Giorgio Figliolini; Andrea Almondo. Mechatronic Model and Experimental Validation of a Pneumatic Servo-Solenoid Valve. Journal of Dynamic Systems, Measurement, and Control 2010, 132, 054503 .
AMA StyleMassimo Sorli, Giorgio Figliolini, Andrea Almondo. Mechatronic Model and Experimental Validation of a Pneumatic Servo-Solenoid Valve. Journal of Dynamic Systems, Measurement, and Control. 2010; 132 (5):054503.
Chicago/Turabian StyleMassimo Sorli; Giorgio Figliolini; Andrea Almondo. 2010. "Mechatronic Model and Experimental Validation of a Pneumatic Servo-Solenoid Valve." Journal of Dynamic Systems, Measurement, and Control 132, no. 5: 054503.
The gain values that can be imposed in pneumatic system controllers are bounded to the restricted actuator bandwidth. That limitation, with low damping and stiffness due to the air compressibility, seriously affects accuracy and repeatability when varying payloads or supply pressures. For modeling and control intents, a correct characterization of the pneumatic actuator natural frequency is indispensable. The aim of the paper is to evaluate how heat exchange process affects the proper characteristics of pneumatic drivers and, in particular, their pneumatic stiffness. To this purpose dynamic stiffness had been studied both by imposing in the cylinder’s chambers a polytrophic transformation of the fluid with a prefixed index and by employing energy equations. Numerical results obtained by implementing the two formulations for different working conditions are reported and compared in order to point out the ranges in which they overlap, and hence both approaches produce accurate results, or the ones in which there is a difference, and then it is necessary to consider the temperature dynamics.
Massimo Sorli; Laura Gastaldi. Thermic Influence on the Dynamics of Pneumatic Servosystems. Journal of Dynamic Systems, Measurement, and Control 2009, 131, 024501 .
AMA StyleMassimo Sorli, Laura Gastaldi. Thermic Influence on the Dynamics of Pneumatic Servosystems. Journal of Dynamic Systems, Measurement, and Control. 2009; 131 (2):024501.
Chicago/Turabian StyleMassimo Sorli; Laura Gastaldi. 2009. "Thermic Influence on the Dynamics of Pneumatic Servosystems." Journal of Dynamic Systems, Measurement, and Control 131, no. 2: 024501.
The gains values that can be imposed in pneumatic systems controllers are bounded to the restricted actuator bandwidth. That limitation, with low damping and stiffness, due to the air compressibility, seriously affects accuracy and repeatability when varying payload or supply pressures. For modelling and control intent a correct characterisation of the pneumatic actuator natural frequency is indispensable. The aim of this paper is to evaluate how heat exchange process affects the proper characteristics of pneumatic drivers, and in particular their hydraulic stiffness. To this purpose dynamic stiffness had been studied both by imposing in the cylinder’s chambers a polytrophic transformation of the fluid with a prefixed index and by employing energy equations. Numerical results obtained by implementing the two formulations for different working conditions are reported and compared in order to point out the ranges in which they overlap, and hence both approaches produce accurate results, or the ones in which there is a difference, and then it is necessary to consider the temperature dynamics.
Massimo Sorli; Laura Gastaldi. Thermic Influence on the Dynamics of Pneumatic Servosystems. Volume 1: Advanced Energy Systems, Advanced Materials, Aerospace, Automation and Robotics, Noise Control and Acoustics, and Systems Engineering 2006, 2006, 775 -782.
AMA StyleMassimo Sorli, Laura Gastaldi. Thermic Influence on the Dynamics of Pneumatic Servosystems. Volume 1: Advanced Energy Systems, Advanced Materials, Aerospace, Automation and Robotics, Noise Control and Acoustics, and Systems Engineering. 2006; 2006 ():775-782.
Chicago/Turabian StyleMassimo Sorli; Laura Gastaldi. 2006. "Thermic Influence on the Dynamics of Pneumatic Servosystems." Volume 1: Advanced Energy Systems, Advanced Materials, Aerospace, Automation and Robotics, Noise Control and Acoustics, and Systems Engineering 2006, no. : 775-782.
This paper presents a model to describe the transmission of vibrations through the pipelines of automotive air conditioning plants. It is known that vibration propagating from the compressor to the other system components can affect both acoustical and structural behaviour. In this study a frequency domain description is purposed, using a transfer matrix formulation to study the pipe dynamics. This approach is particularly effective in the analysis of viscoelastic pipes, whose elastic and damping properties vary as a function of strain frequency. A method to identify the characteristics of the pipe wall material by dynamic tests is described. The model is then applied to the study of complex metal and viscoelastic pipe layouts, showing the good accordance between prediction and experimental data measured on test bench.
Massimo Sorli; Andrea Almondo; Walter Franco; Ermanno Giorcelli. Model and experimental analysis of the dynamic behaviour of air conditioning plant pipelines. International Journal of Vehicle Noise and Vibration 2006, 2, 41 .
AMA StyleMassimo Sorli, Andrea Almondo, Walter Franco, Ermanno Giorcelli. Model and experimental analysis of the dynamic behaviour of air conditioning plant pipelines. International Journal of Vehicle Noise and Vibration. 2006; 2 (1):41.
Chicago/Turabian StyleMassimo Sorli; Andrea Almondo; Walter Franco; Ermanno Giorcelli. 2006. "Model and experimental analysis of the dynamic behaviour of air conditioning plant pipelines." International Journal of Vehicle Noise and Vibration 2, no. 1: 41.
The dynamic analysis of a cam transmission derived from an engine valve train is performed in frequency and time domain, by means of a combined lumped-distributed parameters models, capable of predicting the effects of the higher harmonics of the cam lift profile on system performances, in particular as concerning the return spring device. Dynamic stiffness of the transmission in frequency domain and time history of contact force between cam and follower are evaluated, highlighting the limits of the transmission at high-speed camshaft operations caused by the spring behavior. The aim of the study is to developed a comparison on the performances of the cam mechanism working with the original mechanical spring from design or with a pneumatic return device based on a pneumatic spring and a pressure control circuit.
Stefano Pastorelli; Andrea Almondo; Massimo Sorli. Effects of Mechanical and Pneumatic Return Springs on Valve Train Dynamics. Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology 2006, 263 -271.
AMA StyleStefano Pastorelli, Andrea Almondo, Massimo Sorli. Effects of Mechanical and Pneumatic Return Springs on Valve Train Dynamics. Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology. 2006; ():263-271.
Chicago/Turabian StyleStefano Pastorelli; Andrea Almondo; Massimo Sorli. 2006. "Effects of Mechanical and Pneumatic Return Springs on Valve Train Dynamics." Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology , no. : 263-271.
The paper describes the activities carried out for the modeling and identification of the pipe tensioning system used in the lay of off-shore piping lines. First, the interactions between the components of the tensioning system are discussed. Then, a model of the pipe stiffness based on the catenary formulation is presented. It is valid for S or J-lay, depending on the pipe parameters and on the lay conditions. The tensioner model follows. It is composed by a torque controlled electric servomotor that powers a tracks tensioning system. Finally results obtained in the simulation for different work and disturbance conditions are shown.
Giuliana Mattiazzo; Andrea Almondo; Stefano Mauro; Paolo Serena Guinzio; Massimo Sorli. Numerical Model of a Tensioner for Undersea Pipes Laying. Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology 2006, 333 -340.
AMA StyleGiuliana Mattiazzo, Andrea Almondo, Stefano Mauro, Paolo Serena Guinzio, Massimo Sorli. Numerical Model of a Tensioner for Undersea Pipes Laying. Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology. 2006; ():333-340.
Chicago/Turabian StyleGiuliana Mattiazzo; Andrea Almondo; Stefano Mauro; Paolo Serena Guinzio; Massimo Sorli. 2006. "Numerical Model of a Tensioner for Undersea Pipes Laying." Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology , no. : 333-340.
Guido Belforte; Massimo Sorli; Laura Gastaldi. Active Gait Orthosis: Experiments with a Paraplegic Subject and Further Development of the Design. IFAC Proceedings Volumes 2000, 33, 531 -536.
AMA StyleGuido Belforte, Massimo Sorli, Laura Gastaldi. Active Gait Orthosis: Experiments with a Paraplegic Subject and Further Development of the Design. IFAC Proceedings Volumes. 2000; 33 (26):531-536.
Chicago/Turabian StyleGuido Belforte; Massimo Sorli; Laura Gastaldi. 2000. "Active Gait Orthosis: Experiments with a Paraplegic Subject and Further Development of the Design." IFAC Proceedings Volumes 33, no. 26: 531-536.