From bd5391656cf38e386e9cc5a1003b978f0eb3a1d6 Mon Sep 17 00:00:00 2001 From: Giuseppe Silano Date: Sat, 14 Nov 2020 18:46:19 +0100 Subject: [PATCH] Major update website after PhD --- _bibliography/refs.bib | 1 + _layouts/bootstrap-cover.html | 2 +- cv.html | 40 ++++----- highlights.html | 7 ++ index.html | 6 ++ info.html | 4 +- publications.html | 6 +- research.html | 67 +++----------- software.html | 8 +- video.html | 158 +++++++++++++++++----------------- 10 files changed, 136 insertions(+), 163 deletions(-) diff --git a/_bibliography/refs.bib b/_bibliography/refs.bib index 6530146..d0cafe1 100644 --- a/_bibliography/refs.bib +++ b/_bibliography/refs.bib @@ -15,6 +15,7 @@ @phdthesis{Silano2020PhDThesis school = {University of Sannio in Benevento}, year = {2020}, month = {7}, + link = {https://www.researchgate.net/publication/345767635_Giuseppe_Silano's_PhD_Thesis_-_Advisor_Prof_Dr_Luigi_Iannelli}, group = {phdthesis}, abstract = {Aerial robotics is a fast-growing field of robotics and in particular multirotor aircraft, like quad-rotors, are rapidly increasing in popularity also out of the scientific community. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to perform tasks with complete autonomy, they are now a standard platform for numerous military and civilian applications, e.g., inspections of power lines, bridges and pipelines, soil and field analysis, crop monitoring. Among different advantages offered by such class of Unmanned Aerial Vehicles (UAVs), there is the capacity to perform tasks with complete autonomy thus minimizing costs and risks involved with the direct intervention of human operators. However, designing autopilots for UAVs is a challenging task, which involves multiple interconnected aspects. Numerous researchers are currently addressing the problem of designing autonomous guidance and navigation systems as well as control systems for multi-rotor vehicles. Therefore, having tools able to show what it happens when some new applications are going to be developed in unknown or critical situations is more and more important. Simulation is one of such helpful tools, widely used in robotics, enabling not only to verify the components integration and to evaluate their behavior under different circumstances but also to simplify the development and validation processes. Furthermore, simulation is cheaper than experiments with real robots, in terms of time and human resources. It can also provide more flexibility, by allowing testing under conditions that would be unfeasible otherwise: a simulated environment can be significantly more complex and larger than a lab environment, and meanwhile ensure a perfect repeatability. Moreover, it makes possible simulating multiple robots when the hardware may not be available. Finally, bugs and mistakes in simulation cost virtually nothing: it is possible to crash a vehicle several times and thereby getting a better understanding of implemented methods under various conditions. Different solutions, typically based on dedicated robotic simulators such as Gazebo, V-REP, AirSim, MORSE, are available to this purpose. They employ recent advances in computation and computer graphics in order to simulate physical phenomena (gravity, magnetism, atmospheric conditions) and perception (e.g., providing sensor models) in such a way that the environment realistically reflects the actual world. Definitely, it comes out that software platforms able to test algorithms for UAVs moving in a simulated 3D environment are becoming an indispensable part of the design phase. The aim of this thesis is to show the role and the effectiveness of robotics simulators in flight control system design for multi-rotor aircraft (especially, quad-rotors) proposing a Software-in-the-loop (SIL) methodology. In particular it will be explained, by using rather complex examples, how a SIL approach allows to detect and to manage instabilities that otherwise might not arise when considering only MATLAB/Simulink simulations. On the other hand such instabilities may not be just related to the complexity, accuracy or detailed modeling of the simulated plant, but rather they may appear due to peculiar features of the final realization and, in particular, the software that will implement the control strategy. Indeed, aspects like synchronization, overflow, tasks communication, are all managed by libraries or tools available during the control design phase and yet they are specific of the final code implementation. From such perspective, SIL simulation has to be considered a valuable tool for discovering, in an earlier phase of the usual V-model process, those issues that Model-in-the-loop (MIL) simulation does not necessarily detect. At the same time, a SIL simulation, obtained by using realistic and detailed simulators, gives the opportunity of validating in an easy way the effects of modifying the control strategy for complex missions. That represents quite often the easiest way to tune the flight control system and to check its validity. Although advantages of such methodology are reasonable for the scientific community from a very general viewpoint, illustrative case studies can be of interest in particular if declined to the specific application, and when the code is provided as open-source for scientific and educational. activities. Thus, the thesis aims to give the reader practical and concrete evidence of the above considerations by looking at an up-to-date control application, i.e., the flight control system of small quad-rotors and rather complex platforms, providing a complete SIL simulation methodology.} } diff --git a/_layouts/bootstrap-cover.html b/_layouts/bootstrap-cover.html index 0f298c7..96861ce 100644 --- a/_layouts/bootstrap-cover.html +++ b/_layouts/bootstrap-cover.html @@ -43,7 +43,7 @@