Papers by Marco Carnevale
The International Journal of Advanced Manufacturing Technology
In production systems characterized by small batches and high customization levels, operations ar... more In production systems characterized by small batches and high customization levels, operations are required to be flexible to adapt to different products within the shortest possible time and with the minimum effort for system setup. Contact-based operations such as surface finishing, polishing, deburring, and material deposition are mandatory in the fabrication of numerous products. To maintain consistent performance over time, many of these operations require a high level of accuracy, both in end-effector positioning and contact force level. This paper proposes a robotic solution to generate the robot working trajectory for contact-based operations over the external surface of unknown objects of which a digital model is not available or different from the actual state of the workpiece. The paper introduces the integration process of RGBD images to construct a 3D model and its elaboration to extract the workpiece. Different searching subroutines have been developed to select differ...
Deep learning-based robotic sorter for flexible production
Procedia Computer Science
Development and testing of a collision avoidance algorithm for industrial applications
2022 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)
Smart Materials Research, 2012
A new design of a Cu based SMA/GFRP lateral horn of a railway collector is proposed. Synergistic ... more A new design of a Cu based SMA/GFRP lateral horn of a railway collector is proposed. Synergistic contribution of the performance parameters associated with the SMA, including specific damping, specific stiffness, and volume fraction, as well as those associated with the host composite such as flexural rigidity, SMA through-the-thickness location, and SMA-host interfacial strength, is taken into account. The aim is to increase the structural damping of the first flexural mode of the horn without significantly changing its flexural stiffness and weight. The focus of this work also applies to manufacturability and the cost effectiveness of the component for future industrial production.
Influence of train roof boundary layer on the pantograph aerodynamic uplift: A proposal for a simplified evaluation method
Journal of Wind Engineering and Industrial Aerodynamics
Damage detection in railway bridges by means of train on-board sensors: A perspective option
Damage identification and localization in civil structure is a widely studied topic. In this pape... more Damage identification and localization in civil structure is a widely studied topic. In this paper the feasibility of a damage detection method for railway bridge, based on on-board-vehicle sensors, is investigated. The level of accelerations on axle-box, bogie and carbody, excited by the presence of a defect on the bridge, are determined by means of numerical simulation of the train-bridge interaction
Semi-active Dampers for Multiple Pantograph Operation
Multiple pantograph operation is an unfavourable condition for current collection, since the trai... more Multiple pantograph operation is an unfavourable condition for current collection, since the trailing pantograph is subjected to high vibrations and elevated contact force variations, due to the perturbation induced on the overhead line by the leading pantograph. In a previous work it was shown that a diversification of preloads of front and rear pantographs, achievable using pressure regulation systems driven by electronic units, can have beneficial effects on current collection quality of the trailing pantograph. This paper investigates the concepts of differentiating the leading and trailing pantograph damping, and of varying the pantograph damping as a function of speed. A plan of numerical simulations is first performed considering a number of permutations of leading and trailing pantograph damping values, obtaining a map of optimal damping values for different train speeds. The numerical model of an electro-hydraulic damper, able to adapt its damping parameter is then proposed...
Metals and Materials International, 2013
Simulated and Experimental Damping Properties of a SMA/Fiber Glass Laminated Composite
Journal of Materials Engineering and Performance, 2011
In this article, an advanced laminated composite is developed, combining the high damping propert... more In this article, an advanced laminated composite is developed, combining the high damping properties of shape memory alloy (SMA) with mechanical properties and light weight of a glass-fiber reinforced polymer. The composite is formed by stacking a glass-fiber reinforced epoxy core between two thin patterned strips of SMA alloy, and two further layers of fiber-glass reinforced epoxy. The bars of
Application of SMA Composites in the Collectors of the Railway Pantograph for the Italian High-Speed Train
Journal of Materials Engineering and Performance, 2009
... Contact e-mail: [email protected]. JMEPEG (2009) 18:612–619 ÓASM International ... 2. ... more ... Contact e-mail: [email protected]. JMEPEG (2009) 18:612–619 ÓASM International ... 2. Modal Analysis of the Current Collector When considering current collectors for high-speed panto-graphs (see Fig. 2), common feature can be found in their structure. ...
The application of Prognostics and Health Monitoring (PHM) concepts in rail vehicles and railway ... more The application of Prognostics and Health Monitoring (PHM) concepts in rail vehicles and railway infrastructure is a rapidly growing field of research, and extensive efforts are being spent with the aim of improving the reliability and availability of railway systems and of substantially reducing maintenance costs by switching from time-based to event-driven maintenance policies. This paper presents the results of a research project in which concepts were developed and demonstrated for the health monitoring of the rolling stock (traction equipment) and of the railway infrastructure (track and overhead equipment). A prototype monitoring system was installed on a E464 locomotive and results were gathered across a time span of 14 months from December 2014 to January 2016.
Machines
Collaborative robots (Cobots) are compact machines programmable for a wide variety of tasks and a... more Collaborative robots (Cobots) are compact machines programmable for a wide variety of tasks and able to ease operators’ working conditions. They can be therefore adopted in small and medium enterprises, characterized by small production batches and a multitude of different and complex tasks. To develop an actual collaborative application, a suitable task design and a suitable interaction strategy between human and cobot are required. The achievement of an effective and efficient communication strategy between human and cobot is one of the milestones of collaborative approaches, which can be based on several communication technologies, possibly in a multimodal way. In this work, we focus on a cooperative assembly task. A brain–computer interface (BCI) is exploited to supply commands to the cobot, to allow the operator the possibility to switch, with the desired timing, between independent and cooperative modality of assistance. The two kinds of control can be activated based on the b...
On cobot programming in industrial tasks: a test case
2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)
Robotics, 2022
Small-scale production is relying more and more on personalization and flexibility as an innovati... more Small-scale production is relying more and more on personalization and flexibility as an innovation key for success in response to market needs such as diversification of consumer preferences and/or greater regulatory pressure. This can be possible thanks to assembly lines dynamically adaptable to new production requirements, easily reconfigurable and reprogrammable to any change in the production line. In such new automated production lines, where traditional automation is not applicable, human and robot collaboration can be established, giving birth to a kind of industrial craftsmanship. The idea at the base of this work is to take advantage of collaborative robotics by using the robots as other generic industrial tools. To overcome the need of complex programming, identified in the literature as one of the main issues preventing cobot diffusion into industrial environments, the paper proposes an approach for simplifying the programming process while still maintaining high flexibi...
Shape memory alloy integration in light weight thin element
Progettazione di elementi sostensivi in SMA per vetture ad alte prestazioni
Unsteady aerodynamic forces on a railway pantograph and their influence on pantograph-catenary dynamic interaction
Pantograph and overhead line aerodynamics is responsible for affecting the con-tact force between... more Pantograph and overhead line aerodynamics is responsible for affecting the con-tact force between the pantograph and the contact wire, both in terms of average value and dy-namic variation. Stationary forces acting on pantograph components can change the average value of the contact force, whereas aerodynamic non-stationary phenomena influence the per-formance of railway pantograph in terms of dynamic variation of the contact force. This paper is a first attempt of numerical evaluation of the dynamic effects introduced by unsteady aerody-namic forces on the pantograph-catenary dynamic interaction
Characterization of CuZnAI SMA/ glass fiber composite material for vibration suppression [Composito in fibra di vetro con inserti di CuZnAI a memoria di forma per applicazioni ad alto smorzamento]
Assessment of current collection quality of ETR1000-V300 Zefiro pantograph: an innovative measurement set-up and test results
The standard EN50317 provides the guidelines for on board measurements of the dynamic interaction... more The standard EN50317 provides the guidelines for on board measurements of the dynamic interaction between pantograph and overhead line. The quality of current collection system and its safe operation is typically evaluated by measuring the total contact force, which is obtained as the sum of the forces acting between each collector and its suspension, the compensation of inertial effects evaluated by means of collector acceleration and the compensation of the mean aerodynamic lift forces acting on the collector strips. As known, measurements on pantograph in operating conditions are very critical, due to the high working voltage (25 kV a.c. or 3 kV d.c. for the Italian high-speed networks). In this paper, an innovative set-up for the measurement of contact force, fully based on Fibre Bragg Grating (FBG) sensors, developed on purpose for the assessment of the current collection quality of ETR100-V300 Zefiro pantographs is presented. The calibration in laboratory of the instrumented pantograph according to EN50317 is described, demonstrating the good performances of the measurement set up and its usability for the homologation of the ETR1000-V300 Zefiro pantograph
Pneumatic Active Control System for Pantograph-catenary interaction
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Papers by Marco Carnevale