Block B

Feedback Control Systems (block B)

Simona Ranieri 1st year, 6 CFU, a.a.2022-2023, b-choice2B, II semester, Subjects , ,
Feedback Control Systems (block B)
1 YEAR II semester  6 CFU
Cristiano M. VERRELLI A.Y. 2021-22
A.Y. 2022-23
Code:
SSD: ING-INF/04

FORMATIVE OBJECTIVES

LEARNING OUTCOMES:

The theory of differential equations is successfully used to gain profound insight into the fundamental mathematical control design techniques for linear and nonlinear dynamical systems.

KNOWLEDGE AND UNDERSTANDING:

Students should be able to deeply understand (and be able to use) the theory of differential equations and of systems theory, along with related mathematical control techniques.

APPLYING KNOWLEDGE AND UNDERSTANDING:

Students should be able to design feedback controllers for linear (and even nonlinear) dynamical systems.

MAKING JUDGEMENTS:

Students should be able to identify the specific design scenario and to apply the most suitable techniques. Students should be able to compare the effectiveness of different controls while analyzing theoretical/experimental advantages and drawbacks.

COMMUNICATION SKILLS: Students are expected to be able to read and capture the main results of a technical paper concerning the topics of the course, as well as to effectively communicate in a precise and clear way the content of the course. Tutor-guided individual projects (including Maple and Matlab-Simulink computer simulations as well as visits to labs) invite intensive participation and ideas exchange.

LEARNING SKILLS:

Being enough skilled in the specific field to undertake the following studies characterized by a high degree of autonomy.

SYLLABUS:

The matrix exponential; the variation of constants formula.

Computation of the matrix exponential via eigenvalues and eigenvectors and via residual matrices. Necessary and sufficient conditions for exponential stability: Routh-Hurwitz criterion. Invariant subspaces.

Impulse responses, step responses and steady state responses to sinusoidal inputs. Transient behaviours. Modal analysis: mode excitation by initial conditions and by impulsive inputs; modal observability from output measurements; modes which are both excitable and observable. Popov conditions for modal excitability and observability. Autoregressive moving average (ARMA) models and transfer functions.

Kalman reachability conditions, gramian reachability matrices and the computation of input signals to drive the system between two given states. Kalman observability conditions, gramian observability matrices and the computation of initial conditions given input and output signals. Equivalence between Kalman and Popov conditions.

Kalman decomposition for non-reachable and non-observable systems.

Eigenvalues assignment by state feedback for reachable systems. Design of asymptotic observers and Kalman filters for state estimation of observable systems. Design of dynamic compensators to stabilize any reachable and observable system. Design of regulators to reject disturbances generated by linear exosystems.

Bode plots. Static gain, system gain and high-frequency gain.

Zero-pole cancellation.

STATISTICS:

A.Y.  Mechatronics students Other courses Students Mechatronics average Other courses average
2019/2020 10 62 24 23
2020/2021 19 25 23 24
2021/2022 13 44 21 22

POWER ELECTRONICS AND ELECTRICAL DRIVES

Simona Ranieri 2021, 2022, 2nd year, 9 CFU, a.a. 2024-25, a.a.2022-2023, ALL blocks, Block A, Block B, Block C, II semester, Subjects , ,
POWER ELECTRONICS AND ELECTRICAL DRIVES
2 YEAR 2 semester 9 CFU
Stefano Bifaretti
 A.Y. 2021-22
Stefano Bifaretti (7cfu)

Cristina Terlizzi (2cfu)

 A.Y. 2022-23 1st Year I semester

A.Y. 2023-24  (NOT HELD)

A.Y. 2024-25
Code: 8039781
SSD: ING-INF/01

LEARNING OUTCOMES:
The Power Electronics and Electrical Drives course aims to provide a basic understanding of the power semiconductors of the main electronic circuits used for the static conversion of electrical energy as well as the electrical drives. The student will acquire the ability to analyse and perform an initial sizing of power electronic converters operating in either direct or alternating current.

KNOWLEDGE AND UNDERSTANDING:
The student will be gradually guided to the knowledge of the functional characteristics and behavior of the main static power converters used, in particular, in industrial applications, in Distributed Generation Systems and in power trains of electical vehicles. In order to improve the topics understanding, the use of Matlab-Simulink specific packages for the simulation of electronic power converters is illustrated.

APPLYING KNOWLEDGE AND UNDERSTANDING:
The knowledge acquired during the course allows the student to select the topology and size of the power converter in relation to the final design.
Different application examples, in particular devoted to distributed energy generation plants, uninterruptible power supplies and electric mobility will allow the student to improve his ability to apply the acquired knowledge.

MAKING JUDGEMENTS:
The student will be able to collect and process specialized technical information on power converters and verify their validity.

COMMUNICATION SKILLS:
The student will be able to relate with power electronics specialists in order to request the technical information necessary for the development of a project activity.

LEARNING SKILLS:
The skills acquired during the course will allow the student to undertake, with a high degree of autonomy, subsequent studies or apply for technical roles in companies working in the field.

 

SYLLABUS:

POWER SEMICONDUCTORS

Power Semiconductors employed in Power Electronics converters: Diodes, BJT, MOSFET, IGBT, Thyristors, Wide Bandgap Semiconductors).

Static and dynamic behavior. Thermal behavior. Conduction and switching losses.

Technical specifications provided by manufacturers’ datasheets. Driving circuits.

POWER CONVERTER TOPOLOGIES

Behavioral characteristics: unidirectional and bidirectional energy transfer, controlled voltage sources. Analysis method of power converters.

DC-DC Converters. Buck, Boost, Buck-Boost. Switching losses reduction. Average Model. Modulation techniques (PWM, PFM, PRM). Output voltage open-loop control. Closed-loop control. Current control.Half and Full Bridge DC-DC converters.

DC-AC Converters (Inverters). Half and Full Bridge DC-AC single-phase converters based on static switches. Three-phase converters. Modulation techniques. Selective Harmonic Elimination (SHE). Sinusoidal Pulse Width Modulation (SPWM).

Rectifiers: Single-phase and three-phase diode rectifiers. Single-phase and three-phase force-commutated PWM rectifiers: topologies, voltage and current controls. Power Factor Corrector (PFC). Effects on grid side of power converters. Generalized power factor. Compliance with grid codes.
Isolated DC-DC converter.

ELECTRICAL DRIVES
Introduction to Electrical Drives. DC, Permanent Magnet Synchronous Motors and Induction Motors. DC motors model.

Power Electronics Applications

Power Converters simulation using Matlab-Simulink/Simpowersystem.
Photovoltaic Conversion Systems.
Power trains for electrical vehicles. Battery chargers.

 

ROBOT MECHANICS

Simona Ranieri 1st year, 2023, 2nd year, 9 CFU, a.a. 2023-2024, a.a. 2024-25, a.a.2022-2023, ALL blocks, Block A, Block B, Block C, Block D, Block E, I sem, Subjects , ,
ROBOT MECHANICS

 

1 YEAR (Blocks B|C)
2 YEAR (Blocks A)
 1 semester 9 CFU
Marco Ceccarelli (6/9 cfu)

Matteo Russo (3/6 cfu)

 A.Y. 2021-22

A.Y. 2022-23
Matteo Russo A. Y. 2023-24
A.Y. 2024-25
Code: 8039785
SSD: ING-IND/13

LEARNING OUTCOMES:

 The aims of the course are related to explaining the modeling and algorithms for the analysis and design of the functioning of robot mechanisms in terms of mechanical performance. The students will learn how to handle the mechanics of robot by acquiring skills in analyzing and design robots for manipulation tasks in industrial and service applications.

KNOWLEDGE AND UNDERSTANDING:

during the course, problems and characteristics of robotic systems structures and operations are presented to increase students’ knowledge and to allow them to understand problems and solutions in the specific area of ​​robotics

APPLYING KNOWLEDGE AND UNDERSTANDING:

Students are required to apply the characteristics and algorithms for the analysis of manipulations and robotizations of specific robotic systems for merit assessments and demonstrate specific presentation and discussion skills of robotics issues.

MAKING JUDGEMENTS:

Students are involved in the presentation of the modeling and in the discussion of the problems to learn to examine in an autonomous and critical way the problems of analysis of robotic systems.

COMMUNICATION SKILLS:

During the course, the students take part in the discussion of the presented topics and at the end of the course present a report of manipulation and robotization analysis of their choice.

LEARNING SKILLS:

During the course, the students are involved in the discussion for a continuous stimulus to verify the learning and presentation of robot mechanics. the learning achieved is also verified in the presentation of the elaboration of manipulation and robotization analysis of their choice

SYLLABUS:

types of robots and industrial and service applications; components, technical characteristics, and evaluation; analysis and evaluation of manipulative movements; types of manipulators; Denavit-Hartenberg’s notation; fundamentals of direct kinematics; workspace analysis, trajectory planning; fundamentals of statics and dynamics: modeling, actions, equilibrium conditions; equation of motion; fundamentals of the regulation and control of the motion; types and functionality of grippers; grasp mechanics: modeling, actions, equilibrium conditions; mobile service robots: structures and operation; parallel architecture robots; service robots for medical applications: structures and operation; preparation of performance analysis reports of a robot.

INTEGRATED SENSORS

Simona Ranieri 1st year, 2nd year, 9 CFU, a.a. 2023-2024, a.a. 2024-25, a.a.2022-2023, ALL blocks, Block A, Block B, Block C, Block D, Block E, I sem, Subjects , ,
INTEGRATED SENSORS
1 YEAR (Block A|C|D|E)
2 YEAR (Block B)		 1 semester 9 CFU
Corrado Di Natale A.Y. 2019-20 (new name, ex Electronic Devices and Sensors )

A.Y. 2021-22
Alexandro Catini (6cfu)

Corrado  Di Natale (3cfu)

 A.Y. 2022-23

A.Y. 2023-24
Alexandro Catini A.Y. 2024-25
Code: 8039927
SSD: ING-INF/01

LEARNING OUTCOMES:

To introduce the student to modern sensor technologies and their major applications.

KNOWLEDGE AND UNDERSTANDING:

To make the student condition to analyze the sensor performance and to design simple sensors’ interface circuit.

APPLYING KNOWLEDGE AND UNDERSTANDING:

Capability to select sensors for each specific application MAKING JUDGEMENTS:
Evaluate in the different contexts which are the most suitable sensors and evaluate the performance using a standardized parameters set.

COMMUNICATION SKILLS:

Capability to write synthetic reports about the working principles of sensors

LEARNING SKILLS:

To learn how to solve sensors’ circuits to determine their performance and to optimally design sensor systems.

SYLLABUS:

Electronic properties of materials: semiconductors.

General properties of sensors;

Sensitivity and resolution.

Temperature sensors: thermistors, integrated sensors, thermocouples;
Mechanic sensors: Strain gauges: Introduction to MEMS: accelerometer, gyroscope, pressure and flow sensors;

Magnetic sensors;

Optical sensors: photodiodes and image sensors;

infrared sensors; interface circuits for resistive and capacitive sensors

Innovative Materials with Laboratory (blocks B-C)

Simona Ranieri 1st year, 2021, 6 CFU, a.a.2022-2023, Block B, Block C, I sem, Subjects ,
Innovative Materials with Laboratory (blocks B-C)
1 YEAR 1 semester 6 CFU
TATA MARIA ELISA (1cfu)
COSTANZA GIROLAMO (1cfu)
VARONE ALESSANDRA (4cfu)		 A.Y. 2021-22

A.Y. 2022-23

A.Y. 2023-24 (MS TEAMS)
Code: 8039786
SSD: ING-IND/21

LEARNING OUTCOMES:
The aim of the course is to provide an overview of novel materials recently developed and investigated for applications in mechanics, electronics, and mechatronics. Different types of materials are considered and described with particular attention on the preparation route, specific characteristics, and applications. Some of them are of basic importance for new technologies gaining increasing attention in industrial practice. The knowledge of innovative materials is strictly connected to the possibility and capability of designing new products.

KNOWLEDGE AND UNDERSTANDING:
Deep knowledge of the metallic structure and their mechanical behavior; in particular knowledge of innovative materials for mechatronics applications; selection of conventional material or not as a function of application, structure and properties.

APPLYING KNOWLEDGE AND UNDERSTANDING:
Ability to define materials properties and the most suitable production technologies for the components realization; Ability to perform tests in laboratory; Ability to define appropriate treatments in order to obtain the suitable mechanical properties as a function of service conditions. Ability to select innovative materials; ability to evaluate innovative materials properties.

MAKING JUDGEMENTS:
Ability to investigate, select and choose metallic materials as a function of the application.

COMMUNICATION SKILLS:
Clear and correct expression, in English language, skills on the topics covered in the course.

LEARNING SKILLS:

Ability to face a new problem, know how to manage it and find functional and correct solutions. learning ability will be evaluated by exam tests and laboratory activities.

SYLLABUS:

Amorphous alloys: production and applications of metallic glasses as mechatronic devices. Alloys with mixed structure (nanocrystalline and amorphous).

Ultrafine grained (UFG) materials: microstructural features and production routes.

Nanoporous and mesoporous materials: structural characterization and properties. Their applications for energy and gas storage.

Porous materials: metal foams, Open and closed porosity (micro and macro). Classification according to size and shape of the pores.

Properties (sound, energy and vibration absorption, crash behavior) and production methods. Functional and structural applications: lightweight construction, automotive. Metal sandwich structures.

Functional and Smart Materials. Property change as a response of external stimulus: shape memory alloy (one-way and two-way shape memory), thermochromic, photomechanical. Energy conversion:

piezoelectric, thermoelectric. Phase change materials. Applications: mechatronic, energy. Functionally graded materials.

Additive Manufacturing Technologies.

Advanced composite materials: properties, applications, and their production routes.