Michele Basso | Università degli Studi di Firenze (University of Florence) (original) (raw)

Papers by Michele Basso

IFAC Proceedings Volumes (IFAC-PapersOnline), 2008

The aim of the paper is to present ARTIST, the remote control laboratory at University of Florenc... more The aim of the paper is to present ARTIST, the remote control laboratory at University of Florence. Students can remotely interact with a number of physical processes exploiting predefined controllers or uploading their own. The main features of the lab are: a modular approach for the realization of different control tasks for the same process, which can be executed on different lab PCs and communicate over a network; a web-service application which exploits a database to facilitate the registration of users, processes and experiments of the laboratory. ARTIST website can be found at http://artist.dsi.unifi.it.

The Lego Mindstorms series is a widespread robotics platform, already employed in many academic l... more The Lego Mindstorms series is a widespread robotics platform, already employed in many academic laboratories for educational purposes, which has recently obtained native support from another popular product, the Mathworks simulation environment Simulink. In this paper we show through a practical case of study how this combined platform is suitable for the fast developing of control projects inside a laboratory teaching activity, allowing students to focus on the core control design problems, rather than spending relevant time on implementation issues. To this aim, the NXT-bike project is presented, illustrating advantages and drawbacks encountered during the design of a stabilized bicycle Lego model, from the mechanical realization to the conclusive phases of model analysis, control design, and experimental validation.

Computer Applications in Engineering Education, 2015

ABSTRACT

Proceedings of the IEEE Conference on Decision and Control, 2007

The paper deals with the classical problem of the absolute stability in a SISO Lur'e system. The ... more The paper deals with the classical problem of the absolute stability in a SISO Lur'e system. The circle criterion is applied to different overlapping sectors and then, for all the functions in the 'union sector', a set of constraints is defined, so that they make globally asimptotically stable the closed loop system. The conclusion is that in every sector, such that can be covered by subsectors the circle criterion can be applied to, it is possible to define a class of nonlinearities, which solve the absolute stability problem.

Lecture Notes in Control and Information Sciences, 2002

The paper considers stability of periodic solutions in a class of periodically forced nonlinear s... more The paper considers stability of periodic solutions in a class of periodically forced nonlinear systems depending on a scalar parameter and subject to disturbances. The stability analy- sis - based on a combined use of linearization techniques and frequency-domain stability criteria expressed via Integral Quadratic Constraints - can be efficiently performed in terms of Linear Matrix Inequalities. An application example is car- ried out for illustrative purposes.

The class of models for tip-sample interaction dynamics in atomic force microscopy (AFM) via impa... more The class of models for tip-sample interaction dynamics in atomic force microscopy (AFM) via impact dynamics are proposed. For the analysis of oscillatory behaviors authors use a hysteresis law combined with harmonic balance (HB, see the monograph [H. K. Khalil, Nonlinear systems. NJ: Prentice Hall (2002; Zbl 1003.34002)]) techniques. In particular, the presence of jump phenomena discovered in many experiments is well-predicted and explained. Taking into account the fact that the linear part of the considered Luré system has a significant filtering effect, the authors have designed the special method based on a first order harmonic approximation which provided good quantitative results. In such a situation, the HB technique has advantages over standard numerical approaches because it requires a computational effort much smaller than the one required by a pure simulation of the same model. The paper is organized as follows. In Section 2 the AFM model class is described; in Section 3 ...

International Journal of Bifurcation and Chaos

The paper deals with time-scaling transformations of dynamical systems. Such scaling functions op... more The paper deals with time-scaling transformations of dynamical systems. Such scaling functions operate a change of coordinates on the time axis of the system trajectories preserving its phase portrait. Exploiting this property, a chaos encryption technique to transmit a binary signal through an analog channel is proposed. The scheme is based on a suitable time-scaling function which plays the role of a private key. The encoded transmitted signal is proved to resist known decryption attacks offering a secure and reliable communication.

International Journal of Bifurcation and Chaos

In this paper the problem of local exponential stability of periodic orbits in a general class of... more In this paper the problem of local exponential stability of periodic orbits in a general class of forced nonlinear systems is considered. Some lower bounds for the degree of local exponential stability of a given periodic solution are provided by mixing results concerning the analysis of linear time-varying systems and the real parametric stability margin of uncertain linear time-invariant systems. Although conservative with respect to the degree of stability obtainable via the Floquet-based approach, such lower bounds can be efficiently computed also in cases where the periodic solution is not exactly known and the design of a controller ensuring a satisfactory transient behavior is the main concern. The main features of the developed approach are illustrated via two application examples.

Dynamic mode atomic force microscopy provides high resolution in imaging biological samples, but ... more Dynamic mode atomic force microscopy provides high resolution in imaging biological samples, but it features a reduced scanning velocity. In this paper we investigate a recent scheme in which the cantilever gets excited by a feedback loop containing a saturation function. The proposed modality is then analyzed via Floquet theory and compared to the standard setup, showing better transient performance and elimination of some of the known drawbacks. The analysis results confirm preliminary experiments showing the effectiveness of this operating mode.

... Un Modello per Dinamiche di Impatto e la sua Applicazione alla Analisi di un Microscopio a Fo... more ... Un Modello per Dinamiche di Impatto e la sua Applicazione alla Analisi di un Microscopio a Forza Atomica Tesi di Laurea di Donatello Materassi Relatori: Prof. Roberto Genesio Ing. Michele Basso Anno Accademico 2001/2002 Page 2. Indice Introduzione 4 1 Modelli di urto 8 ...

... Michele Basso, Marco Romagnoli ... lavoro ha lo scopo di introdurre un'applicazione ... more ... Michele Basso, Marco Romagnoli ... lavoro ha lo scopo di introdurre un'applicazione della tecno-logia dei web services alla progettazione dei sistemi di controllo real-time su piattaforma Linux-RTAI che offre strumenti avanzati per l'integrazione in ambienti CACSD (Computer ...

2006 American Control Conference, 2006

Optics Express

Optical tweezers are recognized single-molecule technique to resolve forces and motion on the mol... more Optical tweezers are recognized single-molecule technique to resolve forces and motion on the molecular scale. Complex biological phenomena, such as cell differentiation and locomotion, require long range tracking capabilities with nanometer resolution over an extended period, to resolve molecular processes on the cellular scale. Here we introduce a real-time control of the microscope stage position to perform long-term tracking, with sub-millisecond resolution, of a bead attached to a neuron, preserving sub-nanometer sensitivity on a spatial range of centimeters, seven orders of magnitude larger. Moreover, the suitability of the system is tested by time- modulating the force-clamp condition to study the role of statically and dynamically applied forces in neuronal differentiation.

The paper considers stability of periodic solutions in a class of periodically forced nonlinear s... more The paper considers stability of periodic solutions in a class of periodically forced nonlinear systems depending on a scalar parameter and subject to disturbances. A result concerning local existence of a family of periodic solutions for such systems is also given. The stability analysis — based on a combined use of linearization techniques and frequency-domain stability criteria expressed via Integral Quadratic Constraints — can be efficiently performed in terms of Linear Matrix Inequalities. An application example is carried out for illustrative purposes.

The Lego Mindstorms series is a widespread robotics platform, already employed in many academic l... more The Lego Mindstorms series is a widespread robotics platform, already employed in many academic laboratories for educational purposes, which has recently obtained native support from another popular product, the Mathworks simulation environment Simulink. In this paper we show through a practical case of study how this combined platform is suitable for the fast developing of control projects inside a laboratory teaching activity, allowing students to focus on the core control design problems, rather than spending relevant time on implementation issues. To this aim, the NXT-bike project is presented, illustrating advantages and drawbacks encountered during the design of a stabilized bicycle Lego model, from the mechanical realization to the conclusive phases of model analysis, control design, and experimental validation.

IFAC Proceedings Volumes (IFAC-PapersOnline), 2008

The aim of the paper is to present ARTIST, the remote control laboratory at University of Florenc... more The aim of the paper is to present ARTIST, the remote control laboratory at University of Florence. Students can remotely interact with a number of physical processes exploiting predefined controllers or uploading their own. The main features of the lab are: a modular approach for the realization of different control tasks for the same process, which can be executed on different lab PCs and communicate over a network; a web-service application which exploits a database to facilitate the registration of users, processes and experiments of the laboratory. ARTIST website can be found at http://artist.dsi.unifi.it.

The Lego Mindstorms series is a widespread robotics platform, already employed in many academic l... more The Lego Mindstorms series is a widespread robotics platform, already employed in many academic laboratories for educational purposes, which has recently obtained native support from another popular product, the Mathworks simulation environment Simulink. In this paper we show through a practical case of study how this combined platform is suitable for the fast developing of control projects inside a laboratory teaching activity, allowing students to focus on the core control design problems, rather than spending relevant time on implementation issues. To this aim, the NXT-bike project is presented, illustrating advantages and drawbacks encountered during the design of a stabilized bicycle Lego model, from the mechanical realization to the conclusive phases of model analysis, control design, and experimental validation.

Computer Applications in Engineering Education, 2015

ABSTRACT

Proceedings of the IEEE Conference on Decision and Control, 2007

The paper deals with the classical problem of the absolute stability in a SISO Lur'e system. The ... more The paper deals with the classical problem of the absolute stability in a SISO Lur'e system. The circle criterion is applied to different overlapping sectors and then, for all the functions in the 'union sector', a set of constraints is defined, so that they make globally asimptotically stable the closed loop system. The conclusion is that in every sector, such that can be covered by subsectors the circle criterion can be applied to, it is possible to define a class of nonlinearities, which solve the absolute stability problem.

Lecture Notes in Control and Information Sciences, 2002

The paper considers stability of periodic solutions in a class of periodically forced nonlinear s... more The paper considers stability of periodic solutions in a class of periodically forced nonlinear systems depending on a scalar parameter and subject to disturbances. The stability analy- sis - based on a combined use of linearization techniques and frequency-domain stability criteria expressed via Integral Quadratic Constraints - can be efficiently performed in terms of Linear Matrix Inequalities. An application example is car- ried out for illustrative purposes.

The class of models for tip-sample interaction dynamics in atomic force microscopy (AFM) via impa... more The class of models for tip-sample interaction dynamics in atomic force microscopy (AFM) via impact dynamics are proposed. For the analysis of oscillatory behaviors authors use a hysteresis law combined with harmonic balance (HB, see the monograph [H. K. Khalil, Nonlinear systems. NJ: Prentice Hall (2002; Zbl 1003.34002)]) techniques. In particular, the presence of jump phenomena discovered in many experiments is well-predicted and explained. Taking into account the fact that the linear part of the considered Luré system has a significant filtering effect, the authors have designed the special method based on a first order harmonic approximation which provided good quantitative results. In such a situation, the HB technique has advantages over standard numerical approaches because it requires a computational effort much smaller than the one required by a pure simulation of the same model. The paper is organized as follows. In Section 2 the AFM model class is described; in Section 3 ...

International Journal of Bifurcation and Chaos

The paper deals with time-scaling transformations of dynamical systems. Such scaling functions op... more The paper deals with time-scaling transformations of dynamical systems. Such scaling functions operate a change of coordinates on the time axis of the system trajectories preserving its phase portrait. Exploiting this property, a chaos encryption technique to transmit a binary signal through an analog channel is proposed. The scheme is based on a suitable time-scaling function which plays the role of a private key. The encoded transmitted signal is proved to resist known decryption attacks offering a secure and reliable communication.

International Journal of Bifurcation and Chaos

In this paper the problem of local exponential stability of periodic orbits in a general class of... more In this paper the problem of local exponential stability of periodic orbits in a general class of forced nonlinear systems is considered. Some lower bounds for the degree of local exponential stability of a given periodic solution are provided by mixing results concerning the analysis of linear time-varying systems and the real parametric stability margin of uncertain linear time-invariant systems. Although conservative with respect to the degree of stability obtainable via the Floquet-based approach, such lower bounds can be efficiently computed also in cases where the periodic solution is not exactly known and the design of a controller ensuring a satisfactory transient behavior is the main concern. The main features of the developed approach are illustrated via two application examples.

Dynamic mode atomic force microscopy provides high resolution in imaging biological samples, but ... more Dynamic mode atomic force microscopy provides high resolution in imaging biological samples, but it features a reduced scanning velocity. In this paper we investigate a recent scheme in which the cantilever gets excited by a feedback loop containing a saturation function. The proposed modality is then analyzed via Floquet theory and compared to the standard setup, showing better transient performance and elimination of some of the known drawbacks. The analysis results confirm preliminary experiments showing the effectiveness of this operating mode.

... Un Modello per Dinamiche di Impatto e la sua Applicazione alla Analisi di un Microscopio a Fo... more ... Un Modello per Dinamiche di Impatto e la sua Applicazione alla Analisi di un Microscopio a Forza Atomica Tesi di Laurea di Donatello Materassi Relatori: Prof. Roberto Genesio Ing. Michele Basso Anno Accademico 2001/2002 Page 2. Indice Introduzione 4 1 Modelli di urto 8 ...

... Michele Basso, Marco Romagnoli ... lavoro ha lo scopo di introdurre un'applicazione ... more ... Michele Basso, Marco Romagnoli ... lavoro ha lo scopo di introdurre un'applicazione della tecno-logia dei web services alla progettazione dei sistemi di controllo real-time su piattaforma Linux-RTAI che offre strumenti avanzati per l'integrazione in ambienti CACSD (Computer ...

2006 American Control Conference, 2006

Optics Express

Optical tweezers are recognized single-molecule technique to resolve forces and motion on the mol... more Optical tweezers are recognized single-molecule technique to resolve forces and motion on the molecular scale. Complex biological phenomena, such as cell differentiation and locomotion, require long range tracking capabilities with nanometer resolution over an extended period, to resolve molecular processes on the cellular scale. Here we introduce a real-time control of the microscope stage position to perform long-term tracking, with sub-millisecond resolution, of a bead attached to a neuron, preserving sub-nanometer sensitivity on a spatial range of centimeters, seven orders of magnitude larger. Moreover, the suitability of the system is tested by time- modulating the force-clamp condition to study the role of statically and dynamically applied forces in neuronal differentiation.

The paper considers stability of periodic solutions in a class of periodically forced nonlinear s... more The paper considers stability of periodic solutions in a class of periodically forced nonlinear systems depending on a scalar parameter and subject to disturbances. A result concerning local existence of a family of periodic solutions for such systems is also given. The stability analysis — based on a combined use of linearization techniques and frequency-domain stability criteria expressed via Integral Quadratic Constraints — can be efficiently performed in terms of Linear Matrix Inequalities. An application example is carried out for illustrative purposes.

The Lego Mindstorms series is a widespread robotics platform, already employed in many academic l... more The Lego Mindstorms series is a widespread robotics platform, already employed in many academic laboratories for educational purposes, which has recently obtained native support from another popular product, the Mathworks simulation environment Simulink. In this paper we show through a practical case of study how this combined platform is suitable for the fast developing of control projects inside a laboratory teaching activity, allowing students to focus on the core control design problems, rather than spending relevant time on implementation issues. To this aim, the NXT-bike project is presented, illustrating advantages and drawbacks encountered during the design of a stabilized bicycle Lego model, from the mechanical realization to the conclusive phases of model analysis, control design, and experimental validation.