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Petersen I.R.,University of New South Wales | Tempo R.,CNR Institute of Electronics, Computer and Telecommunication Engineering
Automatica | Year: 2014

This paper presents a survey of the most significant results on robust control theory. In particular, we study the modeling of uncertain systems, robust stability analysis for systems with unstructured uncertainty, robustness analysis for systems with structured uncertainty, and robust control system design including H∞ control methods. The paper also presents some more recent results on deterministic and probabilistic methods for systems with uncertainty. © 2014 Elsevier Ltd. All rights reserved.


Valenzano A.,CNR Institute of Electronics, Computer and Telecommunication Engineering
IEEE Industrial Electronics Magazine | Year: 2014

The protection of a networked industrial control system (ICS) against cyberattacks and malicious behavior is a process that should be taken into account since the very beginning of the system?s conception. This is true, in particular, for the design and verification of access control policies that build up the core of any protection scheme. The aim of this article is to assess the general framework and shed some light on the research activities concerning the analysis and verification of access policies in ICSs, which are currently being carried out in our laboratory. © 2007-2011 IEEE.


Nordio A.,CNR Institute of Electronics, Computer and Telecommunication Engineering | Chiasserini C.-F.,Polytechnic University of Turin
IEEE Transactions on Signal Processing | Year: 2011

Environmental monitoring is often performed through wireless sensor networks, by randomly deploying sensor nodes over the geographical region of interest. Sensors sample a physical phenomenon (the so-called field) and send their measurements to a sink, which is in charge of reconstructing the field from such irregular samples. In this work, we focus on scenarios of practical interest where the sensor deployment is unfeasible in certain areas of the geographical region (e.g., due to terrain asperities), and the delivery of sensor measurements to the sink may fail (e.g., due to fading or to transmission collisions among sensors simultaneously accessing the wireless medium). Under these conditions, we carry out an asymptotic analysis and evaluate the quality of the estimation of a field defined over a d-dimensional domain (d≥1) when the sink uses linear filtering as a reconstruction technique. Specifically, given the matrix V representing the sampling system, we let the size of V go to infinity and its aspect ratio have a finite limit bounded away from zero. Then, we provide both the moments and density of the limiting spectral distribution of VV H, in terms of those obtained when the samples collected by the sink correspond to locations that are uniformly distributed over the geographical area. By using such asymptotic results, we approximate the mean square error on the estimated field through the η-transform of VV H, and we derive the sensor network performance under the conditions described above. © 2011 IEEE.


Veruggio G.,CNR Institute of Electronics, Computer and Telecommunication Engineering
IEEE Robotics and Automation Magazine | Year: 2010

Roboethics is the word officially used for the first time in 2004, in Sanremo, Italy, at the First International Symposium on Roboethics. The event proposed a technical committee (TC) on roboethics, with the aim of providing the IEEE Robotics and Automation Society (RAS) with a framework for supporting the establishment of shared tools for managing new and ethical issues. The 2005 International Conference on Robotics and Automation (ICRA) organized by TC in Barcelona, Spain, placed emphasis on the subject of roboethics. These events have found that roboethics is crucial not only for the society as a whole but also for the technoscientific development of robotics. The prospective ability of learning in personal robots underlines the theoretical and practical limitation in our ability to explain, predict, and control the behavior of autonomous learning robots in their interactions with humans.


Dabbene F.,CNR Institute of Electronics, Computer and Telecommunication Engineering | Gay P.,University of Turin
Computers and Electronics in Agriculture | Year: 2011

The aim of a traceability system is to collect in a rigorous way all the information related to the displacement of the different products along the supply chain. This information proves essential when facing food safety crisis, and allows efficiently managing the consequent product recall action. Although a recall action could be absolutely critical for a company, both in terms of incurred costs and of media impact, at present most companies do not posses reliable methods to precisely estimate the amount of product that would be discarded in the case of recall. The skill of limiting the quantity of recalled products to the minimum can be assumed as a measure of the performance and of the efficiency of the traceability system adopted by the company. Motivated by this consideration, this paper introduces novel criteria and methodologies for measuring and optimizing the performance of a traceability system. As opposed to previous introduced methods, which optimize indirect measures, the proposed approach takes into direct account the worst-case (or the average) quantity of product that should be recalled in the case of a crisis. Numerical examples concerning the mixing of batches in a sausage production process are reported to show the effectiveness of the proposed approach. © 2010 Elsevier B.V.


Ishii H.,Tokyo Institute of Technology | Tempo R.,CNR Institute of Electronics, Computer and Telecommunication Engineering
IEEE Transactions on Automatic Control | Year: 2010

In the search engine of Google, the PageRank algorithm plays a crucial role in ranking the search results. The algorithm quantifies the importance of each web page based on the link structure of the web. We first provide an overview of the original problem setup. Then, we propose several distributed randomized schemes for the computation of the PageRank, where the pages can locally update their values by communicating to those connected by links. The main objective of the paper is to show that these schemes asymptotically converge in the mean-square sense to the true PageRank values. A detailed discussion on the close relations to the multi-agent consensus problems is also given. © 2010 IEEE.


Fiori G.,University of Pisa | Betti A.,University of Pisa | Bruzzone S.,University of Pisa | Iannaccone G.,University of Pisa | Iannaccone G.,CNR Institute of Electronics, Computer and Telecommunication Engineering
ACS Nano | Year: 2012

We propose that lateral heterostructures of single-atomic-layer graphene and hexagonal boron-carbon-nitrogen (hBCN) domains, can represent a powerful platform for the fabrication and the technological exploration of real two-dimensional field-effect transistors. Indeed, hBCN domains have an energy bandgap between 1 and 5 eV, and are lattice-matched with graphene; therefore they can be used in the channel of a FET to effectively inhibit charge transport when the transistor needs to be switched off. We show through ab initio and atomistic simulations that a FET with a graphene-hBCN-graphene heterostructure in the channel can exceed the requirements of the International Technology Roadmap for Semiconductors for logic transistors at the 10 and 7 nm technology nodes. Considering the main figures of merit for digital electronics, a FET with gate length of 7 nm at a supply voltage of 0.6 V exhibits I on/I off ratio larger than 10 4, intrinsic delay time of about 0.1 ps, and a power-delay-product close to 0.1 nJ/m. More complex graphene-hBCN heterostructures can allow the realization of different multifunctional devices, translating on a truly two-dimensional structure some of the device principles proposed during the first wave of nanoelectronics based on III-V heterostructures, as for example the resonant tunneling FET. © 2012 American Chemical Society.


Calafiore G.C.,Polytechnic University of Turin | Dabbene F.,CNR Institute of Electronics, Computer and Telecommunication Engineering | Tempo R.,CNR Institute of Electronics, Computer and Telecommunication Engineering
Automatica | Year: 2011

A novel approach based on probability and randomization has emerged to synergize with the standard deterministic methods for control of systems with uncertainty. The main objective of this paper is to provide a broad perspective on this area of research known as "probabilistic robust control", and to address in a systematic manner recent advances. The focal point is on design methods, based on the interplay between uncertainty randomization and convex optimization, and on the illustration of specific control applications. © 2011 Elsevier Ltd. All rights reserved.


Cheminod M.,CNR Institute of Electronics, Computer and Telecommunication Engineering | Durante L.,CNR Institute of Electronics, Computer and Telecommunication Engineering | Valenzano A.,CNR Institute of Electronics, Computer and Telecommunication Engineering
IEEE Transactions on Industrial Informatics | Year: 2013

Although awareness is constantly rising, that industrial computer networks (in a very broad sense) can be exposed to serious cyber threats, many people still think that the same countermeasures, developed to protect general-purpose computer networks, can be effectively adopted also in those situations where a physical system is managed/controlled through some distributed Information and Communication Technology (ICT) infrastructure. Unfortunately, this is not the case, as several examples of successful attacks carried out in the last decade, and more frequently in the very recent past, have dramatically shown. Experts in this area know very well that often the peculiarities of industrial networks prevent the adoption of classical approaches to their security and, in particular, of those popular solutions that are mainly based on a detect and patch philosophy. This paper is a contribution, from the security point of view, to the assessment of the current situation of a wide class of industrial distributed computing systems. In particular, the analysis presented in this paper takes into account the process of ensuring a satisfactory degree of security for a distributed industrial system, with respect to some key elements such as the system characteristics, the current state of the art of standardization and the adoption of suitable controls (countermeasures) that can help in lowering the security risks below a predefined, acceptable threshold. © 2005-2012 IEEE.


Savazzi S.,CNR Institute of Electronics, Computer and Telecommunication Engineering
International Journal of Distributed Sensor Networks | Year: 2013

Wireless telemetry systems for remote monitoring and control of industrial processes are now becoming a relevant topic in the field of networked control. Wireless closed-loop control systems have stricter delay and link reliability requirements compared to conventional sensor networks for open-loop monitoring and call for the development of advanced network architectures. By following the guidelines introduced by recent standardization, this paper focuses on the most recent technological advances to enable wireless networked control for tight closed-loop applications with cycle times below 100 ms. The cooperative network paradigm is indicated as the key technology to enable cable replacing even in critical control applications. A cooperative communication system enables wireless devices placed at geographically separated locations to act as a virtual ensemble of antennas that creates a virtual multiple-antenna-distributed system. A proprietary link-layer protocol/based on the IEEE 802.15.4 physical layer has been developed and tested in an indoor environment characterized by non-line-of-sight (NLOS) propagation and dense obstacles. The measurements obtained from the testbed evaluate experimentally the benefits (and the limitations) of cable replacing in critical process control. © 2013 Stefano Savazzi.

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