Davide Spinello

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We study the influence of von Karman nonlinearity, van der Waals force, and a athermal stresses on pull-in instability and small vibrations of electrostatically actuated mi-croplates. We use the Galerkin method to develop a tractable reduced-order model for elec-trostatically actuated clamped rectangular microplates in the presence of van der Waals(More)
We analyze electrostatic deformations of rectangular, annular circular, solid circular, and elliptic micro-electromechanical systems (MEMS) by modeling them as elastic membranes. The nonlinear Poisson equation governing their deformations is solved numerically by the meshless local Petrov–Galerkin (MLPG) method. A local symmetric augmented weak formulation(More)
We consider the problem of estimating the state of a system when measurement noise is a function of the system's state. We propose generalizations of the iterated extended Kalman filter and of the extended Kalman filter that can be utilized when the state estimate distribution is approximately Gaussian. The state estimate is computed by an iterative(More)
We present a fully decentralized motion control algorithm for the coordination of platoons of mobile agents with highly restricted communication capabilities. In order to address very low bandwidth communication between agents and time varying communication network topologies, we utilize a distributed full-state observer onboard each agent. Agent motion and(More)
This paper presents the kinematics of a planar multibody vehicle which is aimed at the exploration, data collection, non-destructive testing and general autonomous navigation and operations in confined environments such as pipelines. The robot is made of several identical modules hinged by passive revolute joints. Every module is actu-ated with four active(More)