Massimo Caccia

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A lumped parameter model of open-frame unmanned underwater vehicles (UUV’s) including the effects of propeller–hull and propeller–propeller interactions is presented. The identification of the model parameters consists of a least squares method using only on-board sensor data without requiring any towing tank tests. The identification scheme is based on(More)
This paper addresses the problem of path-following in two-dimensional space for underactuated unmanned surface vehicles (USVs), defining a set of guidance laws at kinematic level. The proposed nonlinear Lyapunov-based control law yields convergence of the path following error coordinates to zero. Furthermore, the introduction of a virtual controlled degree(More)
This paper presents the system design, sea trials and Antartic exploitation of the SESAMO platform. The SESAMO (sea surface autonomous modular unit) prototype robot was especially designed to collect data and samples for the study of the sea-air interface. At sea, operations showed that a relatively simple robot could satisfactorily work in a natural,(More)
This paper addresses the problem of low cost actuator fault detection, diagnosis and accommodation for Remotely Operated Vehicles. The research is based on the analysis of the telemetry of Romeo, the overactuated ROV developed by C.N.R.-I.A.N., operating both in nominal and different failure conditions. Results demonstrate how the monitoring of the(More)
This paper discusses the navigation, guidance and control (NGC) system of an Unmanned Surface Vehicle (USV) through extended at sea trials carried out with the prototype autonomous catamaran Charlie. In particular, experiments demonstrate the effectiveness, both for precision and power consumption, of extended Kalman filter and simple PID guidance and(More)
Virtual target-based path-following techniques are extended to execute the task of vehicle following in the case of unmanned surface vehicles (USVs). Indeed, vehicle following is reduced to the problem of tracking a virtual target moving at a desired range from a master vessel, while separating the spatial and temporal constraints, giving priority to the(More)
The main goal of the research presented in this paper was to evaluate the possibility of using standard Linux for embedded real-time applications in manufacturing as a consequence of dramatic improvements in hardware computing power and free software quality in the last few years. After an accurate analysis of the problems related to making Linux, a native(More)