Giacomo Mantriota

Polytechnic University of Bari

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Giulio Reina

Polytechnic University of Bari

Francesco Bottiglione

Polytechnic University of Bari

L. Mangialardi

Polytechnic University of Bari

Rocco Galati

Polytechnic University of Bari

Giuseppe Carbone

Polytechnic University of Bari

Stefano De Pinto

McLaren Honda (United Kingdom)

Aldo Sorniotti

Polytechnic University of Turin

Roberta Alò

Universidade de Pernambuco

Angelo Ugenti

Polytechnic University of Bari

Matteo Maggi

Polytechnic University of Bari

Cooperative Institutions

Polytechnic University of Bari

University of Surrey

Instituto Politécnico Nacional

University of Salento

McLaren Honda (United Kingdom)

Innovation Engineering (Italy)

Center for Micro-BioRobotics

National Research Council

Istituto Nazionale di Fisica Nucleare, Sezione di Lecce

University of Calabria

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Dynamic behaviour of a closed loop driver?car?caravan system

International Journal of Vehicle Design (2003)

Pierfrancesco Festa L. Mangialardi Giacomo Mantriota

This work studies the influence of the driver on the dynamic behaviour of a car-caravan system. A plane closed-loop 4-DOF linearised model was developed and the feedback was achieved with a compensation tracking model. The analysis of driver-car interaction was studied through the correlation of different ways of driving and effects on the dynamic response. Moreover, this work shows the influence on the stability of car speed and some design parameters such as the position of the caravan's centroid and cornering stiffness of the axle. The effects on the stability induced by different design choices were verified through the simulation of an obstacle avoidance manoeuvre.

Automobile handling

Centroid

Car model

10.1504/ijvd.2003.003354

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Citations (3)

The SNAP: A Novel Four-Wheel Pedal-Assisted Electric Lightweight Vehicle

Mechanisms and machine science (2021)

Francesco Passarella Giacomo Mantriota Giulio Reina

Sustainable transport

10.1007/978-3-030-87383-7_12

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Citations (1)

On the vehicle dynamics prediction via model-based observation

Vehicle System Dynamics (2023)

Antonio Leanza Giacomo Mantriota Giulio Reina

Accurate knowledge of the vehicle dynamics response is a critical aspect to improve handling performance while ensuring safe driving at the same time. However, it poses a challenge since not all the quantities of interest can be directly measured due to cost and/or technological reasons. Therefore, several methods have been developed relying on physical models that map the relationship between these uncertain quantities and other variables that are directly measurable via the onboard sensors. This approach is referred to as model-based estimation, and it is usually solved via Kalman Filtering (KF). The accuracy that can be achieved is tightly connected with the model and the estimation algorithm selected by the designer. In this paper, models with varying levels of fidelity and different KF-based estimators are compared in order to shed some light on the appropriate construction of a model-based observer among the large body of research present in the literature. Recent nonlinear estimation algorithms including the Unscented Kalman Filter (UKF) and the Cubature Kalman Filter (CKF) are contrasted with each other and against the standard Extended Kalman Filter (EKF) on experimental data available from a public data set that uses an instrumented Ferrari 250 LM Berlinetta GT as a test bed.

Observer (physics)

Experimental data

High fidelity

Unscented transform

10.1080/00423114.2023.2220440

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Citations (5)

Condizioni di incipiente distacco e slittamento per oggetti afferrati da ventose

Oleodinamica pneumatica lubrificazione (2011)

Giacomo Mantriota

Source

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F-IVT Actuation System to Power Artificial Knee Joint

World Academy of Science, Engineering and Technology, International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering (2015)

Roberta Alò Francesco Bottiglione Giacomo Mantriota

Source

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Case Study: Infinitely variable transmissions with automatic regulation

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering (2001)

Giacomo Mantriota

An infinitely variable transmission (IVT) is a continuously variable transmission with an infinite ratio range, which means that the transmission ratio may be zero. IVTs are generally made up of three elements: a continuously variable transmission (CVT), a planetary gear train and a fixed ratio mechanism. Automatically regulated CVTs offer the advantage of automatically changing the transmission ratio without requiring sophisticated control systems. In this work the possibility of realizing an automatically regulated IVT is appraised, i.e. with automatic regulation of the transmission ratio, in relation to operational conditions. The use of the automatically regulated V-belt CVT, endowed with simple devices of axial force, is hypothesized. For the different types of devices the characteristic curves of operation, the power flows and the efficiency of the automatically regulated IVT are determined.

Continuously variable transmission

Gear ratio

Automatic transmission

10.1243/0954407011528806

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Citations (11)

A comparison of the performances of full and half toroidal traction drives

Mechanism and Machine Theory (2004)

Giuseppe Carbone L. Mangialardi Giacomo Mantriota

Isothermal process

10.1016/j.mechmachtheory.2004.04.003

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Citations (89)

MG-IVT: An Infinitely Variable Transmission With Optimal Power Flows

Journal of Mechanical Design (2008)

Francesco Bottiglione Giacomo Mantriota

The infinitely variable transmissions (IVTs) allow the transmission ratio to vary with continuity, offering the possibility of also reaching zero values for the transmission ratio and the motion inversion. In this paper an original infinitely variable transmission system is described (MG-IVT). MG-IVT is made up of the coupling of a continuously variable transmission, a planetary gear train, and two ordinary transmissions with a constant transmission ratio. By means of two frontal clutches, the MG-IVT is allowed to get two different configurations. The main purpose is to get the configurations that make the optimal efficiency of the transmission at different transmission ratios. Kinetic characteristics of single component devices are obtained, and the MG-IVT system’s performance is determined by considering how the efficiency of the component devices change as a function of operating conditions. The advantages of the MG-IVT are therefore shown in terms of power and efficiency in comparison to the traditional IVT.

Continuously variable transmission

Gear ratio

Power transmission

Component (thermodynamics)

10.1115/1.2976802

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Citations (28)

Theoretical and experimental study of a power split continuously variable transmission system Part 2

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering (2001)

Giacomo Mantriota

In this work, theoretical and experimental results related to the power flow and efficiency of a power split continuously variable transmission (PS-CVT) system are reported. By means of two separate phases of operation, an original solution is studied that allows an increase in the transmission efficiency through the generation of a flow without recirculation of power. The experimental results related to the second phase of operation of the PS-CVT are reported. Such results are compared with those found through a theoretical model of the transmission. The advantages in terms of efficiency in comparison with a traditional CVT system are shown. A possible operational scheme for the PS-CVT is finally reported through which it is possible to increase the ratio range by means of a cyclical repetition of the operational phases.

Continuously variable transmission

Power transmission

Transmission system

Electrical efficiency

10.1243/0954407011528437

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Citations (24)

Influence of the Dynamic Effects and Grasping Location on the Performance of an Adaptive Vacuum Gripper

Actuators (2022)

Matteo Maggi Giacomo Mantriota Giulio Reina

A rigid in-plane matrix of suction cups is widely used in robotic end-effectors to grasp objects with flat surfaces. However, this grasping strategy fails with objects having different geometry e.g., spherical and cylindrical. Articulated rigid grippers equipped with suction cups are an underinvestigated solution to extend the ability of vacuum grippers to grasp heavy objects with various shapes. This paper extends previous work by the authors in the development of a novel underactuated vacuum gripper named Polypus by analyzing the impact of dynamic effects and grasping location on the vacuum force required during a manipulation cycle. An articulated gripper with suction cups, such as Polypus, can grasp objects by adhering to two adjacent faces, resulting in a decrease of the required suction action. Moreover, in the case of irregular objects, many possible grasping locations exist. The model explained in this work contributes to the choice of the most convenient grasping location that ensures the minimum vacuum force required to manipulate the object. Results obtained from an extensive set of simulations are included to support the validity of the proposed analytical approach.

Grippers

Underactuation

Suction cup

10.3390/act11020055

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Citations (9)