arXiv subjects

Vincenzo Palermo

Publications and source records attributed to Vincenzo Palermo.

5 recordsLinked to original sources

arXiv2025

On Disturbance-Aware Minimum-Time Trajectory Planning: Evidence from Tests on a Dynamic Driving Simulator

This work investigates how disturbance-aware, robustness-embedded reference trajectories translate into driving performance when executed by professional drivers in a dynamic simulator. Three planned reference trajectories are compared against a free-driving baseline (NOREF) to assess trade-offs between lap time (LT) and steering effort (SE): NOM, the nominal time-optimal trajectory; TLC, a track-limit-robust trajectory obtained by tightening margins to the track edges; and FLC, a friction-limit-robust trajectory obtained by tightening against axle and tire saturation. All trajectories share the same minimum lap-time objective with a small steering-smoothness regularizer and are evaluated by two professional drivers using a high-performance car on a virtual track. The trajectories derive from a disturbance-aware minimum-lap-time framework recently proposed by the authors, where worst-case disturbance growth is propagated over a finite horizon and used to tighten tire-friction and track-limit constraints, preserving performance while providing probabilistic safety margins. LT and SE are used as performance indicators, while RMS lateral deviation, speed error, and drift angle characterize driving style. Results show a Pareto-like LT-SE trade-off: NOM yields the shortest LT but highest SE; TLC minimizes SE at the cost of longer LT; FLC lies near the efficient frontier, substantially reducing SE relative to NOM with only a small LT increase. Removing trajectory guidance (NOREF) increases both LT and SE, confirming that reference trajectories improve pace and control efficiency. Overall, the findings highlight reference-based and disturbance-aware planning, especially FLC, as effective tools for training and for achieving fast yet stable trajectories.

cs.RO↗

arXiv2023

Visible-Light Assisted Covalent Surface Functionalization of Reduced Graphene Oxide Nanosheets with Arylazo Sulfones

We present an environmentally benign methodology for the covalent functionalization (arylation) of reduced graphene oxide (rGO) nanosheets with arylazo sulfones. A variety of tagged aryl units were conveniently accommodated at the rGO surface via visible light irradiation of suspensions of carbon nanostructured materials in aqueous media. Mild reaction conditions, absence of photosensitizers, functional group tolerance and high atomic fractions (XPS analysis) represent some of the salient features characterizing the present methodology. Control experiments for the mechanistic elucidation (Raman analysis) and chemical nanomanipulation of the tagged rGO surfaces are also reported.

cond-mat.mes-hall↗

arXiv2021

Multiscale charge transport in van der Waals thin films: reduced graphene oxide as case study

Large area van der Waals (vdW) thin films are assembled materials consisting of a network of randomly stacked nanosheets. The multi-scale structure and the two-dimensional nature of the building block mean that interfaces naturally play a crucial role in the charge transport of such thin films. While single or few stacked nanosheets (i.e. vdW heterostructures) have been the subject of intensive works, little is known about how charges travel through multilayered, more disordered networks. Here we report a comprehensive study of a prototypical system given by networks of randomly stacked reduced graphene oxide 2D nanosheets, whose chemical and geometrical properties can be controlled independently, permitting to explore percolated networks ranging from a single nanosheet to some billions with room temperature resistivity spanning from 10-5 to 10-1 ohm m. We systematically observe a clear transition between two different regimes at a critical temperature T*: Efros-Shklovskii variable range hopping (ESVRH) below T* and power law (PL) behavior above. Firstly, we demonstrate that the two regimes are strongly correlated with each other, both depending on the charge localization length xi, calculated by ES-VRH model, which corresponds to the characteristic size of overlapping sp2 domains belonging to different nanosheets. Thus, we propose a microscopic model describing the charge transport as a geometrical phase transition, given by the metal-insulator transition associated with the percolation of quasi-1D nanofillers with length xi, showing that the charge transport behavior of the networks is valid for all geometries and defects of the nanosheets, ultimately suggesting a generalized description on vdW and disordered thin films.

cond-mat.mes-hall↗

arXiv2018

Dynamically switching the surface electronic and electrostatic properties of indium tin oxide electrodes with photochromic monolayers

The chemical modification of electrodes with organic materials is a common approach to tune the electronic and electrostatic landscape between interlayers in optoelectronic devices, thus facilitating charge injection at the electrode/semiconductor interfaces and improving their performance. The use of photochromic molecules for the surface modification allows dynamic control of the electronic and electrostatic properties of the electrode and thereby enables additional functionalities in such devices. Here, we show that the electronic properties of a transparent indium tin oxide (ITO) electrode are reversibly and dynamically modified by depositing organic photochromic switches (diarylethenes) in the form of self-assembled monolayers (SAMs). By combining a range of surface characterization and density functional theory calculations, we present a detailed picture of the SAM binding onto ITO, the packing density of molecules, their orientation, as well as the work function modification of the ITO surface due to the SAM deposition. Upon illumination with ultraviolet and green light, we observe a reversible shift of the frontier occupied levels by 0.7 eV, and concomitantly a reversible work function change of ca. 60 meV. Our results prove the viability of dynamic switching of the electronic properties of the electrode with external light stimuli, which could be used to fabricate ITO-based photo-switchable optoelectronic devices.

physics.chem-ph↗

arXiv2013

Turbostratic graphitic microstructures: electronically decoupled multilayer graphene devices with robust high charge carrier mobility

Carbon nanomaterials continue to amaze scientists due to their exceptional physical properties. Recently there have been theoretical predictions and first reports on graphene multilayers, where, due to the rotation of the stacked layers, outstanding electronic properties are retained while the susceptibility to degradation and mechanical stress is strongly reduced due to the multilayer nature. Here we show that fully turbostratic multilayer graphitic microstructures combine the high charge carrier mobilities necessary for advanced electronic and spintronic devices with the robustness of graphitic structures. Structural characterization of disk-shaped graphitic microstructures using Raman spectroscopy and Transmission Electron Microscopy (TEM) reveals Moiré and diffraction patterns corroborating their turbostratic nature. Electronic transport characterization yields reproducible high mobilities > 105 cm^2(Vs)^(-1) independent of the disks thickness, which is a direct consequence of the electronic decoupling induced by the turbostratic stacking.

cond-mat.mtrl-sci↗