Logo UNIPVM

Andrea MONTERIU'

Pubblicazioni

Andrea MONTERIU'

 

201 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
121 4 Contributo in Atti di Convegno (Proceeding)
38 1 Contributo su Rivista
32 2 Contributo in Volume
8 3 Libro
2 6 Brevetti
Anno Risorsa
2021 Hybrid deep learning (hDL)-based brain-computer interface (BCI) systems: A systematic review
BRAIN SCIENCES
Autore/i: Alzahab, N. A.; Apollonio, L.; Di Iorio, A.; Alshalak, M.; Iarlori, S.; Ferracuti, F.; Monteriu', A.; Porcaro, C.
Classificazione: 1 Contributo su Rivista
Abstract: Background: Brain-Computer Interface (BCI) is becoming more reliable, thanks to the advantages of Artificial Intelligence (AI). Recently, hybrid Deep Learning (hDL), which combines different DL algorithms, has gained momentum over the past five years. In this work, we proposed a review on hDL-based BCI starting from the seminal studies in 2015. Objectives: We have reviewed 47 papers that apply hDL to the BCI system published between 2015 and 2020 extracting trends and highlighting relevant aspects to the topic. Methods: We have queried four scientific search engines (Google Scholar, PubMed, IEEE Xplore and Elsevier Science Direct) and different data items were extracted from each paper such as the database used, kind of application, online/offline training, tasks used for the BCI, pre-processing methodology adopted, type of normalization used, which kind of features were extracted, type of DL architecture used, number of layers implemented and which optimization approach were used as well. All these items were then investigated one by one to uncover trends. Results: Our investigation reveals that Electroencephalography (EEG) has been the most used technique. Interestingly, despite the lower Signal-to-Noise Ratio (SNR) of the EEG data that makes pre-processing of that data mandatory, we have found that the pre-processing has only been used in 21.28% of the cases by showing that hDL seems to be able to overcome this intrinsic drawback of the EEG data. Temporal-features seem to be the most effective with 93.94% accuracy, while spatial-temporal features are the most used with 33.33% of the cases investigated. The most used architecture has been Convolutional Neural Network-Recurrent Neural Network CNN-RNN with 47% of the cases. Moreover, half of the studies have used a low number of layers to achieve a good compromise between the complexity of the network and computational efficiency. Significance: To give useful information to the scientific community, we make our summary table of hDL-based BCI papers available and invite the community to published work to contribute to it directly. We have indicated a list of open challenges, emphasizing the need to use neuroimaging techniques other than EEG, such as functional Near-Infrared Spectroscopy (fNIRS), deeper investigate the advantages and disadvantages of using pre-processing and the relationship with the accuracy obtained. To implement new combinations of architectures, such as RNN-based and Deep Belief Network DBN-based, it is necessary to better explore the frequency and temporal-frequency features of the data at hand.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/287283 Collegamento a IRIS

2020 Decision support methodologies and day-ahead optimization for smart building energy management in a dynamic pricing scenario
ENERGY AND BUILDINGS
Autore/i: Pallante, A.; Adacher, L.; Botticelli, M.; Pizzuti, S.; Comodi, G.; Monteriu, A.
Classificazione: 1 Contributo su Rivista
Abstract: Nowadays identifying techniques aimed at a rational use of electric power has become even more important than the production of energy itself. This is caused by different factors, as the progressive saturation of the electricity grid, which is increasingly subject to connection requests, mainly due to the development of plants which exploit renewable energy sources. This work suggests a new approach based on the combination of the optimizer and the simulator developed in the MATLAB/Simulink environment, in order to reduce the energy costs in buildings during the summer while taking into consideration the user comfort. The electrical consumption of the entire building is taken into consideration is here examined with the aim of applying an air-conditioning system. The goal is to find, the day before, which is the optimal hourly scheduling of the control variables that must be applied the next day, taking into consideration all external conditions; weather conditions and the hourly energy price. In order to achieve this objective, the control variables, that have been changed, are the room temperature set points and the flow water temperature set point. As required by the UNI EN ISO 7730:2006 standard, comfort measurement is calculated by PPD (Predicted Percentage of Dissatisfied) index. Different scenarios are investigated and two optimization algorithms are compared. The results show that there is an average of 10−28% potential cost saving, while maintaining a high level of comfort (PPD ≤ 12). The study is carried out by simulating a real office building in Italy, and the comparisons are shown regarding the actual settings applied to it.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/279447 Collegamento a IRIS

2020 A stress detection system based on multimedia input peripherals
Digest of Technical Papers - IEEE International Conference on Consumer Electronics
Autore/i: Ciabattoni, L.; Foresi, G.; Lamberti, F.; Monteriu, A.; Sabatelli, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a Stress Detection System based on Machine Learning Algorithms (MLAs), keyboard and mouse data is presented. The development of this system is composed by three steps. Firstly, each user performs some tasks while a web application framework collects data from keyboard and mouse. At the end of each task, he/she communicates the stress level in order to create the stress class. Secondly, from collected data, features extraction and features selection procedures through a Neighborhood Component Analysis (NCA) are implemented. Lastly, three MLAs, trained with features as input and stress classes as output, are implemented to detect stress.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/279449 Collegamento a IRIS

2020 Measurement of users’ well-being through domotic sensors and machine learning algorithms
IEEE SENSORS JOURNAL
Autore/i: Casaccia, Sara; Romeo, Luca; Calvaresi, Andrea; Morresi, Nicole; Monteriu', Andrea; Frontoni, Emanuele; Scalise, Lorenzo; Revel, Gian Marco
Classificazione: 1 Contributo su Rivista
Abstract: This paper proposes a specific domotic sensor network to measure the well-being of elderly people in private home environments through Machine Learning (ML) algorithms trained with daily surveys. The tests have been conducted in 5 apartments lived by 8 older people where the non-obtrusive sensor network is installed. Two ML algorithms are compared, Random Forest (RF) and Regression Tree (RT), such that to verify whether the users’ well-being is encoded in behavioural patterns obtained from the domotic data. These data are used to measure users’ well-being and compared with three reference indices obtained through a daily survey: a physical (Phy), a mental (Mind) and a general health index (Avg). The extracted indices from the daily survey are used to train ML algorithms in the estimation of user’s well-being for users that live alone (single-resident) or with others (multi-resident). Single-house and multi-house procedures are tested, both to extract a user-specific behaviour, and assess whether the model is able to generalise across different users and environments. Results show that the RF algorithm provides better performance than the RT algorithm in predicting the level of well-being with a Mean Absolute Error in the multi-house procedure of 32%, 13% and 17% for the Avg, Mind and Phy indices, respectively.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/277376 Collegamento a IRIS

2020 The first outstanding 50 years of “Università Politecnica delle Marche”: Research achievements in life sciences
Autore/i: Longhi, S.; Monteriu', A.; Freddi, A.; Aquilanti, L.; Ceravolo, M. G.; Carnevali, O.; Giordano, M.; Moroncini, G.
Editore: Springer International Publishing
Classificazione: 3 Libro
Abstract: Introduction The book describes the significant multidisciplinary research findings at the Università Politecnica delle Marche and the expected future advances. It addresses some of the most dramatic challenges posed by today’s fast-growing, global society and the changes it has caused. It also discusses solutions to improve the wellbeing of human beings. The book covers the main research achievements in the various disciplines of the life sciences, and includes chapters that highlight mechanisms relevant to all aspects of human diseases, the molecular, cellular, and functional basis of therapy, and its translation into the management of people’s health needs. It also describes research on traditional and innovative foods to enhance quality, safety and functionality, and to develop bioactive/nutraceutical compounds. Further chapters address conservation and management of various environments, from the forests to the oceans, describing the studies on countermeasures against climate changes and terrestrial/aquatic pollutants, and on terrestrial/marine biodiversity, ecosystems and landscapes, erosion of genetic biodiversity, innovative aquaculture feed, sustainable crop production and management of forests. Lastly, the book reports the findings of research work on different classes of biomolecules, and on the molecular basis of antibiotic resistances and their diffusion.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283638 Collegamento a IRIS

2020 Online Fault Detection: A Smart Approach for Industry 4.0
2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Proceedings
Autore/i: Prist, Mariorosario; Monteriù, Andrea; Freddi, Alessandro; Cicconi, Paolo; Giuggioloni, Federico; Caizer, Eduard; Verdini, Carlo; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The fourth industrial age takes the manufacturing factory to a new level by introducing smart, extendible, flexible, modular and customized mass production technologies. Production lines or machines need to be integrated at the management level to be industry 4.0 compliant: in this way they can create and optimize a customer-oriented production, while constantly maintaining good performance conditions. In this context, one of the main challenges is the possibility to detect faults as fast as possible, to accurately diagnose those faults which can negatively affect the overall production cycle, and finally address them before it is too late. Due to the great importance that electric motors play in this context, an online smart algorithm for fault detection in electric motors is proposed in this paper. The effectiveness of the proposed method has been validated by applying it on an experimental benchmark, where the results show that the method is accurate and fast in detection of faults.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283503 Collegamento a IRIS

2020 Preface
The First Outstanding 50 Years of "Universita Politecnica delle Marche": Research Achievements in Life Sciences
Autore/i: Longhi, S.; Monteriu', A.; Freddi, A.; Aquilanti, L.; Ceravolo, M. G.; Carnevali, O.; Giordano, M.; Moroncini, G.
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283639 Collegamento a IRIS

2020 Actuator Fault-Tolerant Control Architecture for Multirotor Vehicles in Presence of Disturbances
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.
Classificazione: 1 Contributo su Rivista
Abstract: In this article we present an actuator fault-tolerant control architecture for the attitude and altitude tracking problem of multirotor aircrafts, under the effects of unknown drag coefficients and external wind. The tracking problem is faced by splitting it into two sub-problems, namely control law and control allocation. The control law is designed in terms of desired forces and moments which should act on the system, it does permit to exploit possible estimations of the disturbances acting on the vehicle and does not depend on the multirotor configuration. The control allocation, instead, optimally solves the redistribution of the control efforts among the motors according to the specific multirotor configuration, moreover it can actively cope with actuator faults whenever their estimations are available. Numerical simulations based on realistic scenarios confirm that the control architecture permits to solve the attitude and altitude tracking problem, despite the effects of faults and disturbances on the system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/275398 Collegamento a IRIS

2020 A functional source separation algorithm to enhance error-related potentials monitoring in noninvasive brain-computer interface
COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE
Autore/i: Ferracuti, F.; Casadei, V.; Marcantoni, I.; Iarlori, S.; Burattini, L.; Monteriu, A.; Porcaro, C.
Classificazione: 1 Contributo su Rivista
Abstract: Background and objectives: An Error related Potential (ErrP) can be noninvasively and directly measured from the scalp through electroencephalography (EEG), as response, when a person realizes they are making an error during a task (as a consequence of a cognitive error performed from the user). It has been shown that ErrPs can be automatically detected with time-discrete feedback tasks, which are widely applied in the Brain-Computer Interface (BCI) field for error correction or adaptation. In this work, a semi-supervised algorithm, namely the Functional Source Separation (FSS), is proposed to estimate a spatial filter for learning the ErrPs and to enhance the evoked potentials. Methods: EEG data recorded on six subjects were used to evaluate the proposed method based on FFS algorithm in comparison with the xDAWN algorithm. FSS- and xDAWN-based methods were compared also to the Cz and FCz single channel. Single-trial classification was considered to evaluate the performances of the approaches. (Both the approaches were evaluated on single-trial classification of EEGs.) Results: The results presented using the Bayesian Linear Discriminant Analysis (BLDA) classifier, show that FSS (accuracy 0.92, sensitivity 0.95, specificity 0.81, F1-score 0.95) overcomes the other methods (Cz - accuracy 0.72, sensitivity 0.74, specificity 0.63, F1-score 0.74; FCz - accuracy 0.72, sensitivity 0.75, specificity 0.61, F1-score 0.75; xDAWN - accuracy 0.75, sensitivity 0.79, specificity 0.61, F1-score 0.79) in terms of single-trial classification. Conclusions: The proposed FSS-based method increases the single-trial detection accuracy of ErrPs with respect to both single channel (Cz, FCz) and xDAWN spatial filter.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/275324 Collegamento a IRIS

2020 Machine learning-as-a-service for consumer electronics fault diagnosis: A comparison between matlab and azure ML
Digest of Technical Papers - IEEE International Conference on Consumer Electronics
Autore/i: Prist, M.; Longhi, S.; Monteriu, A.; Freddi, A.; Pallotta, E.; Ciabattoni, L.; Cicconi, P.; Giuggioloni, F.; Caizer, E.; Verdini, C.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Today, the improvement of the product value in consumer goods, such as new services to increase the positive customer experience, is the subject of many research activities. In a context where the product complexity becomes ever greater and the product life-cycle is always shorter, the use of intelligent tools for supporting all phases of the product life-cycle is very important. One of the aspects that is taking interest is to support the consumer in fault management. This analysis are well-known practices in the industrial, automotive fields, etc. but less used for consumer electronics. This paper analizes a Cloud service based on a Machine Learning (ML) approach used to provide fault detection capabilities to household appliances equipped with electric motors and compare the results with on premise ML algorithms provided research tools. The purpose of this paper is to perform a preliminary comparison of ML algorithm performances provided by two software, namely Microsoft Azure (cloud solution) and MATLAB (on premise solution), on a study case. In detail, the vibration data of an asynchronous motor installed in an oven extractor hood for commercial restaurant kitchen have been analyzed. To this end, two classification algorithms have been selected to implement fault diagnosis techniques.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276300 Collegamento a IRIS

2020 Day-Ahead Multi-Objective Energy Optimization of a Smart Building in a Dynamic Pricing Scenario
Improving Energy Efficiency in Commercial Buildings and Smart Communities
Autore/i: Botticelli, M.; Comodi, G.; Monteriù, A.; Pallante, A.; Pizzuti, S.
Classificazione: 2 Contributo in Volume
Abstract: The identification of techniques aimed at a rational use of electric power has nowadays become more important than the production of energy itself. One of the causes for this is the progressive saturation of the Italian electricity grid, which is increasingly subject to connection requests, mainly due to the development of plants which make use of renewable energy sources. In order to reduce the building’s energy costs during the summer season taking into account the user comfort, in this work we propose a new approach based on Pareto multi-objective optimization combined with a simulator developed in the MATLAB/Simulink environment. The electrical consumption of the entire building is taken into consideration with the aim of air-conditioning it. The goal is to find, the day before, the optimal hourly scheduling of the set points which have to be applied the next day, taking into consideration all external conditions, namely the weather conditions and the hourly energy price. To achieve this objective, the control variables we change are the room temperature set points and the flow water temperature set point. As required by the UNI EN ISO 7730:2006 standard (http://store.uni.com/catalogo/index.php/uni-en-iso-7730-2006.html), comfort measurement has been calculated with the PPD (Predicted Percentage of Dissatisfied) index. Different scenarios have been investigated. The results show that there is an average of 15% potential cost saving, while maintaining a high level of comfort. Experimentation has been carried out by simulating a real office building in Italy, and the comparisons are shown regarding the actual settings applied to it.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/273185 Collegamento a IRIS

2020 Constrained control allocation for a remotely operated vehicle with collective azimuth thrusters
28th Mediterranean Conference on Control and Automation, MED 2020
Autore/i: Baldini, A.; Felicetti, R.; Ferracuti, F.; Freddi, A.; Longhi, S.; Monteriu', A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Remotely operated vehicles commonly have propellers with fixed position and orientation. In this paper, we highlight the advantages of equipping remotely operated vehicles with azimuth thrusters. In particular, both energy saving and increased trajectory tracking performances can be achieved with respect to the fixed orientation case. On the other hand, managing thrusters' orientation represents a further computational burden: the constraints are characterized by the presence of trigonometric functions, thus they require, in general, the use of onerous nonlinear solvers. Our proposal is to steer collectively the thrusters, in order to simplify both the optimization algorithm and the mechanical structure of the ROV. The proposed control allocation algorithm calculates, at first, the orientation of the propeller to minimize the energy consumption while taking into account saturation and rate limits. Then, single thrusts are calculated using a quadratic programming framework. Simulation results show the relevance of energy savings and tracking improvements.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/284405 Collegamento a IRIS

2020 Estimation of actuator faults in quadrotor vehicles: From theory to validation with experimental flight data
IEEE International Conference on Unmanned Aircraft Systems (ICUAS)
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Monteriu', A.; Tempesta, M.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper, we propose the experimental validation of a fault observer which allows to reconstruct the time behaviour of an injected fault effect on a quadrotor actuator. The observer is firstly presented, designed, and its stability property analyzed for independent multiplicative faults/failures on each actuator. Then, the experimental setup is described, taking into consideration the adopted hardware and software implementation, both of them based on commercial and easy to plug-in components. Parameter estimation is also considered in order to obtain numerical evaluations of all the unknown constants of the actual physical system. For the considered experimental setup, the results confirm the validity of the proposed observer, within an acceptance tolerance.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/285071 Collegamento a IRIS

2020 Integrated services, small municipalities and quality of life: an institutional perspective
11° Italian Forum on Ambient Assisted Living
Autore/i: De Angelis, M.; Monteriu', A.
Editore: SPRINGER
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/286229 Collegamento a IRIS

2020 Digital Twin Reference Model Development to Prevent Operators’ Risk in Process Plants
SUSTAINABILITY
Autore/i: Bevilacqua, Maurizio; Bottani, Eleonora; Ciarapica, Filippo Emanuele; Costantino, Francesco; Di Donato, Luciano; Ferraro, Alessandra; Mazzuto, Giovanni; Monteriù, Andrea; Nardini, Giorgia; Ortenzi, Marco; Paroncini, Massimo; Pirozzi, Marco; Prist, Mario; Quatrini, Elena; Tronci, Massimo; Vignali, Giuseppe
Classificazione: 1 Contributo su Rivista
Abstract: In the literature, many applications of Digital Twin methodologies in the manufacturing, construction and oil and gas sectors have been proposed, but there is still no reference model specifically developed for risk control and prevention. In this context, this work develops a Digital Twin reference model in order to define conceptual guidelines to support the implementation of Digital Twin for risk prediction and prevention. The reference model proposed in this paper is made up of four main layers (Process industry physical space, Communication system, Digital Twin and User space), while the implementation steps of the reference model have been divided into five phases (Development of the risk assessment plan, Development of the communication and control system, Development of Digital Twin tools, Tools integration in a Digital Twin perspective and models and Platform validation). During the design and implementation phases of a Digital Twin, different criticalities must be taken into consideration concerning the need for deterministic transactions, a large number of pervasive devices, and standardization issues. Practical implications of the proposed reference model regard the possibility to detect, identify and develop corrective actions that can affect the safety of operators, the reduction of maintenance and operating costs, and more general improvements of the company business by intervening both in strictly technological and organizational terms.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/273436 Collegamento a IRIS

2020 System Thinking Approach for Digital Twin Analysis
2020 IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC)
Autore/i: Bianconi, Carlo; Bonci, Andrea; Monteriu', Andrea; Pirani, Massimiliano; Prist, Mariorosario; Taccari, Leonardo
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The importance of Digital Twins in research and industry is continuously increasing. Their applications, studied and implemented to date, confirm that they are a valuable tool in the evolution process from the traditional factory towards the Smart Factory, in the direction promoted by Industry 4.0. Different definitions of Digital Twin have been proposed by the scientific community with the aim of providing the one that could uniquely and consistently describe all the applications already featured. Such effort to create a unique definition of Digital Twin is very important since it may allow researchers to have guidelines for better understanding the different aspects of its main concepts. The present paper reports a systematic research on the state of the art, especially from recent literature, to show the main issues that could not allow univocal definition of Digital Twin. The aim of this work is to apply the principles of System Thinking to the definitions of Digital Twins already presented in literature. The result of this approach has made possible to represent the well-known concepts in a completely new conceptual framework allowing a potential strengthening of both the theoretical foundations and the tools with the aim to support the development of Digital Twins.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/284697 Collegamento a IRIS

2020 Cyber-physical manufacturing systems: An architecture for sensor integration, production line simulation and cloud services
ACTA IMEKO
Autore/i: Prist, Mariorosario; Monteriu', Andrea; Pallotta, Emanuele; Cicconi, Paolo; Freddi, Alessandro; Giuggioloni, Federico; Caizer, Eduard; Verdini, Carlo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The pillars of Industry 4.0 require the integration of a modern smart factory, data storage in the Cloud, access to the Cloud for data analytics, and information sharing at the software level for simulation and hardware-in-the-loop (HIL) capabilities. The resulting cyber-physical system (CPS) is often termed the cyber-physical manufacturing system, and it has become crucial to cope with this increased system complexity and to attain the desired performances. However, since a great number of old production systems are based on monolithic architectures with limited external communication ports and reduced local computational capabilities, it is difficult to ensure such production lines are compliant with the Industry 4.0 pillars. A wireless sensor network is one solution for the smart connection of a production line to a CPS elaborating data through cloud computing. The scope of this research work lies in developing a modular software architecture based on the open service gateway initiative framework, which is able to seamlessly integrate both hardware and software wireless sensors, send data into the Cloud for further data analysis and enable both HIL and cloud computing capabilities. The CPS architecture was initially tested using HIL tools before it was deployed within a real manufacturing line for data collection and analysis over a period of two months.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/286215 Collegamento a IRIS

2020 Augmented Reality Smart Glasses in the Workplace: Safety and Security in the Fourth Industrial Revolution Era
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Autore/i: Pierdicca, R.; Prist, M.; Monteriu, A.; Frontoni, E.; Ciarapica, F.; Bevilacqua, M.; Mazzuto, G.
Editore: Springer Science and Business Media Deutschland GmbH
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Industry 4.0 is reinventing the way in which production is performed. Based on its eight pillars, I4.0 environments are adopting digital solutions in order to make production smart. One of these is the concept of augmented operator, which can act with the aid of digital tools to facilitate daily work. Augmented Reality can represent the turnkey. In this light, the aim of this research is to present a case study of a “security and safety” application through the use of AR smart glasses, tested in a real scenario. For our experiments, Vuzix Blade smart glasses have been tested in combination with a cloud-based architecture connected with an oil-extractor plant. The goal is to develop an AR application that allows to assist the operator during the working process. In particular, it acts as a guide system for the operator who wears glasses, provides remote support (remote operator) and, from a security point of view, sends real-time alerts in dangerous situations. The application has been validated after a number of practical tests carried out by specialised technicians who normally perform the work.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/284040 Collegamento a IRIS

2020 LS-SVM for LPV-ARX Identification: Efficient Online Update by Low-Rank Matrix Approximation
2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Autore/i: Cavanini, L.; Ferracuti, F.; Longhi, S.; Monteriu', A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Least-Squares Support Vector Machine (LS-SVM) is a promising approach to data-driven identification of Linear Parameter-Varying (LPV) models. As for other data-driven methods, the performance of the LS-SVM model identification method is strictly related to data available off-line for training the algorithm. Further, this method does not consider the possibility to learn from on-line data, or at least this is not possible in a computationally efficient way. These aspects limit the possibility to exploit the features of the algorithm in real-world applications. This paper presents an online updating procedure of LPV-ARX (AutoRegressive with eXogenous input) model based on the Low-Rank (LR) matrix approximation aided to overcome these limits. The proposed method permits to improve the base of knowledge of the provided LS-SVM by introducing the possibility to learn from on-line data, neglecting to perform the time-expensive training phase, such that the proposed approach is suitable for on-line execution. In order to further limit the computational cost and the storage memory related to the on-line learning feature, the proposed approach permits to maintain the original algorithm requirements by introducing a forgetting method able to neglect less important data. The performance of the proposed solution has been evaluate considering as case study a Spark-Ignited (SI) aircraft engine system identification.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/287284 Collegamento a IRIS

2020 Development and experimental validation of algorithms for human–robot interaction in simulated and real scenarios
JOURNAL OF AMBIENT INTELLIGENCE AND HUMANIZED COMPUTING
Autore/i: Freddi, A.; Iarlori, S.; Longhi, S.; Monteriù, A.
Classificazione: 1 Contributo su Rivista
Abstract: The development of robots, which can safely and effectively interact with people and assist them in structured environments, is an open research problem whose importance has been growing rapidly in the last years. Indeed working in shared environments with human beings, these robots require new ways to achieve human–robot interaction and cooperation. This work presents an approach for performing human–robot interaction by means of robotic manipulators. The interaction is composed by three main steps, namely the selection, the recognition and the grasping of an object. The object selection is recorded on the base of a gesture execution, realized by the user in front of a RGB-D camera and associated to each particular object. The object recognition is achieved by means of the RGB cameras mounted on the two manipulator arms, which send the workspace information to a specific classifier. With the aim of realizing the grasping step, the object position and orientation are extracted in order to correctly rotate the gripper according to the object on the desk in front of the robot. The final goal is to release the grasped object on the hand of the user standing in front of the desk. This system could support people with limited motor skills who are not able to get an object on their own, playing an important role in structured assistive and smart environments, thus promoting the human–robot interaction in activity of daily living.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/272954 Collegamento a IRIS

2020 Sparse Approximation of LS-SVM for LPV-ARX Model Identification: Application to a Powertrain Subsystem
2020 AEIT International Conference of Electrical and Electronic Technologies for Automotive, AEIT AUTOMOTIVE 2020
Autore/i: Cavanini, L.; Ferracuti, F.; Longhi, S.; Marchegiani, E.; Monteriu', A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Least Squares Support Vector Machine (LS-SVM) has been recently applied to non-parametric identification of Linear Parameter Varying (LPV) systems, described by the AutoRegressive with eXogenous input (ARX). However, the online application of LPV-ARX system in the LS-SVM setting requires high computational time, related to the number of training data used to compute the coefficients of the identified model, limiting the possibility to use the method to real-time applications. In this paper, the authors propose the Low-Rank (LR) matrix approximation and a pruning based approach to compute a sparse solution. In particular, the pruning algorithm is considered to compute off-line a sparse solution of Lagrangian multipliers and then speed up the testing stage, whereas the LR matrix approximation allows to speed up the training stage. The proposed approach has been tested by identifying a subsystem of a vehicle powertrain model by the input/output data collected from the simulation model. The proposed approach has been compared with respect to the standard approach based on LS-SVM. The methods are tested on the considered real-world problem and the proposed approach permits to reduce the execution time of about 77% on average in the considered identification problem, corresponding to a degradation of the identification result less than 0.2% with respect to the standard solution.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/287414 Collegamento a IRIS

2020 Analysis of LGV usage for the improvement of a customized production
Procedia Manufacturing
Autore/i: Cicconi, Paolo; Raffaeli, Roberto; Postacchini, Leonardo; Monteriu', Andrea; Pallotta, Emanuele; Prist, Mariorosario; Ciarapica, Filippo Emanuele; Germani, Michele
Editore: Elsevier B.V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper describes an approach for analyzing the use of a Laser-Guided Vehicle (LGV) in the context of the small and medium-sized enterprise. The use of LGVs is an efficient solution to provide more flexibility in the context of Just-In-Time production; however, the investment cost can limit this application. A methodology has been proposed in this work to analyze the technical feasibility of using an LGV in the manufacturing industry of customized products. The test case focuses on the study of a laser-guided system to optimize the handling of molds for customized production. In this scenario, an LGV is proposed to substitute manual carts used for moving molds from the warehouse to the injection machines. The traditional path included an intermediate station for pre-heating the molds in hot-air ovens. The proposed solution includes the study of an induction heating system on the LGV to optimize time and energy consumption.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/287510 Collegamento a IRIS

2019 Human-Robot Cooperation via Brain Computer Interface in Assistive Scenario
ser. Lecture Notes in Electrical Engineering, Am- bient Assisted Living: Italian Forum 2017
Autore/i: Foresi, G.; Freddi, A.; Iarlori, S.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Proietti Pagnotta, D.
Classificazione: 2 Contributo in Volume
Abstract: In the last years, the development of robots for assisting and collaborating with people has experienced a large growth. Applications for assistive robots include hospital service robots, factory intelligent assistants and personal homecare robots. Working in shared environments with human beings, these robots require effective ways to achieve an increasing human-robot cooperation. This work presents a possible approach for performing human-robot cooperation, namely recognition of a user selected object by means of Brain Computer Interface (BCI), followed by pick and place via a robotic arm. The object selection is achieved introducing a BCI that allows the user, after a training phase, to choose one among six different objects of common diffusion. The selection is achieved by interpreting the P300 signals generated in the brain, when the image of the object, desidered by the user, appears on a computer screen as a visual stimulus. The robot then recognizes, through a classifier, the selected object among others within its workspace, and inscribes it in a rectangle shape. Finally, the robot arm is moved in correspondence to the object position, the gripper is rotated according to the object orientation and the object grasped and moved into a different position on a desk in front of the robot. This system could support people with limited motor skills or paralysis, playing an important role in structured assistive environments in a near future.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263385 Collegamento a IRIS

2019 A life cycle costing of compacted lithium titanium oxide batteries for industrial applications
JOURNAL OF POWER SOURCES
Autore/i: Cicconi, P.; Postacchini, L.; Pallotta, E.; Monteriu, A.; Prist, M.; Bevilacqua, M.; Germani, M.
Classificazione: 1 Contributo su Rivista
Abstract: Nowadays, although the lithium-ion batteries have been widely applied in the context of electric vehicles for passengers, lead-acid batteries are still prevalent in motive-power applications, such as electric pallet jacks and laser guided vehicles. The battery cost is the main disadvantage that limits the employment of lithium-ion so- lutions in such applications. Several strategies for reducing the battery life cycle cost have been discussed in the scientific literature. The opportunity charging is one of them, even though it is suitable only for batteries having high lifecycles and high charging/discharging rates, such as the Lithium Titanium Oxide ones. This paper aims at assessing a feasible solution to reduce the life cycle cost of the energy storage units for laser guided vehicles. A tool has been proposed to analyze the Total Cost of Ownership of batteries, under the adoption of an opportunity charging strategy. Simulations of energy consumption have also been included, to predict the battery cycles and the operation costs. The life cycle analysis has investigated the use of a compacted Lithium Titanium Oxide battery in comparison with a traditional lead-acid battery. The results have shown the feasibility of the Lithium Titanium Oxide solution and its economic advantage in an industrial context.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/267757 Collegamento a IRIS

2019 The KIMORE dataset: KInematic assessment of MOvement and clinical scores for remote monitoring of physical REhabilitation
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
Autore/i: Capecci, Marianna; Ceravolo, Maria Gabriella; Ferracuti, Francesco; Iarlori, Sabrina; Monteriu, Andrea; Romeo, Luca; Verdini, Federica
Classificazione: 1 Contributo su Rivista
Abstract: The paper proposes a free dataset, available at the following link1, named KIMORE, regarding different rehabilitation exercises collected by a RGB-D sensor. Three data inputs including RGB, Depth videos and skeleton joint positions were recorded during five physical exercises, specific for low back pain and accurately selected by physicians. For each exercise, the dataset also provides a set of features, specifically defined by the physicians, and relevant to describe its scope. These features, validated with respect to a stereophotogrammetric system, can be analyzed to compute a score for the subject's performance. The dataset also contains an evaluation of the same performance provided by the clinicians, through a clinical questionnaire. The impact of KIMORE has been analyzed by comparing the output obtained by an example of rule and template-based approaches and the clinical score. The dataset presented is intended to be used as a benchmark for human movement assessment in a rehabilitation scenario in order to test the effectiveness and the reliability of different computational approaches. Unlike other existing datasets, the KIMORE merges a large heterogeneous population of 78 subjects, divided into 2 groups with 44 healthy subjects and 34 with motor dysfunctions. It provides the most clinically-relevant features and the clinical score for each exercise.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/267561 Collegamento a IRIS

2019 Preface of the Springer Book on Ambient Assisted Living: Italian Forum 2017
Lecture Notes in Electrical Engineering
Autore/i: Casiddu, Niccolò; Porfirione, Claudia; Monteriù, Andrea; Cavallo, Filippo
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265758 Collegamento a IRIS

2019 Octarotor fault tolerant control via dynamic surface control
2019 18th European Control Conference, ECC 2019
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we present a Disturbance Observer Based Control for an octarotor unmanned aerial vehicle, taking into account the actuator dynamics. The scheme is robust to the uncertainties of the model dynamics, the actuator dynamics and it can also manage the presence of actuator faults and failures. The control law is based on a combination of Back-stepping and Dynamic Surface Control, where the feedback linearisation change of coordinates is applied to part of the state space dynamics in order to avoid the explosion of terms. The distribution of the control efforts among the actuators is optimally provided by an allocation algorithm which minimizes the energy consumption even in presence of uncertainties.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/270111 Collegamento a IRIS

2019 Architecture for Cooperative Interacting Robotic Systems Towards Assisted Living: A Preliminary Study
Lecture Notes in Electrical Engineering
Autore/i: Ciuccarelli, L.; Freddi, A.; Iarlori, S.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Proietti Pagnotta, D.
Classificazione: 2 Contributo in Volume
Abstract: The present study aims at providing a robotic architecture system composed by a semi-autonomous mobile robot and a manipulator robot. The user, on a smart wheelchair, is able to move in an indoor environment, by selecting, through a user-interface, the room where he/she wants to move and the object he/she would like to get. In case an object is selected, the user is automatically driven in front of a robotic workstation, where the desired object is picked and placed by a robotic arm in front of the user. The system has been tested on a simulator, and preliminary experimental results show the feasibility of the proposed architecture.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263384 Collegamento a IRIS

2019 Design and Implementation of a Real-Time Upper Limbs Dyskinesia Detection System
2019 IEEE International Conference on Consumer Electronics, ICCE 2019
Autore/i: Belgiovine, G.; Capecci, M.; Ciabattoni, L.; Fiorentino, M. C.; Foresi, G.; Monteriù, A.; Pepa, L.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a Real-Time L-dopa-Induced Dyskinesia (LID) Detection System based on Machine Learning Algorithms (MLAs) and simple devices such as smartphone and smartwatch is presented. The implementation of this system was performed in three steps. Firstly, the data collection is carried out, where each patient wears the smartwatch and completes some tasks, while a smartphone application captures data. Secondly, features in time and frequency domain were extracted from smartwatch data and used as input for the training of different off-line MLAs. Lastly, the best algorithm found has been integrated into a mobile App in order to real-time monitor the smartwatch data and detect LID. © 2019 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265761 Collegamento a IRIS

2019 Smart Monitoring of User and Home Environment: The Health@Home Acquisition Framework
Lecture Notes in Electrical Engineering
Autore/i: Pietroni, Filippo; Casaccia, Sara; Revel, Gian Marco; Prist, Mariorosario; Monteriù, Andrea; Longhi, Sauro; Scalise, Lorenzo
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265760 Collegamento a IRIS

2019 Fault detection of a vtol uav using acceleration measurements
2019 18th European Control Conference, ECC 2019
Autore/i: Benini, A.; Ferracuti, F.; Monteriù, A.; Radensleben, S.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes an actuator fault detection algorithm for vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), based on acceleration signals provided by a high-rate inertial measurement unit. The proposed algorithm is based on time and frequency-domain analysis of acceleration signals and features selection techniques in order to identify the most relevant frequencies of the spectrum and time-domain features involved in the occurrence of the fault. The testing of the algorithm is focused on the damage of a propeller blade and the effects of such damage during vertical take-off and landing, where all the lift is generated by the propellers. The algorithm is tested on real data acquired on the Songbird VTOL UAV [1]. The experimental results prove the possibility of using acceleration signals for diagnostic purposes on VTOL UAVs.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/271321 Collegamento a IRIS

2019 An Automated Procedure to Evaluate Usability of eHealth Platforms in the Wild
2019 Zooming Innovation in Consumer Technologies Conference, ZINC 2019
Autore/i: Ballarini, E.; Ciabattoni, L.; Domenichelli, D.; Domenichelli, M.; Foresi, G.; Monteriù, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Nowadays, one of the keys for the success of ICT technologies, in particular in the e-Health realm, is 'Usability'. Self-assessment questionnaires are the most diffuse procedure for its evaluation. However, this procedure presents various limitations (e.g., subjectivity, needs of expert supervisors, etc.). In this paper, a methodology based on emotion recognition, web analytics and gaze detection is developed in order to asses usability of e-Health web platforms objectively, automatically, remotely and in the wild.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/271324 Collegamento a IRIS

2019 Psychophysiological Stress Control via Heart Rate Entrainment
2019 Zooming Innovation in Consumer Technologies Conference, ZINC 2019
Autore/i: Cuijpers, R. H.; Van Dijk, E. T. K.; Longhi, S.; Marchegiani, E.; Monteriù, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The aim of this work is to develop a real-time system able to classify and passively reduce stress. Heart Rate (HR) and Skin Conductance Response (SCR) are used for stress classification. Entrainment phenomenon is exploited as a possible way to reduce stress via an auditory stimulus. A Support Vector Machine (SVM) produces 84% of stress classification accuracy and a slight effect is obtained for stress reduction.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/271322 Collegamento a IRIS

2019 Dual-arm manipulators kinematic control under multiple constraints via virtual joints approach
Proceedings of the ASME Design Engineering Technical Conference
Autore/i: Proietti Pagnotta, D.; Freddi, A.; Longhi, S.; Monteriu, A.
Editore: American Society of Mechanical Engineers (ASME)
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A kinematic controller for a dual-arm system able to cope with kinematic constraints is presented in this paper. The kinematic controller is designed according to the Relative Jacobian method to achieve cooperation of a couple of 7 DOF robotic arms. The kinematic redundancy obtained from cooperation is exploited to execute other subtasks along the main task. The concept of virtual joint space proposed in the General Weighted Least Norm (GWLN) method is employed in order to include the constraints in the problem. Firstly, the GWLN is reformulated for a dual-arm system, including only the joint limit avoidance subtask. Then, the obstacle avoidance subtask is also considered and a new version of the kinematic controller is derived when the number of constraints is larger than the number of joints. Simulation are performed on the model of the Baxter Robot, in the Matlab-Simulink environment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/272748 Collegamento a IRIS

2019 ErrP Signals Detection for Safe Navigation of a Smart Wheelchair
2019 IEEE 23rd International Symposium on Consumer Technologies, ISCT 2019
Autore/i: Ciabattoni, L.; Ferracuti, F.; Freddi, A.; Iarlori, S.; Longhi, S.; Monteriu, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Assistive robots operate in complex environments and in presence of human beings, as such they are influenced by several factors which may lead to undesired outcomes: wrong sensor readings, unexpected environmental conditions or algorithmic errors represent just few examples. When the safety of the user must be guaranteed, a possible solution is to rely on a human-supervised approach. The proposed work presents a smart wheelchair, i.e. an electric powered wheelchair with semiautonomous navigation capabilities, whose user is equipped with a Brain Computer Interface. During the wheelchair navigation, possible problems (e.g. obstacles) along the trajectory cause the generation of error-related potentials signals when noticed by the user. These signals are captured by the interface and are used to provide a feedback to the navigation task, in order to preserve safety and avoiding possible navigation issues.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/272749 Collegamento a IRIS

2019 Fault Tolerant Control for an Over-Actuated WAM-V Catamaran
IFAC-PapersOnLine
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Hasegawa, K.; Monteriu, A.; Pandey, J.
Editore: Elsevier B.V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we propose a fault/failure tolerant control scheme for a catamaran with two azimuth thrusters. The scheme is based on a three level architecture: a heuristic-based control policy for proper reference generation, a control law for the vehicle dynamics to achieve speed tracking of the generated reference, and a control allocation level for optimally redistributing the control efforts among the thrusters even in presence of actuator faults and failures; finally, the low level control is invariant with respect to the fault/failure scenario, as well as the control law. The proposed architecture has been simulated considering the nonlinear model of a Wave Adaptive Modular Vessel catamaran, with the aim of tracking a reference expressed in waypoints, even when faults/failures affect one or more thrusters.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/275083 Collegamento a IRIS

2019 From the Control Systems Theory to Intelligent Manufacturing and Services: Challenges and Future Perspectives
The First Outstanding 50 Years of “Università Politecnica delle Marche” Research Achievements in Physical Sciences and Engineering
Autore/i: Bonci, Andrea; Conte, Giuseppe; Corradini, Maria Letizia; Freddi, Alessandro; Ietto, Leopoldo; Ippoliti, Gianluca; Longhi, Sauro; Monteriù, Andrea; Orlando, Giuseppe; Orsini, Valentina; Perdon, Anna Maria; Scaradozzi, David; Zanoli, Silvia Maria
Editore: Springer Nature
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Control Science has played over time and still continues to have a key role for the development of human society such that, in the XX century, it has been recognized as an independent discipline. During the ‘50’s, one of the first international scientific congress to address the area of control theory, namely, the “Convegno Internazionale sui Problemi dell’Automatismo”, was held in Italy, at the Museum of Science and Technology in Milan, Italy. In this context, ten years later, the Automatic Control group of the Università di Ancona was born. In this chapter, we want to revisit the main results achieved in the last 50 years by the Automatic Control group of Ancona focusing, in particular, on the recent achievements about linear and nonlinear control; robust, stochastic, adaptive and optimal control; model predictive control; fault diagnosis and fault tolerant control; aerial, terrestrial and underwater unmanned vehicles control; automotive control; switching systems analysis and control; underwater robotics; intelligent manufacturing and cyber-physical production systems. The contribution aims to provide the main challenges on these topics and their future perspectives.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/279926 Collegamento a IRIS

2019 The First Outstanding 50 Years of “Università Politecnica delle Marche”: Research achievements in Physical Sciences and Engineering
Autore/i: Longhi, S.; Monteriu, A.; Freddi, A.; Frontoni, E.; Germani, M.; Revel, G. M.
Editore: Springer International Publishing
Classificazione: 3 Libro
Abstract: The book describes the significant multidisciplinary research findings at the Università Politecnica delle Marche and the expected future advances. It addresses some of the most dramatic challenges posed by today’s fast-growing, global society and the changes it has caused. It also discusses solutions to improve the wellbeing of human beings. The book covers the main research achievements in the different disciplines of the physical sciences and engineering, as well as several research lines developed at the university’s Faculty of Engineering in the fields of electronic and information engineering, telecommunications, biomedical engineering, mechanical engineering, manufacturing technologies, energy, advanced materials, chemistry, physics of matter, mathematical sciences, geotechnical engineering, circular economy, urban planning, construction engineering, infrastructures and environment protection, technologies and digitization of the built environment and cultural heritage. It highlights the international relevance and multidisciplinarity of research at the university as well as the planned research lines for the next years.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/281290 Collegamento a IRIS

2019 Preface
The First Outstanding 50 Years of “Università Politecnica delle Marche”: Research Achievements in Physical Sciences and Engineering
Autore/i: Longhi, S.; Monteriu, A.; Freddi, A.; Frontoni, E.; Germani, M.; Revel, G. M.
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: Preface of the Book entitled << The First Outstanding 50 Years of “Università Politecnica delle Marche”: Research Achievements in Physical Sciences and Engineering >>
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/281313 Collegamento a IRIS

2019 Towards the Design of a Machine Learning-based Consumer Healthcare Platform powered by Electronic Health Records and measurement of Lifestyle through Smartphone Data
2019 IEEE 23rd International Symposium on Consumer Technologies, ISCT 2019
Autore/i: Ferri, A.; Rosati, R.; Bernardini, M.; Gabrielli, L.; Casaccia, S.; Romeo, L.; Monteriu, A.; Frontoni, E.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The estimation of Biological Age (BA) has been debated for several years and no clear and universal understanding has yet been reached to solve this task. Accordingly, the knowledge of an accurate BA index for each individual may be relevant in various areas including health, economy, social policies and decision making processes. The main contribution of this work is the design of a Machine Learning based-consumer healthcare platform powered by electronic health record data (clinical features) and smartphone data (lifestyle features) in order to estimate a sub-index that is strictly correlated with the BA. Preliminary results extracted from a representative subset of clinical and lifestyle features, highlight the potential of the proposed framework in order to estimate the health and physical status of each subject (in terms of the difference between the predicted Chronological Age and the real Chronological Age). Future work will be conducted to encapsulate more information and validate the predicted BA sub-index.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/277370 Collegamento a IRIS

2019 Smart homes and assisted living as an additional service offered to the users
IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Autore/i: Botticelli, M.; Monteriu, A.; Zanela, A.; Romano, S.
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: For several years, ENEA has been conducting a research project funded by the Ministry of Economic Development, within a broader context that envisages the "development of an integrated Smart Urban District model". Among the objectives of the project, there is the development of a replicable Smart Home model capable of stimulating energy savings and, at the same time, offering innovative services that aim to improve the quality of life of end users, in particular fragile users as well as older people. This paper presents the integration on the Smart Home developed architecture of a useful additional assisted living service, namely "MySignals" service, which is able to monitor the vital parameters of home users.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/277373 Collegamento a IRIS

2019 Recurrence Quantification Analysis of Stator-Current Measurements for Electric Motor Fault Classification
IECON Proceedings (Industrial Electronics Conference)
Autore/i: Ferracuti, F; Freddi, A; Longhi, S; Monteriu, A
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Recurrence quantification analysis (RQA) allows to quantify the periodic behavior using recurrence plots instead of deriving information purely from visual analysis. The current study presents a preliminary analysis of stator-current measurements for electric motor fault detection and classification by means of the recurrence quantification theory. Firstly, a preliminary visual inspection of the recurrence plots of stator-current measurements for healthy and faulty electric motors is presented. Thereafter, the following RQ metrics are analyzed: the recurrence rate, the determinism, the divergence, the Shannon entropy, the laminarity and the trapping time. Then, the RQ metrics are used as predictors for fault detection and classification. The classification results (100% fault classification accuracy), which are presented using the linear support vector machine classifier, show that the RQA can be considered as a tool for motor current signature analysis.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/278775 Collegamento a IRIS

2019 Convolutional Recurrent Neural Networks and Acoustic Data Augmentation for Snore Detection
Neural Approaches to Dynamics of Signal Exchanges
Autore/i: Vesperini, F.; Romeo, L.; Principi, E.; Monteriu, A.; Squartini, S.
Editore: Springer Science and Business Media Deutschland GmbH
Classificazione: 2 Contributo in Volume
Abstract: In this paper, we propose an algorithm for snoring sounds detection based on convolutional recurrent neural networks (CRNN). The log Mel energy spectrum of the audio signal is extracted from overnight recordings and is used as input to the CRNN with the aim to detect the precise onset and offset time of the sound events. The dataset used in the experiments is highly imbalanced toward the non-snore class. A data augmentation technique is introduced, that consists in generating new snore examples by simulating the target acoustic scenario. The application of CRNN with the acoustic data augmentation constitutes the main contribution of the work in the snore detection scenario. The performance of the algorithm has been assessed on the A3-Snore corpus, a dataset which consists of more than seven hours of recordings of two snorers and consistent environmental noise. Experimental results, expressed in terms of Average Precision (AP), show that the combination of CRNN and data augmentation in the raw data domain is effective, obtaining an AP up to 94.92%, giving superior results within the related literature.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/270941 Collegamento a IRIS

2019 Cyber-Physical Manufacturing Systems for Industry 4.0: Architectural Approach and Pilot Case
2019 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2019 - Proceedings
Autore/i: Prist, M.; Monteriu, A.; Freddi, A.; Pallotta, E.; Cicconi, P.; Giuggioloni, F.; Caizer, E.; Verdini, C.; Longhi, S.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The pillars of Industry 4.0 require a modern smart factory to be integrated, store data into the Cloud, access the Cloud for data analytics and share information at software level for simulation and Hardware-In-the-Loop capabilities. The resulting Cyber-Physical System is often called Cyber-Physical Manufacturing System, and it becomes fundamental to cope with the increased system complexity and the desired performances. However, since a lot of old production systems are based on monolitic architectures, with limited external communication ports and reduced local computational capabilities, it is very difficult to make such production lines compliant to Industry 4.0 pillars. Wireless Sensor Network is a solution for the smart connection of a production line to a Cyber-Physical System architecture, data processing through Cloud Computing. The scope of this research work is to propose an intermediate layer within the architecture that allows each device, production line and machine to be independently connected despite the adopted protocol. The solution is based on OSGi Framework, which is able to seamlessly integrate both hardware and software wireless sensors, send data into the Cloud for further data analysis, and grant both Hardware-In-the-Loop and Cloud Computing capabilities. A general description of the architecture is here proposed, together with preliminary results on a real manufacturing line for data collection and analysis over a period of two months.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/270113 Collegamento a IRIS

2019 Direct position control of an octarotor unmanned vehicle under wind gust disturbance
2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we present the design of a direct position control law of an octarotor under the presence of wind gust. The nominal control law is designed on a Newton-Euler model using a feedback linearisation technique, where a double integral control law is chosen in order to decouple the controlled variables' dynamics. Then, the wind gust effect is attenuated through an additive correction term, which is based on disturbance observer. An exogenous system is considered in order to estimate the wind gust derivatives, and the overall closed loop boundedness is discussed. Numerical simulations are then reported in order to show the effectiveness of the control scheme, where the observer based technique is compared with the nominal one.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/270112 Collegamento a IRIS

2019 A model-based approach to support the design of mold heating for composites
Lecture Notes in Mechanical Engineering
Autore/i: Cicconi, P.; Pallotta, E.; Russo, A. C.; Raffaeli, R.; Prist, M.; Monteriù, A.; Longhi, S.; Germani, M.
Editore: Pleiades Publishing
Classificazione: 2 Contributo in Volume
Abstract: Molding is one of the most widely used processing technologies in manufacturing. Among typical molding parameters, the mold temperature is a critical one for the quality of the molding process. A solution to this issue can be the employment of induction heating which, through a high-frequency electromagnetic field, produces eddy currents and a consequent rapid heating of the material into the cavity of the mold. The necessity to maintain the mold walls at the operative temperature makes the induction heating to be one of the most efficient non-contact means of heating. In fact, induction heating is characterized by quickness, efficiency, and energy saving; however, the design and the sizing of an induction heating system is complex due to different parameters involved in the electromagnetic and thermal phenomena. In this context, the paper aims to define a methodology to support engineers in the design and sizing of an induction heating system for molds, taking as case study a mold for composite parts. A model-based approach is proposed to analyze and simulate the mold heating, considering three different levels of modelling: Analytical (0D), Finite-Difference Methods (2D) and Finite Element Methods (3D). The Analytical approach investigates the solution of the physical equations applied to the volume of the material involved. Instead, the Finite-Difference approach (2D) solves the heat transfer problem by discretizing the domain and by solving for temperature at discrete points. Finally, the Finite Element method (3D) solves partial differential equations on a 3D discretized domain.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/271325 Collegamento a IRIS

2019 A machine-learning based emotion recognition system in patients with Parkinson's disease
IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Autore/i: Capecci, M.; Ciabattoni, L.; Foresi, G.; Monteriu, A.; Pepa, L.
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper, a Machine-Learning Based Emotion Recognition System in patients with Parkinson's disease is presented. The development of this system is composed of three steps. Firstly, each user is required to execute an experimental protocol while a simple device (i.e., smartwatch), worn on the wrist, collects data. During the experimental protocol, a nine-point clinical scale and a commercial emotion recognition software have been used to identify emotions. Secondly, from smartwatch data, features extraction is implemented. Lastly, a Machine Learning Algorithm (MLA) is trained with extracted features as input and emotion classes as output.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/277371 Collegamento a IRIS

2019 Actuator Fault Tolerant Position Control of a Quadrotor Unmanned Aerial Vehicle
Conference on Control and Fault-Tolerant Systems, SysTol
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.; Rigatos, G.
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we design a fault tolerant single-loop position control of a quadrotor unmanned aerial vehicle. We design a nominal control law by using a feedback linearisation approach. The controlled variables are decoupled using higher order derivatives of the model. We propose an active fault tolerant controller to cope with multiplicative faults affecting the actuators: a nonlinear diagnostic observer is adopted to estimate the fault magnitude, while a control allocation algorithm is used to compensate for the presence of actuator faults. Numerical simulations show the increased tracking capabilities of the proposed scheme with respect to the non tolerant one.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/275077 Collegamento a IRIS

2019 An Effective and Simple Adaptive Algorithm for Ship Course Control Systems
2019 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)
Autore/i: Dyda, A. A.; Chinchukova, E. P.; Oskin, D. A.; Monteriu, A.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper is devoted to design an adaptive algorithm for ship course control system. The course control is achieved developing a PID heading controller with adaptive parameters, tuned via an adaptive algorithm. The feature of the proposed approach consists on the usage of a local quadratic criterion which is based on the speed gradient method. The minimization of the proposed local criterion allows to satisfy the requirement of course accuracy and small rudder deviation and, thus, to reduce any loss of the useful ship linear speed. The simulation results show the effectiveness of the proposed approach also when a liner or nonlinear steering machine model is considered in the ship model. Besides the PID regulator case, the proposed approach is suitable to be applied also for other ship cruise controllers.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/272993 Collegamento a IRIS

2019 Empowered Optical Inspection by Using Robotic Manipulator in Industrial Applications
IEEE International Conference on Intelligent Robots and Systems
Autore/i: Galdelli, A.; Pagnotta, D. P.; Mancini, A.; Freddi, A.; Monteriu, A.; Frontoni, E.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Nowadays the inspection of products at the end of line represents a critical phase. At this stage, it is necessary to look for defects in order to prevent the quality check to fail, and to provide information for improving the production as well. This task can be performed by using several sensing technologies, and the contactless optical inspection plays a key role. In this regard, the use of advanced robotic manipulators offers the capability to change the viewpoint of a given object and to inspect its multiple faces. We propose an approach that combines the use of photometric stereo to derive a 3D model of objects, empowered by the super-resolution that is applied on the original dataset (upstream) or on the normal images (downstream) in order to increase the quality of the final 3D model. The vision system is mounted on a robotic manipulator, able to grasp and change the viewpoint, thus offering a more complete view of the object to be inspected. The obtained results show that the developed solution increases the quality of the derived 3D models used for inspection tasks on different faces of the objects; this is achieved by using the manipulation ability offered by the adopted robotic platform.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/275366 Collegamento a IRIS

2019 Real time indoor localization integrating a model based pedestrian dead reckoning on smartphone and BLE beacons
JOURNAL OF AMBIENT INTELLIGENCE AND HUMANIZED COMPUTING
Autore/i: Ciabattoni, Lucio; Foresi, Gabriele; Monteriù, Andrea; Pepa, Lucia; Proietti Pagnotta, Daniele; Spalazzi, Luca; Verdini, Federica
Classificazione: 1 Contributo su Rivista
Abstract: Mobile and pervasive computing enabled a new realm of possibilities into the indoor positioning domain. Although many candidate technologies have been proposed, no one can still adapt to every use case. A case centered design and the implementation of the solution within the specific domain is the current research trend. With the rise of Bluetooth Low Energy (BLE) Beacons, i.e., platforms used to interact digitally with the real world, more standard positioning solutions are emerging in different contexts. However the reachable positioning accuracy with this technology is still unacceptable for some real applications (e.g., in the healthcare sector or the emergency management). In this paper, an hybrid localization application coupling a real time model based Pedestrian Dead Reckoning (PDR) technique and the analysis of the Received Signal Strength Indicator (RSSI) of BLE beacons is proposed. In particular, the smartphone application is composed by three main real time threads: a model based step length estimation, heading determination and the fusion of beacon information to reset the position and the drift error of the PDR. In order to give soundness to our approach we firstly validated the step length smartphone app with a stereo-photogrammetric system. The whole proposed solution was then tested on fifteen healthy subjects.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250892 Collegamento a IRIS

2019 Biological age estimation using an eHealth system based on wearable sensors
JOURNAL OF AMBIENT INTELLIGENCE AND HUMANIZED COMPUTING
Autore/i: Pierleoni, Paola; Belli, Alberto; Concetti, Roberto; Palma, Lorenzo; Pinti, Federica; Raggiunto, Sara; Sabbatini, Luisiana; Valenti, Simone; Monteriù, Andrea
Classificazione: 1 Contributo su Rivista
Abstract: The rapid worldwide aging makes necessary the development of advanced technologies for the objective identification of diseases and disabilities onset. Accordingly, we need to regard the biological age as an alternative and more reliable indicator of the physiological decline of individuals, respect to the simple chronological age. In this paper, we present an eHealth system for estimate the biological age of elderly people starting from the assessment of the frailty phenotype. The frailty phenotype evaluation is made possible using a standard protocol for data acquisition and a cloud application for processing and storing data. The proposed eHealth system is also equipped with wireless, small and non-invasive wearable sensors for an objective evaluation of the mobility of a subject. The eHealth system is tested on a reference population in order to have an amount of data necessary for defining a model to estimate the biological age. The use of the presented system on a reference population, and the availability of data regarding their mobility, allow the validation of the proposed model for the computation of the biological age via simple and objective frailty phenotype assessment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/272273 Collegamento a IRIS

2019 Special issue on “Smart Homes”: Editors’ notes
SENSORS
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Classificazione: 1 Contributo su Rivista
Abstract: In this editorial, we provide an overview of the content of the Special Issue on “Smart Homes”. The aim of this Special Issue is to provide a comprehensive collection of some of the current state-of-the-art technologies in the context of smart homes, together with new advanced theoretical and technological solutions that enable smart technology diffusion into homes.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/264813 Collegamento a IRIS

2019 Preface
The First Outstanding 50 Years of “Università Politecnica delle Marche” Research Achievements in Social Sciences and Humanities
Autore/i: Longhi, Sauro; Monteriù, Andrea; Freddi, Alessandro; Bettin, Giulia; Cardinali, Silvio; Chiucchi, Maria Serena; Gallegati, Marco
Editore: Springer Nature
Classificazione: 2 Contributo in Volume
Abstract: The book describes significant multidisciplinary research findings at the Università Politecnica delle Marche and the expected future advances. It addresses some of the most dramatic challenges posed by today’s fast-growing, global society and the changes it has caused, while also discussing solutions to improve the wellbeing of human beings. The book covers the main research achievements made in the social sciences and humanities, and includes chapters that focus on understanding mechanisms that are relevant to all aspects of economic and social interactions among individuals. In line with Giorgio Fuà’s contribution, the interdisciplinary research being pursued at the Faculty of Economics of Università Politecnica delle Marche is aimed at interpreting the process of economic development in all of its facets, both at the national and local level, with a particular focus on profit and non-profit organizations. Various disciplines are covered, from economics to sociology, history, statistics, mathematics, law, accounting, finance and management.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283201 Collegamento a IRIS

2019 The First Outstanding 50 Years of “Università Politecnica delle Marche”: Research Achievements in Social Sciences and Humanities
Autore/i: Longhi, Sauro; Monteriu', Andrea; Freddi, Alessandro; Bettin, Giulia; Cardinali, Silvio; Chiucchi, Maria Serena; Gallegati, Marco
Editore: Springer International Publishing
Classificazione: 3 Libro
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/288188 Collegamento a IRIS

2018 Complex Activity Recognition System Based on Cascade Classifiers and Wearable Device Data
36th IEEE International Conference on Consumer Electronics (ICCE)
Autore/i: Ciabattoni, Lucio; Foresi, Gabriele; Monteriù, Andrea; Proietti Pagnotta, Daniele; Romeo, Luca; Spalazzi, Luca; De Cesare, Alex
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes a system for recognizing hu- man complex activities by using unobtrusive sensors such as smartphone, smartwatch and bluetooth beacons. The method encapsulates two classification stages. The former is composed of two parallel processes: the Main Activity Detection (MAD) and the Room Detection (RD). The latter implements the Complex Activity Detection (CAD) process by exploiting the outputs of the first stage and the accelerometer data of the smartwatch. The cascade classification approach that combines the room detection with the main/complex activities recognition task constitutes the novelty of the work. Preliminary results demonstrate the reliability of the system in terms of accuracy and macro-F1 score.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/255085 Collegamento a IRIS

2018 Improving Mobility and Autonomy of Disabled Users via Cooperation of Assistive Robots
36th IEEE International Conference on Consumer Electronics (ICCE)
Autore/i: Foresi, Gabriele; Freddi, Alessandro; Monteriu', Andrea; Ortenzi, Davide; PROIETTI PAGNOTTA, Daniele
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Robotic assistance for disabled users and/or for elderly people represents an active research area and, at the same time, a growing market, which will lead to commercial technological solutions in a near future. Cooperation of existing assistive technologies can represent an important step towards the development of such solutions. In this paper, we face the problem of cooperation between a smart wheelchair and one or more robotic workstations: the wheelchair can navigate autonomously and permits to choose the point to move to or the object to interact with, while the robotic workstation can interact with one or more objects within its workspace and with the user on the wheelchair. The hardware/software architecture is here presented, together with some preliminary results.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/255086 Collegamento a IRIS

2018 Health@Home: Pilot cases and preliminary results: Residential sensor network to promote the active aging of real users
MeMeA 2018 - 2018 IEEE International Symposium on Medical Measurements and Applications, Proceedings
Autore/i: Casaccia, Sara; Pietroni, Filippo; Scalise, Lorenzo; Revel, Gian Marco; Monteriù, Andrea; Prist, Mariorosario; Frontoni, Emanuele; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This study is realized within the framework of the Health@Home Italian project. The focus of this paper is to provide a description of the experimentation in a pilot case in Veneto region (Italy). The integrated residential sensor network (composed by a mix of domotic equipment and biomedical devices), which will allow older people to improve their life-style in their houses, is discussed, together with the apartments selection (i.e. the specifications and requirements) and the users’ recruitment. The authors will also introduce the analysis of the expected results, based on measurements of preliminary data and signals in living lab and the first feedback from the 13 recruited users. The results of the preliminary tests are used to improve the architecture, following the user-acceptance and the data collection. In this phase of the study, the possible services have been hypothesized, and this aspect will be investigated after the end of the experimentation phase (end of 2018)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262313 Collegamento a IRIS

2018 A Model-based Active Fault Tolerant Control Scheme for a Remotely Operated Vehicle
10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018
Autore/i: Baldini, Alessandro; Fasano, Antonio; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: An active failure and fault tolerant control scheme for an underwater remotely operated vehicle is proposed in this work. The proposed solution is based on a fault tolerant allocation, which takes into account an estimate of the faults on the vehicle’s thrusters for an accurate redistribution of the control effort. The diagnosis is based on a sliding mode observer, which generates three residuals and allows to evaluate the health condition of each actuator of the vehicle. The scheme can be adapted to any control law for the vehicle dynamics, and has been tested in simulation using a backstepping controller for the dynamics and with real world parameters, demonstrating the effectiveness of the proposed active fault tolerant control scheme.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262314 Collegamento a IRIS

2018 A Constrained Thrust Allocation Algorithm for Remotely Operated Vehicles
11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018
Autore/i: Baldini, Alessandro; Fasano, Antonio; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Editore: Elsevier B.V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper, the constrained thrust allocation problem is studied and solved for the class of over-actuated Remotely Operated Vehicles. In detail, we find the solution of the thrust allocation when the thrusters are affected by possible faults and, simultaneously, taking into account the thrusters’ saturation limits. The proposed thrust allocation algorithm is tested both numerically, with randomly generated input samples, and applied in simulation for the trajectory tracking of a Remotely Operated Vehicle, with real parameters and in combination with different control laws. The algorithm is compared with two commonly used approaches, that are the saturated pseudo-inverse method and the Matlab Quadratic Programming solver; both accuracy and computation time are considered in the analysis of the performances. The simulations show that the proposed algorithm performs better, in terms of computation time, w.r.t. the Matlab Quadratic Programming solver, while still retaining the optimality of the solution despite the saturation constraints; moreover, there is also an improvement in the tracking error regardless of the adopted control law.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262317 Collegamento a IRIS

2018 Dynamic surface fault tolerant control for underwater remotely operated vehicles
ISA TRANSACTIONS
Autore/i: BALDINI, Alessandro; Ciabattoni, Lucio; FELICETTI, Riccardo; Ferracuti, Francesco; Freddi, Alessandro; Monteriù, Andrea
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, we present a two stages actuator Fault Tolerant Control (FTC) strategy for the trajectory tracking of a Remotely Operated Vehicle (ROV). Dynamic Surface Control (DSC) is used to generate the moment and forces required by the vehicle to perform the desired motion. In the second stage of the control system, a fault tolerant thruster allocation policy is employed to distribute moment and forces among the thrusters. Exhaustive simulations have been carried out in order to compare the performance of the proposed solution with respect to different control techniques (i.e., PID, backstepping and sliding mode approaches). Saturations, actuator dynamics, sensor noises and time discretization are considered, in fault-free and faulty conditions. Furthermore, in order to provide a fair and exhaustive comparison of the control techniques, the same meta-heuristic approach, namely Artificial Bee Colony algorithm (ABC), has been employed to tune the controllers parameters.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254633 Collegamento a IRIS

2018 Non Intrusive Load Identification for Smart Energy Management Systems
36th IEEE International Conference on Consumer Electronics (ICCE)
Autore/i: Chelli, Giacomo; Ciabattoni, L.; Flores-Arias, J. M.; Foresi, Gabriele; Monteriù, A.; PROIETTI PAGNOTTA, Daniele
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In an energy management (EM) perspective, an ob- jective function considering the balance of energy and resources needs to be optimized. To reach the goal, in a residential scenario, a number of tasks (typically appliances) can be managed (e.g. shifted). This paper proposes an unobtrusive cascade classifier approach to autonomously identify the different appliances and their priorities (shiftable, non interruptible, continuous loads) in EM algorithms based on smart plugs measures.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/255088 Collegamento a IRIS

2018 Il capitale umano nel paradigma dell'Industria 4.0
Le competenze per costruire il futuro: '50 ISTAO
Autore/i: Longhi, Sauro; Monteriu', Andrea
Editore: Comunità Editrice
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Abstract: Il nuovo paradigma Industria 4.0, ovvero della quarta rivoluzione industriale, mira ad una produzione del tutto automatizzata ed interconnessa presentando, in apparenza, rischi di riduzione degli occupati nei processi produttivi, ma di fatto, capace di produrre notevoli opportunità di sviluppo. Industria 4.0 porta con sé nuove sfide e notevoli cambiamenti all’intero ciclo di vita del processo produttivo, tale da non poter prescindere da una profonda evoluzione in termini di conoscenze e competenze da parte della classe imprenditoriale ma anche da parte dell’intero capitale umano su cui il sistema industriale può contare. Le linee guida sviluppate dal Ministero dello Sviluppo Economico nel Piano nazionale Industria 4.0 si basano su nuovi modelli di governance e su modelli organizzativi ed innovativi, che mirano alla costituzione di un sistema culturale nuovo, attraverso il rafforzamento delle competenze digitali esistenti e introducendo direttrici tecnologiche completamente innovative. Il contributo mira a fornire una panoramica delle opportunità che questo scenario può offrire in termini delle conoscenze e competenze utili ad accrescere il valore del capitale mano nei diversi settori produttivi.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259225 Collegamento a IRIS

2018 Variable Structure Control via Coupled Surfaces for Control Effort Reduction in Remotely Operated Vehicles
Offshore Mechatronics Systems Engineering
Autore/i: Baldini, Alessandro; Ciabattoni, Lucio; Dyda, A. A.; Felicetti, Riccardo; Ferracuti, Francesco; Freddi, Alessandro; Monteriù, Andrea; Oskin, D.
Editore: Taylor & Francis Group
Classificazione: 2 Contributo in Volume
Abstract: In this chapter, a Variable Structure Control law is presented and applied to solve the tracking problem for a Remotely Operated Vehicle. Unlike the classical Sliding Mode Control, which is composed by a single sliding surface, the proposed control law presents two coupled sliding surfaces. It follows that the state space can be divided into two spaces, namely one between the surfaces and one outside them. In the region outside the surfaces, the controller is designed similarly as for the classical Sliding Mode Control, while, inside the area, the system is in free motion. It follows that the control effort is null for some time intervals, hence a reduction of control efforts is possible. In order to test the performances of the proposed technique, exhaustive simulations are made for a Remotely Operated Vehicle, and compared with classical Sliding Mode Control, where linear sliding surfaces are taken into consideration for both cases, combined with a bang-bang-type control logic. Simulation results show that, for the tracking problem, the proposed Variable Structure Control technique performs better both in terms of performances (estimated with the Integral of Absolute Error) and energy consumption (estimated with a related cost function).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263386 Collegamento a IRIS

2018 A Preliminary Study of a Cyber Physical System for Industry 4.0: Modelling and Co-Simulation of an AGV for Smart Factories
2018 Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2018 - Proceedings
Autore/i: Cavanini, L.; Cicconi, P.; Freddi, A.; Germani, M.; Longhi, Sauro; Monteriu, A.; Pallotta, E.; Prist, M.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259877 Collegamento a IRIS

2018 Fault Detection, Diagnosis and Fault Tolerant Output Control for a Remotely Operated Vehicle
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.; Fasano, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: An active fault tolerant control scheme for an underwater remotely operated vehicle is proposed in this work when only position and heading measurements are available. The diagnosis technique is based on a second order sliding mode observer, allowing to estimate both the unmeasured system state, namely linear and angular speeds, and the fault extent. The fault estimation is fed to a thrust allocation algorithm which achieves fault tolerant capabilities independently of the controller, attaining robustness with respect to actuator faults with any suitable control law. The overall fault diagnosis and fault tolerant scheme has been tested in simulation scenario using four different controllers and using the real world parameters of the SNAMprogetti remotely operated vehicle, thus validating the effectiveness of the proposed solution.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262307 Collegamento a IRIS

2018 A Gestures Recognition Based Approach for Human-Robot-Interaction
2018 Zooming Innovation in Consumer Technologies Conference, ZINC 2018
Autore/i: Freddi, A.; Goffi, M.; Longhi, S.; Monteriu, A.; Ortenzi, D.; Pagnotta, D. Proietti
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work proposes a robotic manipulator assistant for disabled users and/or for elderly people with limited motor skills. In detail, the interaction among the robot and the user is based on the user gestures recognition. The user chooses an object among those available by moving his/her arm in a specific pose, which is recognized by using an external camera. Then, images of the objects accessible to the robot are acquired via the robot camera, located at the end of the robot arm, and are analyzed by a Support Vector Machine classifier in order to recognize the user selected object. Finally, the manipulator picks the object and places it on the user's hand, whose location in the Cartesian space is determined via the external camera and updated online.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262308 Collegamento a IRIS

2018 Cooperative Robots Architecture for an Assistive Scenario
2018 Zooming Innovation in Consumer Technologies Conference, ZINC 2018
Autore/i: Ciuccarelli, L.; Freddi, A.; Longhi, S.; Monteriu, A.; Ortenzi, D.; Pagnotta, D. Proietti
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes an assistive robotic solution for elderly people and/or people suffering from lower limbs problem. The proposed architecture consists of a Smart Wheelchair (SWC) and a Robotic Workstation (RW) which cooperate in order to perform an autonomous navigation and manipulation task. The system allows the user to choose a point on the map to move to and/or an object to manipulate. The SWC is able to autonomously navigate to the desired RW, while the localization is performed via an Unscented Kalman Filter (UKF). Moreover, QR codes have been used as landmarks to compensate the pose estimation error. The system was tested both in simulation and in a real scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262309 Collegamento a IRIS

2018 Fall Detection System by Using Ambient Intelligence and Mobile Robots
2018 Zooming Innovation in Consumer Technologies Conference, ZINC 2018
Autore/i: Ciabattoni, L.; Foresi, G.; Monteriu, A.; Pagnotta, D. Proietti; Tomaiuolo, L.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a robust Fall Detection Algorithm by using a deep learning approach and a low-cost mobile robot equipped with an RGB camera is presented. This method consists of four steps. The first step is the user detection, achieved by a real-time video stream and a Deep Learning approach. Once the user is detected, then its position is estimated in the second step. In the third step, if a fall is detected, a photo is acquired and a pre-registered audio message asks the user how he is. In the last step the photo and the audio captured are sent to a Telegram Bot (TB) in order to alert family members or caregivers. Tests have been performed in a real scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262310 Collegamento a IRIS

2018 Kinematic Fault Tolerant Control of a Dual-Arm Robotic System under Torque Faults
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Autore/i: Freddi, A.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Pagnotta, D. Proietti
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A kinematic Fault Tolerant Control (FTC) scheme for a dual-arm system affected by actuator faults is proposed in this paper. The actuator fault consists in an unknown partial joint torque reduction, which causes a loss of the desired end-effector motion. The kinematic controller is designed according to the Relative Jacobian method, while a hierarchic prioritized tasks architecture is exploited in order to perform secondary tasks. The FTC scheme includes a Fault Detection and Diagnosis (FDD) system based on first-order sliding mode observers, in order to detect and estimate the joint torque faults on the system. The estimated fault is mapped into a perturbation of the motion of the end effector from the desired one, and compensated at the kinematic controller level. Simulation results demonstrate that the proposed technique allows to reduce the tracking error (both for the absolute and the relative motion) generated by the fault for a dual-arm system composed of two planar manipulators.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262311 Collegamento a IRIS

2018 Fault-Tolerant Disturbance Observer Based Control for Altitude and Attitude Tracking of a Quadrotor
MED 2018 - 26th Mediterranean Conference on Control and Automation
Autore/i: Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriu, Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents an attitude and altitude fault-tolerant tracking control for a quadrotor using the Disturbance Observer Based Control (DOBC). A Newton-Euler model of the quadrotor is described and the fault-tolerant control problem is treated for small angles. An appropriate estimation gain is proposed for the considered system, which allows to impose desired closed loop performances. These closed loop performances are analysed, showing the boundedness properties, and highlighting the trade off between fault estimation and control effort. Numerical simulations are provided for testing the effectiveness of the proposed DOBC solution, which is compared with the classical backstepping controller in case of multiple actuation faults.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262312 Collegamento a IRIS

2018 Fault Tolerant Control Scheme for Robotic Manipulators Affected by Torque Faults
10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018
Autore/i: Freddi, A.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Proietti Pagnotta, D.
Editore: Elsevier B.V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A Fault Tolerant Control (FTC) scheme for robotic manipulators affected by actuator faults is proposed in this paper. The actuator fault consists in an unknown partial joint torque reduction, which causes a loss of the desired end-effector motion. The FTC scheme includes a Fault Detection and Diagnosis (FDD) system based on a first-order sliding mode observer, in order to detect and estimate the joint torque fault. The estimated fault is mapped into a kinematic deviation of the motion of the end effector from the desired one, and compensated at the level of the kinematic controller. Simulation results demonstrate the effectiveness of the proposed scheme for a planar manipulator affected by two types of actuator faults, namely bias fault and partial torque fault.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262318 Collegamento a IRIS

2018 Induction Mold Heating: Modelling and Hardware-in-the-Loop Simulation for Temperature Control
2018 IEEE International Conference on Environment and Electrical Engineering and 2018 IEEE Industrial and Commercial Power Systems Europe (EEEIC / I&CPS Europe)
Autore/i: Prist, M.; Pallotta, E.; Cicconi, P.; Monteriu, A.; Germani, M.; Longhi, S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Mold heating is an important key factor for themold cycle which affects the quality of the molded product. Theinvolved molding processes regards polymers foaming, plastics in-jection, or resin-curing with composites. While the manufacturingcycle of plastics injection molding requires a heating/cooling sys-tem, other processes do not require the cooling phase. Polymersfoaming and resin-curing require specific values of temperatureto provide full chemical reactions and a good product qualityon the surface. Induction heating systems are suitable for suchapplications; however, many industrial cases require customizedsolutions to support the molding cycle of different parts. Atemperature control is always mandatory to reduce the energycost and increase the heating efficiency. This paper studies amolds temperature control applied in the polyurethane foamingof footwear soles. The proposed induction heating system andits control have been studied using the Hardware-In-the-Loopsimulations. Due to a high mold thermal inertia, which increasesthe mold temperature even if the control system turns offthe thermal power, tailored controllers have been analyzed toachieve the desired temperature set-point. The thermal model ofthe foaming mold and the induction heating system have beenmodelled and developed in the MATLAB/Simulink® framework.An ATMEGA processor was used to implement and test a discretePID controller while Simulink induction-heating system modelwas running, creating an Hardware-In-The-loop platform.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262303 Collegamento a IRIS

2018 Dynamic Surface Control for Multirotor Vehicles
2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
Autore/i: Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriu, Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we present the design of Dynamic Surface Control (DSC) law for multirotor vehicles. We first propose a mathematical model which can be used for a wide class of multirotor vehicles. Then, we extend the classical DSC such that it can be applied to the proposed model for tracking pitch, roll, yaw and altitude. The DSC performances are compared with other nonlinear algorithms known in the literature, namely backstepping and sliding mode, as well as PID controller, where all the control laws were tuned via the same heuristic random search algorithm in order to ensure a fair comparison.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262305 Collegamento a IRIS

2018 Energy Saving in Industrial Wireless Power Recharge System: Simulation of a PI-Sliding Mode Control for a Non-Inverting Buck-Boost Converter
2018 IEEE PELS Workshop on Emerging Technologies: Wireless Power Transfer, Wow 2018
Autore/i: Prist, M.; Pallotta, E.; Cicconi, P.; Venturini, P.; Monteriu, A.; Germani, M.; Longhi, S.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this work, a PI-Sliding mode controller is developed in feedback loop from a non-inverting buck boost converter, in order to control the recharge of a Li-Ion battery of a Laser Guided Vehicle (LGV), which is the last stage of an industrial wireless recharge power station. In detail, the industrial case study regards the wireless recharge of a LGV employed to transport molds used for footwear soles production. The proposed solution has been modelled and developed in the MATLAB/Simulink® framework, and the performances of this controller are compared with the classical PID industrial controller. The obtained results depend only from the developed recharge system and can be applied in other industrial cases (e.g., car battery recharge). In particular, the numerical simulations show that the proposed solution has an important impact on the energy consumptions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262306 Collegamento a IRIS

2018 A robust and self-tuning speed control for permanent magnet synchronous motors via meta-heuristic optimization
INTERNATIONAL JOURNAL, ADVANCED MANUFACTURING TECHNOLOGY
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Foresi, Gabriele; Freddi, Alessandro; Monteriù, Andrea; Pagnotta, Daniele Proietti
Classificazione: 1 Contributo su Rivista
Abstract: In a reconfigurable manufacturing scenario, control system design needs innovative approaches to face the rapid changes in hardware and software modules. The control system should be able to automatically tune its parameters to enhance machine performances and dynamically adapt to different control objectives (e.g., minimize control efforts or maximize tracking performances) while preserving at the same time stability and robustness properties. In this paper, a robust control system for permanent magnet synchronous motors (PMSMs), together with an online self-tuning method, is presented. In particular, a robust discrete-time variable structure control (VSC) has been designed. A heuristic bio-inspired approach has been then implemented on a digital signal processor (DSP) to find the VSC parameter set which minimizes a specific objective function each time a novel speed reference is provided. Experimental results on a PMSM motor show the effectiveness of the proposed controller and tuning method, with noticeable improvements with respect to the original manufacturer-designed controller.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254574 Collegamento a IRIS

2018 A Non-invasive Method for Biological Age Estimation Using Frailty Phenotype Assessment
Lecture Notes in Electrical Engineering
Autore/i: Pierleoni, Paola; Belli, Alberto; Concetti, Roberto; Palma, Lorenzo; Pinti, Federica; Raggiunto, Sara; Valenti, Simone; Monteriù, Andrea
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: The human body has two different ages: a Chronological Age (CA), the actual time a person has been alive, and a Biological Age (BA), the real age that indicate the decline in health and in function ability during aging. Among previous studies, some authors proposed methodologies to estimate the Biological Age starting from non-invasive frailty measurements to evaluate the Frailty Index, others proposed invasive and expensive methods to measure the biological aging. Conversely, in this paper we propose a method to estimate the BA of a subject based on the assessment of the Frailty Phenotype. This type of evolution allows an efficient estimation of the frailty in contrast with the Frailty Index which is composed by a long checklist of clinical conditions and diseases to be evaluated from medical staff. We developed a cloud application, able to store and elaborate the data acquired during the evaluation protocol of the Frailty Phenotype, and also able to automatically provide the state of phenotypic fragility, and finally the Biological Age of a subject.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/264252 Collegamento a IRIS

2018 An Automatic Temperature Control for Induction Cooktops to Reduce Energy Consumption
36th IEEE International Conference on Consumer Electronics (ICCE)
Autore/i: Prist, M.; Pallotta, Emanuele; Cicconi, P.; Russo, ANNA COSTANZA; Monteriù, A.; Germani, M.; Longhi, S.
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Induction cooktops are very used as an efficient alternative to traditional cooking systems such as gas hobs. Even if the energy efficiency of induction cooktops is twice as much as the traditional gas burners, the differences in terms of energy price can limit the diffusion and marketing of induction cooktops. Recent eco-normative are regulating the energy consumption of this kind of household appliances sold in different countries. This paper proposes an automatic temperature control to reduce the energy consumption for induction cooktops. The water boiling test was used as case study to simulate and validate the proposed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/255087 Collegamento a IRIS

2018 Dual-arm cooperative manipulation under joint limit constraints
ROBOTICS AND AUTONOMOUS SYSTEMS
Autore/i: Ortenzi, Davide; Muthusamy, Rajkumar; Freddi, Alessandro; Monteriù, Andrea; Kyrki, Ville
Classificazione: 1 Contributo su Rivista
Abstract: Cooperative manipulation of a rigid object is challenging and represents an interesting and active research area, especially when these robots are subject to joint and task prioritization constraints. In cooperative manipulation, a primary task is to maintain the coordination of motions, to avoid severe damage caused by the violation of kinematic constraints imposed by the closed chain mechanism. This paper proposes a kinematic controller for dual-arm cooperative manipulation that ensures safety by providing relative coordinated motion as highest priority task and joint limit avoidance and world-space trajectory following at a lower priority. The coordination of motions is based on modular relative Jacobian formulation. The approach is applicable to systems composed of redundant or non-redundant manipulators. Experiments in simulation demonstrate the behavior of the approach under different redundancy configurations. Experiments on two robots with different number of redundant motions show the applicability of the proposed approach to cooperative manipulation under joint limit constraints.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252247 Collegamento a IRIS

2018 La sfida inclusiva delle tecnologie assistive
n azione. Prove di inclusione
Autore/i: Monteriu', Andrea
Editore: FRANCO ANGELI
Luogo di pubblicazione: MILANO
Classificazione: 2 Contributo in Volume
Abstract: Il tremendo avanzamento, unitamente al significativo abbattimento dei costi, che le nuove tecnologie hanno avuto nell’ultimo decennio, ha fornito un formidabile impulso allo sviluppo di soluzioni tecnologiche sempre più flessibili e personalizzabili alle diverse necessità degli utenti. Tale sviluppo è stato particolarmente impattante nel progresso delle soluzioni tecnolo- giche assistive che mirano al miglioramento del benessere psico-fisico e della Qualità della Vita degli utenti fragili, ovvero degli utenti con diverse necessità o con disabilità. Il risultato è che oggi, grazie alla tecnologia as- sistiva, molte barriere sono state abbattute e molte potranno essere superate in futuro.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265765 Collegamento a IRIS

2018 Upper and Lower Limbs Dyskinesia Detection for Patients with Parkinson's Disease
2018 IEEE 7th Global Conference on Consumer Electronics, GCCE 2018
Autore/i: Belgiovine, G.; Capecci, M.; Ciabattoni, L.; Fiorentino, M. C.; Foresi, G.; Monteriu, A.; Pepa, L.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a L-dopa-Induced Dyskinesia Detection System based on Machine Learning Algorithms (MLAs), smartwatch data and a smartphone is presented. The development of this system was performed in three steps. In the first step each patient wears the smartwatch and fulfills some tasks while the smartphone Application captures data. The second phase is the features extraction from acceleration and angular velocity signals and the application of a Z-score normalization. In the last step two MLAs, trained with these features as input, are implemented in order to detect dyskinesias. © 2018 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265757 Collegamento a IRIS

2018 A smart home services demonstration: Monitoring, control and security services offered to the user
IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Autore/i: Botticelli, Martina; Ciabattoni, Lucio; Ferracuti, Francesco; Monteriu, Andrea; Pizzuti, Stefano; Romano, Sabrina
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The Italian Ministry of Economic Development and the Italian National Agency for New Technologies, Energy and Sustainable Economic Development (ENEA) have entered into a Program Agreement for the execution of the research and development lines of General Interest for the national electricity system. In particular, as part of the "Development of an integrated model of the Urban Smart District" project, an experimental demonstration of a Smart Home network has been carried out in the Centocelle district of Rome, called "Centocelle Smart Home". This project aims to develop a replicable model of Smart Home able to monitor energy consumption, the degree of comfort and safety in residential buildings, transmitting them to a higher level technological platform where data are analyzed and aggregated to provide a series of feedbacks to the user and to the community. The objective is to reduce the final consumption of energy (electric and thermal) of domestic consumers through a path of growth of energy awareness, also providing additional services on security. This paper presents the architecture proposed in the ENEA project for monitoring the energy consumption and increasing the degrees of comfort and safety of domestic users. The proposed security service is presented here together with the developed "Out of Home" App.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265763 Collegamento a IRIS

2018 Hear to see-See to hear: A smart home system user interface for visually or hearing-impaired people
IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Autore/i: Ciabattoni, L.; Ferracuti, F.; Foresi, G.; Monteriu, A.
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper, we introduce a novel approach to design a user interface for commercial Smart Home Systems (SHS), following the needs of visually or hearing impaired users. The interface is able to transform visual information and alarms into audio signals and vice versa by using a mobile application. The aim of the interface is to make a commercial SHS usable for visually or hearing-impaired people, while maintaining a high level of acceptability, due to the use of an inclusive device, i.e., the smartphone. © 2018 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265762 Collegamento a IRIS

2018 Collaborative design of a telerehabilitation system enabling virtual second opinion based on fuzzy logic
IET COMPUTER VISION
Autore/i: Capecci, Marianna; Ciabattoni, L.; Ferracuti, Francesco; Monteriù, Andrea; Romeo, Luca; Verdini, Federica
Classificazione: 1 Contributo su Rivista
Abstract: In this paper we present a low cost telerehabilitation system made up of a commercial RGB-D camera and a web-based platform. Our goal is to monitor and assess subject movement providing acceptable and usable at-home remote rehabilitation ser- vices without the presence of a clinician. Clinical goals, defined by physiotherapists, are firstly translated into motion analysis features. A Takagi Sugeno Fuzzy Inference System (FIS) is then proposed to evaluate and combine these features into scores. In this stage the “collaborative design” paradigm is used in depth and complete manner: the contribution of the clinician is not limited only to the rules definition but enters in the core of the evaluation algorithm through the definition of the fuzzy rules. A case study on low back pain rehabilitation involving 40 subjects, 5 exercises and 4 physiotherapists is then presented to effectiveness of the proposed system. Results of the validation of the system aimed at the assessment of the reliability of the proposed approach show high correlations between clinician evaluation and FIS scores. In this scenario, due to the high correlation, each FIS could represent a virtual alter-ego of the physiotherapist which enable a real time and free second opinion.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252419 Collegamento a IRIS

2018 Upper Limbs Dyskinesia Detection and Classification for Patients with Parkinson's Disease based on Consumer Electronics Devices
2018 Zooming Innovation in Consumer Technologies Conference, ZINC 2018
Autore/i: Belgiovine, G.; Capecci, M.; Ciabattoni, L.; Fiorentino, M. C.; Monteriu, A.; Pepa, L.; Romeo, L.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a L-dopa-Induced Dyskinesia Detection and Classification System based on Machine Learning Algorithms, wearable device (smartwatch) data and a smart-phone, connected via Bluetooth. This system was developed in three steps. The first step is the data collection, where each patient wears the smartwatch and performs some tasks while the smart-phone App captures data. These performed tasks are of different nature (i.e., writing, walking, sitting and cognitive task). In the second phase, some features were extracted from acceleration and angular velocity signals and a Z-score normalization is applied. In the last step two Machine Learning Algorithms, trained with these features as input, are used in order to detect and classify dyskinesias.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/281663 Collegamento a IRIS

2018 First Approach to a Holistic Tool for Assessing RES Investment Feasibility
SUSTAINABILITY
Autore/i: Flores-Arias, José María; Ciabattoni, Lucio; Monteriù, Andrea; Bellido-Outeiriño, Francisco José; Escribano, Antonio; Palacios-Garcia, Emilio José
Classificazione: 1 Contributo su Rivista
Abstract: Combining availability, viability, sustainability, technical options, and environmental impact in an energy-planning project is a difficult job itself for the today’s engineers. This becomes harder if the potential investors also need to be persuaded. Moreover, the problem increases even more if various consumptions are considered, as their patterns depend to a large extent on the type of facility and the activity. It is therefore essential to develop tools to assess the balance between generation and demand in a given installation. In this paper, a valuable tool is developed for the seamless calculation of the integration possibilities of renewable energies and the assessment of derived technical, financial and environmental impacts. Furthermore, it also considers their interaction with the power grid or other networks, raising awareness of the polluting emissions responsible for global warming. Through a series of Structured Query Language databases and a dynamic data parameterization, the software is provided with sufficient information to encode, calculate, simulate and graphically display information on the generation and demand of electric, thermal and transport energy, all in a user-friendly environment, finally providing an evaluation and feasibility report.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/257244 Collegamento a IRIS

2018 Quegli artisti che chiamiamo insegnanti
INNOVATIO EDUCATIVA
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: In una società che incontenibilmente si trasforma, la conoscenza, la ricerca e la sua valorizzazione, possono aiutarci sia a decifrare che a scoprire ciò che ci circonda. In tutto questo l’insegnante ha un ruolo fondamentale, da riscoprire e riabilitare. L’insegnante è come un artista a cui è affidato il compito di lasciare un segno e di leggere la complessità degli eventi, oggi più che mai. È lui che potrà accompagnarci verso la conoscenza e traghettarci verso il futuro.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254564 Collegamento a IRIS

2018 A Smart Sensing Architecture for Domestic Monitoring: Methodological Approach and Experimental Validation
SENSORS
Autore/i: Monteriù, Andrea; Prist, Mario; Frontoni, Emanuele; Longhi, Sauro; Pietroni, Filippo; Casaccia, Sara; Scalise, Lorenzo; Cenci, Annalisa; Romeo, Luca; Berta, Riccardo; Pescosolido, Loreto; Orlandi, Gianni; Revel, Gian
Classificazione: 1 Contributo su Rivista
Abstract: Smart homes play a strategic role for improving life quality of people, enabling to monitor people at home with numerous intelligent devices. Sensors can be installed to provide a continuous assistance without limiting the resident’s daily routine, giving her/him greater comfort, well-being and safety. This paper is based on the development of domestic technological solutions to improve the life quality of citizens and monitor the users and the domestic environment, based on features extracted from the collected data. The proposed smart sensing architecture is based on an integrated sensor network to monitor the user and the environment to derive information about the user’s behavior and her/his health status. The proposed platform includes biomedical, wearable, and unobtrusive sensors for monitoring user’s physiological parameters and home automation sensors to obtain information about her/his environment. The sensor network stores the heterogeneous data both locally and remotely in Cloud, where machine learning algorithms and data mining strategies are used for user behavior identification, classification of user health conditions, classification of the smart home profile, and data analytics to implement services for the community. The proposed solution has been experimentally tested in a pilot study based on the development of both sensors and services for elderly users at home.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259196 Collegamento a IRIS

2018 Statistical Spectral Analysis for Fault Diagnosis of Rotating Machines
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Freddi, Alessandro; Monteriu, Andrea
Classificazione: 1 Contributo su Rivista
Abstract: Condition-based monitoring of rotating machines requires robust features for accurate fault diagnosis, which is indeed directly linked to the quality of the features extracted from the signals. This is especially true for vibration data, whose quasi-stationary nature implies that the quality of frequency domain extracted features depends on the Signal-to-Noise Ratio (SNR) condition, operating condition variations and data segmentation. This paper presents a novel Statistical Spectral Analysis, which leads to highly robust fault diagnosis with poor SNR conditions, different time-window segmentation and different operating conditions. The amplitudes of spectral contents of the quasi-stationary time vibration signals are sorted and transformed into statistical spectral images. The sort operation leads to the knowledge of the Empirical Cumulative Distribution Function (ECDF) of the amplitudes of each frequency band. The ECDF provides a robust statistical information of the distribution of the amplitude under different SNR and operating conditions. Statistical metrics have been adopted for fault classification, by using the ECDFs obtained from the spectral images as fault features. By applying simple statistical metrics, it is possible to achieve fault diagnosis without classifier training, saving both time and computational costs. The proposed algorithm has been tested using a vibration data benchmark: comparison with state-of-the-art fault diagnosis algorithms shows promising results.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252246 Collegamento a IRIS

2018 A Hidden Semi-Markov Model based Approach for Rehabilitation Exercise Assessment
JOURNAL OF BIOMEDICAL INFORMATICS
Autore/i: Capecci, Marianna; Ceravolo, Maria Gabriella; Ferracuti, Francesco; Iarlori, Sabrina; Kyrki, Ville; Monteriù, Andrea; Romeo, Luca; Verdini, Federica
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, a Hidden Semi-Markov Model (HSMM) based approach is proposed to evaluate and monitor body motion during a rehabilitation training program. The approach extracts clinically relevant motion features from skeleton joint trajectories, acquired by the RGB-D camera, and provides a score for the subject's performance. The approach combines different aspects of rule and template based methods. The features have been defined by clinicians as exercise descriptors and are then assessed by a HSMM, trained upon an exemplar motion sequence. The reliability of the proposed approach is studied by evaluating its correlation with both a clinical assessment and a Dynamic Time Warping (DTW) algorithm, while healthy and neurological disabled people performed physical exercises. With respect to the discrimination between healthy and pathological conditions, the HSMM based method correlates better with the physician's score than DTW. The study supports the use of HSMMs to assess motor performance providing a quantitative feedback to physiotherapist and patients. This result is particularly appropriate and useful for a remote assessment in the home.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252467 Collegamento a IRIS

2017 Active fault tolerant control of remotely operated vehicles via control effort redistribution
Proceedings of the ASME Design Engineering Technical Conference
Autore/i: Baldini, A.; Ciabattoni, L.; Felicetti, R.; Ferracuti, F.; Monteriù, A.; Fasano, A.; Freddi, A.
Editore: American Society of Mechanical Engineers (ASME)
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: An active fault tolerant control technique for Underwater Remotely Operated Vehicles is proposed in this paper. The main objective is to develop a controller for the tracking problem, which is robust against possible actuator faults and failures. The main advantage of the proposed fault tolerant control scheme is to develop a unique controller, and thus a unique set of control parameters, regardless the presence of faults and failures. This is achieved through a redistribution of the control effort on the healthy actuators. Simulation results are provided to demonstrate the viability of the proposed fault accommodating technique.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/255563 Collegamento a IRIS

2017 Human Monitoring, Smart Health and Assisted Living: Techniques and technologies
Healthcare Technologies, IET Digital Library
Autore/i: Longhi, Sauro; Monteriù, Andrea; Freddi, Alessandro
Editore: Institution of Engineering and Technology
Luogo di pubblicazione: London
Classificazione: 3 Libro
Abstract: Interest in Information and Communication Technologies for human monitoring, smart health and assisted living is growing due to the significant impact that these technologies are expected to have on improving the quality of life of ageing populations around the world. This book brings together chapters written by a range of researchers working in these topics, providing an overview of the areas and covering current research, developments and applications for a readership of researchers and research-led engineering practitioners. It discusses the promises and the possible advantages of these technologies, and also indicates the challenges for the future. Topics covered include: personal monitoring and health data acquisition in smart homes; contactless monitoring of respiratory activity; technology-based assistance of people with dementia; wearable sensors for gesture analysis; design and prototyping of home automation systems for the monitoring of elderly people; multi-sensor platform for circadian rhythm analysis; smart multi-sensor solutions for activity detection; human monitoring based on heterogeneous sensor networks; mobile health for vital signs and gait monitoring systems; and smartphone-based blood pressure monitoring for falls risk assessment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249837 Collegamento a IRIS

2017 Temperature Control Of An Innovative Aluminium-Steel Molds Induction Preheat Process Placed On Automated Laser Guided Vehicles
IEEE EEEIC 17th International Conference on Environment and Electrical Engineering
Autore/i: Prist, Mariorosario; Cicconi, Paolo; Ferracuti, Francesco; Russo, Anna Costanza; Monteriù, Andrea; Pallotta, Emanuele; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the production of plastic components based on injection molding, like shoe sole manufacturing, the temperature control and the on-line process optimization are important issues in order to preserve the quality of the plastic components and improve the time performance, while maintaining high product quality. This research proposes an induction preheating control technique based on Model Predictive Controller (MPC) for a steel-aluminium mold for production of soles, performed on an automated Laser Guided Vehicle (LGV) with an innovative induction heating functionality. A thermal model has been studied using a finite-difference approach to describe the mold heating system. The resulting system has been simulated using Simulink/MATLAB. Then, three types of controllers have been modelled in the proposed simulation workflow, in order to compare the different behavior of the system. Due to the high mold thermal inertia, which increases the mold temperature even if the control system turns off the thermal power, innovative controllers are needed in order to track the desired temperature setpoint. The comparison with standard industrial controllers, based on PI and PID controllers, shows the effectiveness of proposed solution.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249900 Collegamento a IRIS

2017 An Avoidance Control Strategy for Joint-Position Limits of Dual-Arm Robots
IFAC 2017 World Congress
Autore/i: Foresi, Gabriele; Freddi, Alessandro; Kyrki, Ville; MONTERIU', Andrea; Ortenzi, Davide; Muthusamy, Rajkumar; Proietti Pagnotta, Daniele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The joint position constraints of two cooperative robotic manipulators is a critical issue, especially when both manipulators grasp and move the same object. When two robots cooperate to move a grasped object from one point to another one, following a desired path, the general solution adopted in the literature is to use the kinematic redundant motions possessed by a single manipulator, in order to avoid joint constraints. However, this method requires a number of redundant motions at least equals to the number of joint constraints to satisfy. The study proposed in this paper is focused on developing a joint position limits avoidance strategy, which is able to satisfy all joint limits even when the number of redundant motions are no longer sufficient to ensure them with a classical approach. This is achieved by means of a supervisory control system, which allows to locally and temporary change the desired end-effectors motion, when the redundant motions are not available. The supervisory control sacrifices the path following task in order to ensure joint position limits avoidance, while preserving at the same time the relative end-effector motion, such that the stability of the grasped object is still ensured. The proposed strategy has been implemented on a commercial robot, namely Baxter, which possesses two anthropomorphic arms having one degree of redundancy. The obtained results prove the effectiveness of the proposed supervisor controller, which can be easily extended and applied in manufacturing scenario. Whereas path following can be temporary sacrificed (e.g., the grasped object can be moved from one point to another in different ways), the joint constraints must be strictly preserved for safety reasons.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250443 Collegamento a IRIS

2017 Personal monitoring and health data acquisition in smart homes
Human Monitoring, Smart Health and Assisted Living: Techniques and technologies
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Editore: IET The Institution of Engineering and Technology
Luogo di pubblicazione: London
Classificazione: 2 Contributo in Volume
Abstract: The use of ambient assisted living technology, namely technology to improve the quality of life of people at home, is becoming a common trait of modern society. This technology, however, is difficult to be completely defined and classified, since it addresses many different human needs ranging from the physiological sphere to the psychological and social ones. In this chapter we focus on personal monitoring and data acquisition in smart homes, and propose the results of our research activities in the form of the description of three functional prototypes, each one addressing a specific need: an environmental monitoring system to measure the respiratory rate, a domotic architecture for both comfort assessment and user indoor localization, and a device for supporting mobility indoors. Each prototype description is followed by an experimental analysis and, finally, by considerations suggesting possible future developments in the very near future.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249842 Collegamento a IRIS

2017 Human indoor localization for AAL applications: An RSSI based approach
Ambient Assisted Living: Italian Forum 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Freddi, Alessandro; Ippoliti, Gianluca; Longhi, Sauro; Monteriu', Andrea; Pepa, Lucia
Editore: Filippo Cavallo, Vincenzo Marletta, Andrea Monteriù, Pietro Siciliano
Classificazione: 2 Contributo in Volume
Abstract: Ambient intelligence technologies have the objective to improve the quality of life of people in daily living, by providing user-oriented services and functionalities. Many of the services and functionalities provided in Ambient Assisted Living (AAL) require the user position and identity to be known, and thus user localization and identification are two prerequisites of utmost importance. In this work we focus our attention on human indoor localization. Our aim is to investigate how Received Signal Strength (RSS) based localization can be performed in an easy way by exploiting common Internet of Things (IoT) communication networks, which could easily integrate with custom networks for AAL purposes. We thus propose a plug and play solution where the Beacon Nodes (BNs) are represented by smart objects located in the house, while the Unknown Node (UN) can be any smart object held by the user. By using real data from different environments (i.e., with different disturbances), we provide a one-slope model and test localization performances of three different algorithms. © Springer International Publishing AG 2017.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/241029 Collegamento a IRIS

2017 Real-time fall detection system by using mobile robots in smart homes
IEEE 7th International Conference on Consumer Electronics - Berlin (ICCE-Berlin)
Autore/i: Ciabattoni, L.; Ferracuti, F.; Foresi, G.; Freddi, A.; Monteriu, A.; Pagnotta, D. Proietti
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: An unobtrusive method to realize human fall detection by using bluetooth beacons, a smartphone and a low cost mobile robot is presented. The method is composed by five steps. The first consists in extracting features from the smartphone acceleration data, which are then analysed online by the fall detection algorithm. Once the fall event is detected, then the location is determined by using the bluetooth signal received from beacons. Then, the mobile robot moves towards the user's location, and finally verifies if the detected fall event is a true positive or not, through a procedure based on voice interaction with the potentially fallen user. The method has been tested in laboratory, proving to be a viable solution to perform fall detection in smart homes via consumer devices.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254640 Collegamento a IRIS

2017 Ambient Assisted Living - Italian Forum 2016
Autore/i: Cavallo, Filippo; Marletta, Vincenzo; MONTERIU', Andrea; Siciliano, Pietro
Editore: Springer Verlag
Classificazione: 3 Libro
Abstract: This book documents the state of the art in the field of ambient assisted living (AAL), highlighting the impressive potential of novel methodologies and technologies to enhance well-being and promote active ageing. The coverage is wide ranging, with sections on assistive devices, elderly people monitoring, home rehabilitation, ICT solutions for AAL, living with chronic conditions, robotic assistance for the elderly, sensing technologies for AAL, and smart housing. The book comprises a selection of the best papers presented at the 7th Italian Forum on Ambient Assisted Living (ForitAAL 2016), which was held in Pisa, Italy, in June 2016 and brought together end users, technology teams, and policy makers to develop a consensus on how to improve provision for elderly and impaired people. Readers will find that the expert contributions offer clear insights into the ways in which the most recent exciti ng advances may be expected to assist in addressing the needs of the elderly and those with chronic conditions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/248159 Collegamento a IRIS

2017 Nonlinear control of a photovoltaic battery system via ABC-tuned Dynamic Surface Controller
IEEE Congress on Evolutionary Computation 2017
Autore/i: Baldini, Alessandro; Ciabattoni, Lucio; Felicetti, Riccardo; Ferracuti, Francesco; Freddi, Alessandro; Monteriù, Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes a control methodology basedon Dynamic Surface Control (DSC) to manage the powerflow of a photovoltaic (PV) battery system. In particular, dueto the inner stochastic nature and intermittency of the solarproduction and in order to face the irradiance rapid changes,a robust and fast controller is needed. Dynamic Surface Controlis a modified version of Backstepping control that avoidsthe explosion of terms, which is a typical drawback of theBackstepping control and furthermore it is not affected bythe well known problem of chattering, which affects SlidingMode controllers. Dynamic Surface Control is compared to theconventional Proportional–Integral–Derivative controller (PID).In particular, DSC shows better performances in terms of steadystate chattering and transient response, as confirmed by theIntegral of the Absolute value of Error (IAE), Integral of theSquared Error (ISE) and Integral of Time multiplied by theAbsolute value of Error (ITAE) performance indexes.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250028 Collegamento a IRIS

2017 A Variable Structure System Control and its Application in Underwater Vehicles
IFAC PAPERSONLINE
Autore/i: Alexander, Dyda; Oskin, Dmitry; LONGHI, SAURO; MONTERIU', Andrea
Editore: IFAC
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper proposes a new Variable Structure System (VSS) control algorithm and its application in underwater robotics. The main features of the proposed approach consist on the usage of coupled switching surfaces, and on the usage of an adaptive adjustment method for their parameters in order to accelerate the transient processes. The adaptive algorithm of linear and nonlinear switching surfaces coefficients, is based on the stabilization of the sliding mode parameter close to the reference value. In this paper, it is shown how the proposed approach improves the system transient processes and the energy efficiency in comparison with conventional VSS, neutralizing also some drawbacks. The proposed adaptive VSS algorithm is applied to control a Remotely Operated Vehicle (ROV), and simulation results confirm the advantages to apply it.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250441 Collegamento a IRIS


Università Politecnica delle Marche

P.zza Roma 22, 60121 Ancona
Tel (+39) 071.220.1, Fax (+39) 071.220.2324
P.I. 00382520427