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Andrea MONTERIU'

Pubblicazioni

Andrea MONTERIU'

 

154 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
93 4 Contributo in Atti di Convegno (Proceeding)
28 1 Contributo su Rivista
25 2 Contributo in Volume
6 3 Libro
2 6 Brevetti
Anno Risorsa
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 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 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 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 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 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

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

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, G.; Ciabattoni, L.; Flores-Arias, J. M.; Foresi, G.; Monteriù, A.; Proietti Pagnotta, D.
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 Complex Activity Recognition System Based on Cascade Classifiers and Wearable Device Data
36th IEEE International Conference on Consumer Electronics (ICCE)
Autore/i: Ciabattoni, L.; Foresi, G.; Monteriù, A.; Proietti Pagnotta, D.; Romeo, Luca; Spalazzi, L.
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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 Quegli artisti che chiamiamo insegnanti
INNOVATIO EDUCATIVA
Autore/i: Longhi, Sauro; Monteriu', Andrea
Editore: CAMPUS L'INFINITO SRL
Luogo di pubblicazione: RECANATI
Classificazione: 3 Libro
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 Health@Home: Pilot cases and preliminary results : Esidential 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 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 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 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 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 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 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 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 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 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 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 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 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

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 Modelling and hardware-in-the-loop simulation for energy management in induction cooktops
IEEE 7th International Conference on Consumer Electronics - Berlin (ICCE-Berlin)
Autore/i: Prist, Mariorosario; Pallotta, Emanuele; Monteriu, Andrea; Longhi, Sauro; Cicconi, Paolo; Russo, Anna Costanza; Germani, Michele
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Induction cooktops are very efficient systems, but, their energy consumption should be reduced using a temperature controller for optimizing the electrical power. Such controllers are already widely spread in several applications (air conditioning, ovens, etc.). Induction cooktops work with discrete levels of power, and, therefore, the user can select and modify the requested power level during the cooking. This paper presents the Hardware-In-the-Loop simulation to develop an active temperature controller, which optimizes the energy management of the water boiling using an induction cooktop. A thermal and induction model has been developed in MATLAB/Simulink® framework, while a discrete PID controller has been implemented inside a physical ATMEGA processor and tested within the Hardware-In-the-Loop platform.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252390 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
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 Smart monitoring of user and home environment: the Health@Home acquisition framework
7th Italian Forum on Ambient Assisted Living, ForitAAL 2017
Autore/i: Pietroni, Filippo; Casaccia, Sara; Revel, Gian Marco; Prist, Mariorosario; Monteriù, Andrea; Longhi, Sauro; Scalise, Lorenzo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work has been developed within the framework of the Italian smart city project “Health@Home (H@H)”. The main goal is the development of a joint network (heterogeneous devices, both biomedical and home automation) to monitor the user’s health conditions within the home environment, together with dedicated services from the measured quantities. In particular, H@H follows the context of the Active and Assisted Living environment to improve the well-being of elderly giving support to the users at home. In this paper, the authors describe the implemented final prototype software architecture implemented, the measuring protocol used in resting conditions and the implementation of three user services, providing real-time feedback about the user health status.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250025 Collegamento a IRIS

2017 Ambient Assisted Living - Italian Forum 2016
Autore/i: Cavallo, Filippo; Marletta, Vincenzo; Monteriù, Andrea; Siciliano, Pietro
Editore: Springer Verlag
Classificazione: 3 Libro
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/248159 Collegamento a IRIS

2017 Particle swarm optimization based sliding mode control design: Application to a quadrotor vehicle
Studies in Computational Intelligence
Autore/i: Baldini, Alessandro; Ciabattoni, Lucio; Felicetti, Riccardo; Ferracuti, Francesco; Freddi, Alessandro; Monteriù, Andrea; Vaidyanathan, Sundarapandian
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: In this chapter, a design method for determining the optimal sliding mode controller parameters for a quadrotor dynamic model using the Particle Swarm Optimization algorithm is presented. In particular, due to the effort to determine optimal or near optimal sliding mode parameters, which depend on the nature of the considered dynamic model, a population based solution is proposed to tune the parameters. The proposed population based-method tunes the controller parameters (boundary layers and gains) according to a fitness function that measures the controller performances. A comparison of the designed sliding mode control with two popular controllers (PID and Backstepping) applied to a quadrotor dynamic model is proposed. In particular sliding mode control shows better performances in terms of steady state and transient response, as confirmed by performance indexes IAE, ISE, ITAE and ITSE. © Springer International Publishing AG 2017.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247237 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-Robot Cooperation via Brain ComputerInterface in Assistive Scenario
7th Italian Forum on Ambient Assisted Living, ForitAAL 2017
Autore/i: Foresi, Gabriele; Freddi, Alessandro; Iarlori, Sabrina; Longhi, Sauro; Monteriù, Andrea; Ortenzi, Davide; Proietti Pagnotta, Daniele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years, the development of robots for assisting and collaborating with peo-ple has experienced a large growth. Applications for assistive robots include hospitalservice robots, factory intelligent assistants and personal homecare robots. Workingin shared environments with human beings, these robots have frequent need of aneffective human-robot cooperation. This work introduces a possible approach forperforming human-robot cooperation, namely recognition of a user selected objectby means of Brain Computer Interface (BCI), followed by pick and place of thesame object via a robotic arm. The object selection is achieved using a BCI thatallows to choose one among different objects of common use, by interpreting theP300 signals generated in the brain when the image of the object desidered by theuser appears on a computer screen. Then, the robot recognizes through a classifierif the selected object is within its workspace, grasps the object and moves it intoa different position. This system could support people with limited motor skills orparalysis, playing an important role in structured assistive environments in a near future.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250030 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 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

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 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; Monteriu', Andrea; Pepa, Lucia; Pagnotta, Daniele Proietti; 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

2017 A Parametric Optimization Approach of an Induction Heating System for Energy Consumption Reduction
43rd Design Automation Conference
Autore/i: Cicconi, Paolo; Russo, ANNA COSTANZA; Prist, Mariorosario; Ferracuti, Francesco; Germani, Michele; Monteriù, Andrea
Editore: ASME
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Nowadays, electromagnetic high-frequency induction is very used for different non-contact heating applications such as the molding process. Every molding process requires the preheating and the thermal maintenance of the molds, to enhance the filling phase and the quality of the final products. In this context, an induction heating system, mostly, is a customized equipment. The design and definition of an induction equipment depends on the target application. This technology is highly efficient and performant, however it provides a high-energy consumption. Therefore, optimization strategies are very suitable to reduce energy cost and consumption. The proposed paper aims to define a method to optimize the induction heating of a mold in terms of time, consumption, and achieved temperature. The proposed optimization method involves genetic algorithms to define the design parameters related to geometry and controller. A test case describes the design of an induction heating system for a polyurethane molding process, which is the soles foaming. This case study deals with the multi- objective optimization of parameters such as the geometrical dimensions, the inductor sizing, and the controller setting. The multi-objective optimization aims to reduce the energy consumption and to increase the wall temperature of the mold.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252376 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 Human-robot cooperation via brain computer interface
IEEE 7th International Conference on Consumer Electronics - Berlin (ICCE-Berlin)
Autore/i: Foresi, Gabriele; Freddi, Alessandro; Iarlori, Sabrina; Monteriù, Andrea; Ortenzi, Davide; PROIETTI PAGNOTTA, Daniele
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work proposes an approach for performing Human-Robot Cooperation (HRC) tasks by integrating a Brain Computer Interface (BCI) with a robotic manipulator. In detail, the user can select one among six different objects via BCI, which analyzes the P300 signals generated by the brain when the images of the selectable objects appear on the screen. Then, the selected object is recognized by a Support Vector Machine (SVM) classifier, which scans the data acquired by the robot camera. Finally, the recognized object is grasped by the robotic arm and moved to a different position.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252388 Collegamento a IRIS

2017 Cyber-physical system integration for industry 4.0: Modelling and simulation of an induction heating process for aluminium-steel molds in footwear soles manufacturing
RTSI 2017 - IEEE 3rd International Forum on Research and Technologies for Society and Industry, Conference Proceedings
Autore/i: Cicconi, Paolo; Russo, Anna Costanza; Germani, Michele; Prist, Mariorosario; Pallotta, Emanuele; Monteriu, Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In recent years, the Cyber-Physical Systems (CPSs), have become a new trend to increase and to enrich the interactions between physical and virtual systems with the goal to create a truly connected world in which smart objects interact and exchange data with each other. The CPS is the core of the new industrial revolution called “Industry 4.0”, which promotes the computerization of manufacturing to make decentralized decisions. Within the modular structured smart factories, Cyber-Physical Systems monitor physical processes, create a virtual copy of the physical world, simulate parts of process and implement sophisticated control policies in order to take optimized decisions. This research proposes the modelling and simulation of an induction heating process for aluminium-steel mold, which is used in the production of footwear soles. The modelling supports the simulation of a CPS model related to the use of a multi-use LGV (Laser Guided Vehicle) which transports aluminum-steel molds from a mechanized warehouse to the final rotary production line, used for the soles foaming. In detail, a thermal model and an induction heating electronic circuit model have been studied to describe the whole mold heating system and they have been simulated using Simulink/MATLAB. In addition, two types of controllers, an induction preheating control technique based on a Model Predictive Controller (MPC), and another one based on PID, have been developed in order to analyse the different behaviour of the system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252387 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 A QR-code localization system for mobile robots: Application to smart wheelchairs
European Conference on Mobile Robots (ECMR)
Autore/i: Cavanini, Luca; Cimini, Gionata; Ferracuti, Francesco; Freddi, Alessandro; Ippoliti, Gianluca; Monteriu, Andrea; Verdini, Federica
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A Smart Wheelchair (SW) is an electric powered wheelchair, equipped with sensors and computational capabilities, with the general aim of both enhancing independence and improving perceived quality of life of the impaired people using it. SWs belong to the class of semi-autonomous mobile robots, designed to carry the user from one location to another of his/her choice. For such systems, the localization aspect is of utmost concern, since GPS signal is not available indoors and alternative sensor sets are required. This paper proposes a low- cost artificial landmark-based localization system for mobile robots operating indoor. It is based on Quick Response (QR) codes, which contain the absolute position of the landmark: a vision system recognizes the codes, estimates the relative position of the robot (i.e., displacement and orientation) w.r.t. the codes and, finally, calculates the absolute position of the robot by exploiting the information contained in the codes. The system has been experimentally validated for self-localization of a smart wheelchair, and experimental results confirm that navigation is possible when considering an high QR-code density, while QR-code low density conditions permit to reset the cumulative odometry error.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252389 Collegamento a IRIS

2017 Robust control of a photovoltaic battery system via fuzzy sliding mode approach
Studies in Computational Intelligence
Autore/i: Baldini, Alessandro; Ciabattoni, Lucio; Felicetti, Riccardo; Ferracuti, Francesco; Freddi, Alessandro; Monteriù, Andrea; Vaidyanathan, Sundarapandian
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: Studies in Computational Intelligence Volume 709, 2017, Pages 115-142 Robust control of a photovoltaic battery system via fuzzy sliding mode approach (Book Chapter) Baldini, A.a , Ciabattoni, L.a , Felicetti, R.a , Ferracuti, F.a , Freddi, A.b , Monteriù, A.a , Vaidyanathan, S.c a Dipartimento di Ingegneria dell’Informazione, Università Politecnica delle Marche, Via Brecce Bianche, Ancona, Italy b SMARTEST Research Centre, Università degli Studi eCampus, Via Isimbardi 10, Novedrate, CO, Italy c Research and Development Centre, Vel Tech University, Chennai, Tamil Nadu, India View additional affiliations View references (43) Abstract In this chapter we propose a novel fuzzy sliding mode approach to manage the power flow of a Photovoltaic (PV) battery system. In particular, due to the inner stochastic nature and intermittency of the solar production and in order to face the irradiance rapid changes, a robust and fast controller is needed. Sliding Mode Control (SMC) is a well-known approach to control systems under heavy uncertain conditions. However, one of the major drawbacks of this control technique is the high frequency chattering generated by the switching control term. In the proposed solution, we introduce a fuzzy inference system to set the controller parameters (boundary layer and gains) according to the measured irradiance. A comparison of the designed Fuzzy Sliding Mode Control (FSMC) with two popular controllers (PI and Backstepping) is performed. In particular, FSMC shows better performances in terms of steady state chattering and transient response, as confirmed by IAE, ISE and ITAE performance indexes. © Springer International Publishing AG 2017.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247236 Collegamento a IRIS

2017 Fault Detection and Isolation of Linear Discrete-Time Periodic Systems Using the Geometric Approach
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: This paper solves the problem to detect and isolate faults in linear periodic discrete-time systems. A residual generator is designed through a suitable unknown input observer with the requirement that each residual should be sensitive only to one fault and, simultaneously, insensitive to the other faults that can affect the system, and with the additional requirement of -detectability, that is the transition matrix of its relative error system has all eigenvalues smaller than , in modulus, for a given positive 1. The solution is based on geometric tools, and it makes use of the outer observable subspace notion.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235992 Collegamento a IRIS

2017 An adaptive VSS control for remotely operated vehicles
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
Autore/i: Dyda, Alexander A; Oskin, Dmitry A.; Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: The paper is devoted to a new adaptive variable-structure system (VSS) control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of sliding mode parameter (SMP) in order to have adaptation in VSS. It is demonstrated that the extreme values of SMPs are directly associated with high efficiency of transient processes in VSS. The essence of the presented adaptation algorithm consists on the adjustment of switching surface parameters such that the SMPs move from the assigned desirable value to the extreme values, with the overall effect to accelerate transients. The effectiveness of the derived approach is proven by applying it for controlling a real remotely operated vehicle. Copyright © 2015 John Wiley & Sons, Ltd.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229820 Collegamento a IRIS

2016 Fault detection of nonlinear processes based on switching linear regression models
42nd Conference of the Industrial Electronics Society, IECON 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Freddi, Alessandro; Ippoliti, Gianluca; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/244862 Collegamento a IRIS

2016 Rapros: A ROS package for rapid prototyping
Robot Operating System (ROS)
Autore/i: Cavanini, Luca; Cimini, Gionata; Freddi, Alessandro; Ippoliti, Gianluca; Monteriù, Andrea
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: ROS framework lacks of an internal tool to design or test control algorithms and therefore developers have to test their algorithms on-line, directly on the robotic platform they are working with. This is not always safe and possible, and a rapid prototyping tool can help during the design phase. Users can develop their algorithms directly on the controller board and safely test them in a simulated scenario. Although some rapid prototyping tools exist in the ROS community, none of them take Simulink® into consideration. In this work the authors provide an open source Rapid Prototyping tool which integrates ROS and Simulink. The proposed package is useful for control designers, who are frequently used to exploit Simulink features for control deployment. The tool can be downloaded from https://github.com/gionatacimini/rapros. © Springer International Publishing Switzerland 2016.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228744 Collegamento a IRIS

2016 Wireless sensor network based management system for electric bicycle-sharing
EEEIC 2016 - International Conference on Environment and Electrical Engineering
Autore/i: Prist, M.; Freddi, A.; Longhi, S.; Monteriù, A.; Antonini, P.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Bicycle-sharing is an exciting new model of public-private transport provision that has quickly emerged in the past five years, and represents a possible way for enhancing sustainable mobility in smart cities of the future. This paper proposes a wireless sensor network based management system for electric bicycle-sharing of new design, where each bicycle and docking station is equipped with a measurement and communication device (i.e., a network mote), and is both sensor and actor of the wireless network. Each bicycle can keep track of its position, battery level, and communicate with the docking station, which manages the recharge cycle, and locks or releases the bicycle to the user. Since all the information is shared through the network, the management system can provide high level software services as well (e.g., the booking service). This paper describes in detail the design and the implementation of the proposed wireless sensor network based management system for electric bicycle-sharing. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240562 Collegamento a IRIS

2016 A Nonlinear System with Coupled Switching Surfaces for Remotely Operated Vehicle Control
10th IFAC Conference on Control Applications in Marine Systems
Autore/i: Dyda, A.A.; Oskin, D.; Longhi, S.; Monteriù, A.
Editore: IFAC
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived approach is proven by applying it for controlling a remotely operated vehicle with parameters from a real ROV. Simulation results show the effectiveness of the proposed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/239063 Collegamento a IRIS

2016 A detection-estimation approach with refinement to filtering for Gaussian systems with intermittent observations
55th IEEE Conference on Decision and Control
Autore/i: Fasano, Antonio; Longhi, Sauro; Monteriu', Andrea; Villani, Valeria
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we consider the problem of state estimation for linear discrete-time Gaussian systems with intermittent observations resulting from packet dropouts. We assume that the receiver does not know the sequence of packet dropouts. This is a typical situation, e.g., in wireless sensor networks. Under this hypothesis, the problem of state estimation has been previously solved by the authors using a detection-estimation approach consisting of two stages: the first is a nonlinear optimal detector, which decides if a packet dropout has occurred, and the second is a time-varying Kalman filter, which is fed with both the observations and the decisions from the first stage. This work extends that solution, introducing a refinement stage whose purpose is to significantly improve the decision on packet dropouts and, in turn, on state estimation. The overall estimator has finite memory and the tradeoff between performance and computational complexity can be easily controlled. Numerical results highlight the effectiveness of the approach based on detection-estimation with refinement, which outperforms both the estimator without refinement and the optimal linear filter of Nahi.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/244861 Collegamento a IRIS

2016 Tecnologie assistive per la vita indipendente
La Bioingegneria per il benessere e l'invecchiamento attivo
Autore/i: Longhi, Sauro; Ciabattoni, Lucio; Ferracuti, Francesco; Freddi, Alessandro; Monteriù, Andrea; Ortenzi, Davide; Romeo, Luca
Editore: Pàtron Editore
Luogo di pubblicazione: Bologna
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/241724 Collegamento a IRIS

2016 An integrated simulation module for cyber-physical automation systems
SENSORS
Autore/i: Ferracuti, Francesco; Freddi, Alessandro; Monteriù, Andrea; Prist, Mariorosario
Classificazione: 1 Contributo su Rivista
Abstract: The integration of Wireless Sensors Networks (WSNs) into Cyber Physical Systems (CPSs) is an important research problem to solve in order to increase the performances, safety, reliability and usability of wireless automation systems. Due to the complexity of real CPSs, emulators and simulators are often used to replace the real control devices and physical connections during the development stage. The most widespread simulators are free, open source, expandable, flexible and fully integrated into mathematical modeling tools; however, the connection at a physical level and the direct interaction with the real process via the WSN are only marginally tackled; moreover, the simulated wireless sensor motes are not able to generate the analogue output typically required for control purposes. A new simulation module for the control of a wireless cyber-physical system is proposed in this paper. The module integrates the COntiki OS JAva Simulator (COOJA), a cross-level wireless sensor network simulator, and the LabVIEW system design software from National Instruments. The proposed software module has been called “GILOO” (Graphical Integration of Labview and cOOja). It allows one to develop and to debug control strategies over the WSN both using virtual or real hardware modules, such as the National Instruments Real-Time Module platform, the CompactRio, the Supervisory Control And Data Acquisition (SCADA), etc. To test the proposed solution, we decided to integrate it with one of the most popular simulators, i.e., the Contiki OS, and wireless motes, i.e., the Sky mote. As a further contribution, the Contiki Sky DAC driver and a new “Advanced Sky GUI” have been proposed and tested in the COOJA Simulator in order to provide the possibility to develop control over the WSN. To test the performances of the proposed GILOO software module, several experimental tests have been made, and interesting preliminary results are reported. The GILOO module has been applied to a smart home mock-up where a networked control has been developed for the LED lighting system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235673 Collegamento a IRIS

2016 An Open and Modular Hardware Node for Wireless Sensor and Body Area Networks
JOURNAL OF SENSORS
Autore/i: Ciabattoni, L.; Freddi, A.; Longhi, S.; Monteriù, A.; Pepa, L.; Prist, M.
Classificazione: 1 Contributo su Rivista
Abstract: Health monitoring is nowadays one of the hottest markets due to the increasing interest in prevention and treatment of physical problems. In this context the development of wearable, wireless, open-source, and nonintrusive sensing solutions is still an open problem. Indeed, most of the existing commercial architectures are closed and provide little flexibility. In this paper, an open hardware architecture for designing a modular wireless sensor node for health monitoring is proposed. By separating the connection and sensing functions in two separate boards, compliant with the IEEE1451 standard, we add plug and play capabilities to analog transducers, while granting at the same time a high level of customization. As an additional contribution of the work, we developed a cosimulation tool which simplifies the physical connection with the hardware devices and provides support for complex systems. Finally, a wireless body area network for fall detection and health monitoring, based on wireless node prototypes realized according to the proposed architecture, is presented as an application scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229968 Collegamento a IRIS

2016 Navigation system based on the wellness and stress estimation
Autore/i: Longhi, Sauro; Monteriù, Andrea; Prist, Mariorosario
Classificazione: 6 Brevetti
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240571 Collegamento a IRIS

2016 Redundancy analysis of cooperative dual-arm manipulators
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Ortenzi, Davide
Classificazione: 1 Contributo su Rivista
Abstract: This paper presents the redundancy analysis of two cooperative manipulators, showing how they can be considered as a single redundant manipulator through the use of the relative Jacobian matrix. In this way, the kinematic redundancy can be resolved by applying the principal local optimization techniques used in the single manipulator case. We resolve the redundancy by using the Jacobian null space technique, which permits us to perform several tasks with different execution priority levels at the same time; this is a useful feature, especially when the manipulators are to be mounted on and cooperate with a mobile platform. As an illustrative example, we present a case study consisting of two planar manip- ulators mounted on a smart wheelchair, whose degrees of redundancy are employed to move an object along a pre- defined path, while avoiding an obstacle in the manipulator’s workspace at the same time.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/238962 Collegamento a IRIS

2016 A thruster failure tolerant control scheme for underwater vehicles
MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings
Autore/i: Ciabattoni, L.; Fasano, A.; Ferracuti, F.; Freddi, A.; Longhi, S.; Monteriù, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper extends our previous work [1] on the design of a thruster failure tolerant control scheme for underwater vehicles. The proposed control scheme is based on the use of a suitable thruster allocation algorithm, which consists on a modified version of the Moore-Penrose pseudo inverse. In this work, each thruster of the underwater vehicle can rotate, offering a significant advantage to optimize its control. When a thruster experiences a failure, the resulting thrust force, which should be allocated to the failed actuator, is reallocated to the still faultless thrusters. Moreover, the angle of each thrusters is set to minimize the control effort. A bank of controllers is built so that each controller is designed to control the considered underwater vehicle under a specific actuator failure scenario. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240565 Collegamento a IRIS

2016 Preliminary study of a novel shelving system for nutrition habits measuring
Lecture Notes in Electrical Engineering
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea; Ortenzi, Davide; Prist, Mariorosario
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237066 Collegamento a IRIS

2016 Implementation of an 'at-home' e-Health system using heterogeneous devices
IEEE 2nd International Smart Cities Conference: Improving the Citizens Quality of Life, ISC2 2016 - Proceedings
Autore/i: Scalise, Lorenzo; Pietroni, Filippo; Casaccia, Sara; Revel, Gian Marco; Monteriù, Andrea; Prist, Mariorosario; Longhi, Sauro; Pescosolido, Loreto
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Systems enabling long-term monitoring of physiological data and everyday activities has been the subject of considerable research efforts in the last years, in order to improve the quality of life of patients, elderly people and common citizens at home, out of the hospitalization. With the availability of inexpensive, low power, wireless and integrated devices, current smart homes are typically equipped with a large amount of sensors, which collaboratively process and make deductions from the acquired data on the state of the home, as well as the activities and behaviors of its residents. According to the field of application and the end-users involved (healthy people, elderly, people with disabilities), the definition of the parameters (e.g. heart rate, blood pressure, activity, body mass, etc.) and the appropriate sensors (electrocardiogram, sphygmomanometer, glucometer, etc.) for their acquisition assume a fundamental role. One of the goals of the Italian project Health@Home is to create a network of health sensors and home automation devices to monitor the user's status within the home environment. We present a candidate implementation of such a system, describing the software architecture and the selected components, and a testbed of the architecture, realized in a lab room and used for a preliminary experimental study involving seven users. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240564 Collegamento a IRIS

2016 The role of ICT in the Italian health care system
Lecture Notes in Electrical Engineering
Autore/i: Ciaschini, Maurizio; De Angelis, Monica; Monteriù, Andrea; Pretaroli, Rosita; Severini, Francesca; Socci, Claudio
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: The size of the Italian expenditure for the health care on Gross Domestic Product (GDP) and on total public expenditure, is in line with those of the major industrialized countries, and somewhat lower than the European average. The Italian healthcare sector does not simply face a contraction of the expenditure: in effect, it should be highlighted that Italy currently does not spend “a lot” and, above all, invests “little” in the mentioned sector. Nevertheless, the health sector can be a very important flywheel for the economic recovery, provided that a lot of attention is paid, and the best resources are invested. In this work, the authors intend developing an analysis of the desirability of investment on Information and Communication Technologies (ICT) in the health sector, and the consequent compatibility with current expenditure, by identifying at the outset the channels multipliers related to the resources at present allocated to the current health expenditure and capital account. For this analysis, two different simulation scenarios have been considered: in the first, an increase in Health services demand by Government has been studied, while in the second, an increase in final demand of Health services by Households has been considered. © Springer International Publishing Switzerland 2016.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240561 Collegamento a IRIS

2016 Room occupancy detection: Combining RSS analysis and fuzzy logic
IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Autore/i: Baldini, A.; Ciabattoni, L.; Felicetti, R.; Ferracuti, F.; Longhi, S.; Monteriù, A.; Freddi, A.
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: n this paper we focus our attention on the world of Internet of Things (IoT) objects and their potential for human indoor localization. Our aim is to investigate how Received Signal Strength (RSS) can be effectively used for identifying the position of a person at home, by exploiting common IoT communication networks. We propose a plug and play solution where the Anchor Nodes (ANs) are represented by smart objects located in the house, while the Unknown Node (UN) can be any smart object held by the user. The proposed solution automatically identifies the rooms where the smart objects are placed, by comparing a fuzzy weighted distance matrix derived from the anchor signals, with a threshold weighted distance matrix derived from the distances between rooms. The information can be easily integrated in any IoT environment to provide the estimation of the user position, without requiring the a priori knowledge of the positions of the anchor nodes. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240570 Collegamento a IRIS

2016 A novel RSSI based approach for human indoor localization: The Fuzzy Discrete Multilateration
IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Autore/i: Baldini, A.; Ciabattoni, L.; Felicetti, R.; Ferracuti, F.; Longhi, S.; Monteriù, A.; Freddi, Alessandro
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a new algorithm for indoor localization, namely Fuzzy Discrete Multilateration (FDM), is proposed. As the name suggests, it elaborates data from any number of transmitters (anchor nodes), and returns the estimated position of an unknown receiver. Furthermore, two cascade fuzzy inference systems are employed to evaluate the reliability of the data gathered from each beacon. The algorithm has been tested in different real world environments, where the anchor nodes are smart objects and the unknown node is any smart object held by the user to be localized. The performances of our algorithm has been compared with those of three well known localization algorithms (with a beacon density ranging from 0.03 to 0.1 beacon/m2) and results are shown. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240569 Collegamento a IRIS

2016 A kinematic joint fault tolerant control based on relative jacobian method for dual arm manipulation systems
3rd Conference on Control and Fault-Tolerant Systems (SysTol)
Autore/i: Freddi, A.; Longhi, S.; Monteriù, A.; Ortenzi, D.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The present paper presents a fault tolerant control for dual arm manipulation systems affected by joint faults. The fault is modelled like a reduction of the maximum joint velocity due to partial torque loss of a servomotor. The system is made locally fault tolerant by exploiting its redundancy degrees via two different methods. The first method permits to reduce the manipulators' manipulability loss in case of fault occurrence, by imposing an optimal fault tolerant configuration to both manipulators; this is directly obtained from the knowledge of the Jacobian null space. The second method permits to compensate the loss of the end effectors motion using the saturation null space approach. In order to handle the dual arm system as a unique equivalent manipulator, both methods are formulated according to the relative Jacobian method. The efficiency of the proposed joint fault tolerant control is shown in a case study, where joint faults occur at different time instants.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/241026 Collegamento a IRIS

2015 A smart lighting system for visual comfort and energy savings in industrial and domestic use
ELECTRIC POWER COMPONENTS AND SYSTEMS
Autore/i: Cimini, Gionata; Freddi, Alessandro; Ippoliti, Gianluca; Monteriù, Andrea; Pirro, Matteo
Classificazione: 1 Contributo su Rivista
Abstract: The goal of this work is to develop a smart light-emitting diode lighting system for industrial and domestic use with several advantages over conventional systems, namely energy saving, high reliability, and visual comfort of interior lighting. This is achieved by integrating a smart control module and a fault diagnosis and prognosis module within a conventional lighting system. The first module controls the lighting level in an energy-efficient way, keeping a desired light level where it is needed while regulating it to a minimum where not required; this is achieved by fully exploiting fuzzy logic and proportional-integrative-derivative controllers. The second module performs fault diagnosis on the light-emitting diode system and predicts when light-emitting diode maintenance should be performed; this is achieved by employing both hardware redundancy and signal-based approaches. Interaction between the two modules permits maintenance of a desired level of light even in the case of failures on one or more light-emitting diodes. The overall system has been experimentally validated in three different scenarios. © 2015 Copyright © Taylor & Francis Group, LLC.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228737 Collegamento a IRIS

2015 A novel LDA-based approach for motor bearing fault detection
Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Ferracuti, Francesco; Freddi, Alessandro; Ippoliti, Gianluca; Monteriù, Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228746 Collegamento a IRIS

2015 Investments and Sustainability of Public Expenditure in the Health Sector
Ambient Assisted Living Forum 2014
Autore/i: M., Ciaschini; DE ANGELIS, Monica; Monteriu', Andrea; R., Pretaroli; F., Severini; C., Socci
Editore: Springer
Classificazione: 2 Contributo in Volume
Abstract: The impact of the Italian expenditure for the health care on Gross Domestic Product (GDP) and on total public expenditure, is in line with those of the major industrialized countries, and somewhat lower than the European average. The issue of the Italian health sector is not simply related to the contraction of the expenditure: in effect, it should be highlighted that Italy currently does not spend “a lot” and, above all, invests “little” in the mentioned sector. Nevertheless, the health sector can be a very important flywheel for the economic recovery but, in order to make this possible, it is necessary to pay a lot of attention, and to invest the best resources. In this work, the authors intend to develop an analysis of the desirability of investment on Information and Communication Technologies (ICT) in the health sector, and the consequent compatibility with current expenditure, by identifying at the outset the channels multipliers related to the resources at present allocated to the current health expenditure and capital account.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/181506 Collegamento a IRIS

2015 Low Cost RGB-D Vision Based System to Support Motor Disabilities Rehabilitation at Home
Ambient Assisted Living: Italian Forum 2014
Autore/i: Benettazzo, Flavia; Iarlori, Sabrina; Ferracuti, Francesco; Giantomassi, Andrea; Ortenzi, Davide; Freddi, Alessandro; Monteriu', Andrea; Innocenzi, Silvia; Capecci, Marianna; Gabriella Ceravolo, Maria; Longhi, Sauro
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Physical rehabilitation is an important medical activity sector for the recovery of physical functions and clinical treatment of people affected by different pathologies, as neurodegenerative diseases (i.e. multiple sclerosis, Parkinson and Alzheimer diseases, amyotrophic lateral sclerosis), neuromuscular disorders (i.e. dystrophies, myopathies, amyotrophies and neuropathies), neurovascular disorders/trauma (i.e. stroke and traumatic brain injuries), and mobility for the elderly. During the rehabilitation, the patient has to perform different exercises specific for the own disease: while some exercises have to be performed with specific equipment and under the supervision of professional staff, others can be performed by patients without the supervision of physiotherapists. In this last case, it is possible to reduce the costs of health and care national system and to accomplish the treatment at home. In this work, a computer vision system for physical rehabilitation at home is proposed. The vision system exploits a low cost RGB-D camera and open source libraries for the image processing, in order to monitor the exercises performed by the patients, and returns a video feedback to improve the treatment effectiveness and to increase the user’s motivation, interest, and perseverance. Moreover, the vision system evaluates an exercise score in order to monitor the rehabilitation progress, an helpful information both for the clinician staff and patients, and allow physiotherapists to monitor the patients at home and correct their posture if the exercises are not well performed. This approach has been implemented and experimentally tested using the Microsoft Kinect camera, demonstrating good and reliable performances.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234070 Collegamento a IRIS

2015 Riflessi etici della formazione tecnico-scientifica
Etica e senso di responsabilità nella professione
Autore/i: Longhi, Sauro; Monteriù, Andrea
Editore: Istituto Grafologico Internazionale Girolamo Moretti
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234202 Collegamento a IRIS

2015 An open and modular hardware node for wireless body area networks
International Work- shop on Micro-Nano-Bio-ICT Convergence: Current Research and Future Trends
Autore/i: Prist, Mariorosario; Ciabattoni, Lucio; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea; Pepa, Lucia
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Health monitoring is nowadays one of the most im-portant markets due to the increasing interest in prevention andtreatment of physical problems. In this context the developmentof wearable, wireless, open source and non-intrusive sensingsolutions is still an open problem. Indeed most of the existingcommercial architectures are closed and provide little flexibility.An open hardware architecture for the design of a modularwireless sensor node for health monitoring is proposed in thispaper. Dividing the connection and sensing functions in twoseparate boards, compliant to the IEEE1451 standard, we addplug and play capabilities to analog transducers. Furthermore,we propose an open hardware wireless body area networksolution with fall detection and health monitoring capabilities.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234074 Collegamento a IRIS

2015 Sistema di navigazione integrato per carrozzine motorizzate in applicazioni AAL
XXVI Convegno di ALASS - Associazione Latina per l'Analisi dei Sistemi Sanitari
Autore/i: Cavanini, Luca; Ortenzi, Davide; Cimini, Gionata; Monteriù, Andrea; Freddi, Alessandro; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/241712 Collegamento a IRIS

2015 Training and Retraining Motor Functions at Home with Help of Current Technology for Video Games: Basis for the Project
mbient Assi- sted Living: Italian Forum 2014
Autore/i: Giantomassi, Andrea; Capecci, Marianna; Benettazzo, F.; Iarlori, Sabrina; Ferracuti, Francesco; Freddi, Alessandro; Monteriu', Andrea; Innocenzi, Silvia; Casoli, Paola; Ceravolo, MARIA GABRIELLA; Longhi, Sauro; Leo, Tommaso
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Chronic diseases are an international concern, for their increasing incidence and the strain on individuals and on healthcare systems. In order to enable the healthcare system to cope with increasing demands and to avoid strong decrements in subject’s functionality and well-being, a variety of changes for the management of chronic disease care have been advocated by the World Health Organization. The objective of the research is to verify the feasibility and acceptability of a technological solution that allows to transfer a tailored rehabilitation program for patients with disabilities in the home environment. The first step of the study is to identify the correct technological solution on the basis of the International Standard of Organization (ISO) definition of usability and acceptability. The second step is to verify the capacity of the system to perform correctly what is requested. The third step will be to verify the system efficacy in the patients’ training.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234069 Collegamento a IRIS

2015 An integrated simulation module for wireless cyber-physical system
2015 IEEE 15th International Conference on Environment and Electrical Engineering, EEEIC 2015 - Conference Proceedings
Autore/i: Prist, Mariorosario; Freddi, Alessandro; Longhi, Sauro; Monteriu, Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Wireless Sensors Network (WSN) integration in a Cyber Physical System (CPS) is becoming one of the most important research topics for increasing the adaptability, autonomy, efficiency, functionality, reliability, safety, and usability in the wireless automation systems. Due the complexity of the CPS, simulators and emulators have to be used to replace the real experiments in order to provide necessary feedback and facilities for this regard. Although the simulators are open source, flexible, extensible and full integrated in a mathematical modelling tools, the external connection at a physical level and the direct interaction with the process control via the WSN in the CPSs is very poor. This paper proposes a new simulation module to control a wireless cyber-physical system, by integrating LabVIEW development environment for a visual programming language from National Instruments, and COOJA, a cross level wireless sensor network simulator. The developed software module, called “GILOO” (Graphical Integration of Labview and cOOja) enables to develop and to debug control policies in a simulated or realistic scenario, using the virtual environment or the hardware module, such as the National Instruments Data Acquisition (SCADA), the FPGA platform, the CompactRio, etc. The designed GILOO module has been experimentally tested and preliminary results are shown in this paper. In detail, a smart home mock-up is proposed to verify its correct behavior and to realize the networked control of an indoor LED lighting system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234075 Collegamento a IRIS

2015 Nonlinear decentralized model predictive control for unmanned vehicles moving in formation
INFORMATION TECHNOLOGY AND CONTROL
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Classificazione: 1 Contributo su Rivista
Abstract: Unmanned vehicles operating in formation may perform more complex tasks than vehicles working indi- vidually. In order to control a formation of unmanned vehicles, however, the following main issues must be faced: vehicle motion is usually described by nonlinear models, feasible control actions for each vehicle are constrained, collision between the members of the formation must be avoided while, at the same time, the computational efforts must be kept low due to limitations on the onboard hardware. To solve these problems, a nonlinear decentralized model predictive control algorithm is presented in this paper. The adopted model is based on the nonlinear kinematic equations describing the motion of a body with six degrees of freedom, where each vehicle shares information with its leader only by means of a wireless local area network. Saturation and collision-free constraints are included within the formulation of the optimization problem, while de- centralization allows to distribute the computational efforts amongst all the vehicles of the formation. In order to show the effectiveness of the proposed approach, it has been applied to a formation of quadrotor vehicles. Simulation results prove that the approach presented in this paper is a valid way to solve the problem of controlling a formation of unmanned vehicles, granting at the same time the possibility to deal with constraints and nonlinearity while limiting the computational efforts through decentralization.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229821 Collegamento a IRIS

2015 Ambient Assisted Living: Italian Forum 2014
BIOSYSTEMS & BIOROBOTICS
Autore/i: Andò, Bruno; Siciliano, Pietro; Marletta, Vincenzo; Monteriù, Andrea
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
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 Fifth Italian Forum on Ambient Assisted Living, which was held in Catania, Italy, in September 2014 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 exciting 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/11566/234043 Collegamento a IRIS

2015 AAL Technologies for Independent Life of Elderly People
Ambient Assisted Living: Italian Forum 2014
Autore/i: Benetazzo, Flavia; Ferracuti, Francesco; Freddi, Alessandro; Giantomassi, Andrea; Iarlori, Sabrina; Longhi, Sauro; Monteriu', Andrea; Ortenzi, Davide
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Assistive technologies have the objective to improve the people quality of life of in daily living, with a special aim to those who suffer of physical disabilities or cognitive impairment, which may be caused by an accident, disease or the natural process of ageing. The present paper describes the main results of a study realized for the INTERREG IVC INNOVAGE project, where the domain target addressed are: home and building automation and assistive robotics. The project provides a quick overview of the typical needs of elderly people, describes the state-of-the-art technologies which can be adopted to satisfy these needs and presents a critical analysis of the functionalities, which present and future assistive technologies should possess. The result of this study is a detailed assessments of requirements and limits of nowadays domotics and robotics technologies aimed to improve people quality of life.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234065 Collegamento a IRIS

2015 An integrated simulation environment for Wireless Sensor Networks
Proceedings of the WoWMoM 2015: A World of Wireless Mobile and Multimedia Networks
Autore/i: Prist, Mariorosario; Longhi, Sauro; Monteriu, Andrea; Giuggioloni, Federico; Freddi, Alessandro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Simulators for Wireless Sensor Networks (WSNs) are one of the most important tools for systems development. They enable to study and evaluate new theories and hypotheses for sensors data gathering, testing new applications and protocols. Nowadays, there are a large number of open source WSN simulators and they can be divided into different categories according to their features and main applications. Due to the ability to increase the real WSN prototyping, the Cross Levels Simulator, like Cooja, has become an important class of simulators. Although they are open source, flexible and extensible in all levels, the test interface, the external connection at a physical level and the direct interaction with the process control via the WSN is very poor. In this work we present the Cooja Advanced Sky Interface which is an extension of the Contiki's Cooja network simulator for the Sky mote. Due to the absence of the analog output control in the Contiki OS for the Sky mote, as additional contribution, the Contiki Sky DAC driver has been developed and tested in the Cooja Simulator with the Advanced Sky GUI and GISOO plugin to give the ability to implement control over the wireless sensor network.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234076 Collegamento a IRIS

2015 A virtual thruster-based failure tolerant control scheme for underwater vehicles
10th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC 2015)
Autore/i: Fasano, Antonio; Ferracuti, Francesco; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a preliminary set of results on the design of a virtual thruster-based failure tolerant control scheme for underwater vehicles. The proposed control scheme is based on the use of a suitable thruster allocation algorithm, which consists on a modified version of the Moore-Penrose pseudo inverse. When a thruster experencies a failure, the “virtual” thruster concept is introduced, as an ideal faultless thruster that operates in places of the real failed one. Thus, the resulting thrust force, which should be allocated to the failed actuator (i.e., virtual thrust), is instead reallocated to the still functional thrusters. A bank of controllers is built so that each controller is designed to control the considered underwater vehicle under a specific actuator failure scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234072 Collegamento a IRIS

2015 Metodo e sistema di navigazione
Autore/i: Longhi, Sauro; Monteriù, Andrea; Prist, Mariorosario
Classificazione: 6 Brevetti
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235993 Collegamento a IRIS

2015 A detection-estimation approach to filtering with intermittent observations with generally correlated packet dropouts
54th IEEE Conference on Decision and Control (CDC 2015)
Autore/i: Fasano, Antonio; Monteriu, Andrea; Villani, Valeria
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper is concerned with the problem of state estimation for the class of linear discrete-time Gaussian systems with intermittent observations due to packet losses. This is a common case in networked control systems, where the state of a remote plant is estimated from measurements carried through a lossy network. We assume that the receiver does not know the sequence of packet dropouts. This is typical, e.g., in wireless sensor networks or in networks that cannot rely on protocols that provide information on packet loss. Moreover, we assume that the sequence of packet dropouts is correlated, thus subsuming both the cases of independent dropouts and dropouts modeled as a Markov chain. We propose a detection-estimation approach to the problem of state estimation. The estimator consists of two stages: the first is a nonlinear optimal detector, which decides if a packet dropout has occurred, and the second is a time-varying Kalman filter, which is fed with both the observations and the decisions from the first stage. The overall estimator has finite memory and the tradeoff between performance and computational complexity can be easily controlled. As a case study, we derive the decision rule in closed form in the case of dropout sequence modeled as a Markov chain. Simulation results highlight the effectiveness of the proposed approach, which outperforms the linear recursive estimator of Hadidi and Schwartz.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234073 Collegamento a IRIS

2015 Underwater Robot Intelligent Control Based on Multilayer Neural Network
Underwater Intelligent Control
Autore/i: Oskin, Dimitry; Dyda, Alexander; Longhi, Sauro; Monteriù, Andrea
Editore: River Publishers
Classificazione: 2 Contributo in Volume
Abstract: The chapter is devoted to the design of an intelligent neural network based control system for underwater robots. A new algorithm for intelligent con- troller learning is derived using the speed gradient method. The proposed systems provide robot dynamics close to the reference ones. Simulation re- sults of neural network control systems for underwater robot dynamics with parameter and partial structural uncertainty have confirmed the perspectives and effectiveness of the developed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204125 Collegamento a IRIS

2014 The ICT industry and the health care system
Mobile Networks for Biometric Data Analysis
Autore/i: M. De Angelis; M. Ciaschini; A. Monteriù; R. Pretaroli; F. Severini; C. Socci
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/192702 Collegamento a IRIS

2014 Development of a smart LED lighting system: Rapid prototyping scenario
2014 IEEE 11th International Multi-Conference on Systems, Signals and Devices, SSD 2014
Autore/i: Calisse, Giovanni; Cimini, Gionata; Colombo, Luigi; Freddi, Alessandro; Ippoliti, Gianluca; Monteriù, Andrea; Pirro, Matteo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/150103 Collegamento a IRIS


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