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David SCARADOZZI

Pubblicazioni

David SCARADOZZI

 

133 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
97 4 Contributo in Atti di Convegno (Proceeding)
25 1 Contributo su Rivista
10 2 Contributo in Volume
1 6 Brevetti
Anno Risorsa
2019 Multi-body analysis of a bio-inspired underwater robot
Mechanisms and Machine Science
Autore/i: Costa, Daniele; Palmieri, Giacomo; Scaradozzi, David; Callegari, Massimo
Editore: Springer
Luogo di pubblicazione: Cham, Switzerland
Classificazione: 2 Contributo in Volume
Abstract: In the last two decades, bio-inspired solutions have been thoroughly investigated as a source of efficiency and manoeuvrability improvement for underwater robots. By means of advanced simulation techniques, researchers from all over the world are trying to quantify the propulsive forces generated by biological thrusters. However, in order to compute the resulting motion of the robot, such forces must be integrated in a multi-body model, which accounts for the mass distribution and for the hydrodynamic effects on a rigid body moving in a fluid. In order to address this objective, the authors devised a framework to integrate the long-lasting fluid dynamics simulations with the real-time control techniques required to manage autonomous navigation. The adaptability of the proposed method has been tested by computing the propulsive performance of a bioinspired underwater vehicle manufactured by the authors.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263021 Collegamento a IRIS

2019 Functional design of a biomimetic flapper
Mechanisms and Machine Science
Autore/i: Costa, D.; Palmieri, G.; Scaradozzi, D.; Callegari, M.
Editore: Springer
Luogo di pubblicazione: Cham, Switzerland
Classificazione: 2 Contributo in Volume
Abstract: Bio-inspired solutions are deeply investigated as a source of efficiency and maneuverability improvement for underwater vehicles. In the last few years, the authors of the present work have designed and manufactured a series of ostraciiform swimming robots. The necessity to pursue the highest possible propulsive efficiency in order to maximize the autonomy has driven the authors to improve their design by moving from ostraciiform to thunniform locomotion. In order to actuate the robot thruster, a transmission mechanism has been designed to convert the continuous rotation of a single motor in the harmonic roto-translation of the system output, namely the fish caudal fin. By means of this solution, inertia and encumbrance of the vehicle tail are reduced because the transmission actuator is installed on the robot rigid fore body, while waterproofing issues are minimal because a single motor needs to be sealed. Since the phase difference between the output harmonic motions of rotation and translation is maintained constant by a kinematic constraint, the effort of the control system is reduced.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/261566 Collegamento a IRIS

2019 Inert gas narcosis in scuba diving, different gases different reactions
EUROPEAN JOURNAL OF APPLIED PHYSIOLOGY
Autore/i: Rocco, Monica; Pelaia, P.; Di Benedetto, P.; Conte, G.; Maggi, L.; Fiorelli, S.; Mercieri, M.; Balestra, C.; De Blasi, R. A.; Scaradozzi, D.; Gala, F.; Screpanti, L.; Diving, Argentario; Nicolini, S.; Mesa, S.
Classificazione: 1 Contributo su Rivista
Abstract: Purpose: Underwater divers face several potential neurological hazards when breathing compressed gas mixtures including nitrogen narcosis which can impact diver’s safety. Various human studies have clearly demonstrated brain impairment due to nitrogen narcosis in divers at 4 ATA using critical flicker fusion frequency (CFFF) as a cortical performance indicator. However, recently some authors have proposed a probable adaptive phenomenon during repetitive exposure to high nitrogen pressure in rats, where they found a reversal effect on dopamine release. Methods: Sixty experienced divers breathing Air, Trimix or Heliox, were studied during an open water dive to a depth of 6 ATA with a square profile testing CFFF measurement before (T 0 ), during the dive upon arriving at the bottom (6 ATA) (T 1 ), 20 min of bottom time (T 2 ), and at 5 m (1.5 ATA) (T 3 ). Results: CFFF results showed a slight increase in alertness and arousal during the deep dive regardless of the gas mixture breathed. The percent change in CFFF values at T 1 and T 2 differed among the three groups being lower in the air group than in the other groups. All CFFF values returned to basal values 5 min before the final ascent at 5 m (T 3 ), but the Trimix measurements were still slightly better than those at T 0 . Conclusions: Our results highlight that nitrogen and oxygen alone and in combination can produce neuronal excitability or depression in a dose-related response.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/266084 Collegamento a IRIS

2019 Preliminary study of a novel magnetic sensor for safety in industrial robotics
IEEE International Symposium on Robotic and Sensors Environments, ROSE 2019 - Proceedings
Autore/i: De Leo, A.; Scaradozzi, D.; Genovesi, R.; Cerri, G.; Conte, G.; Perdon, A. M.; Omerdic, E.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a novel magnetic sensor for industrial robotics is presented. The main aim of the sensor is to detect the presence of human beings in order to avoid the collision between workers and the robot. The sensor consists in such an artificial skin to conform at the robot shape, made by several turns of a wire covered by a dielectric. The sensor made in this way has no exposed metal parts, so it is safe from an electrical point of view and has no tips that could be caught up by surrounding objects. This sensor in mainly based to the magnetic field variation due to the presence of the target. At first, a laboratory prototype of this sensor was built to perform a preliminary set of measurements. Furtherly a prototype implementation was realized and tested in a realistic scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/269529 Collegamento a IRIS

2018 Full-Fledged 10Base-T Ethernet Underwater Optical Wireless Communication System
IEEE JOURNAL ON SELECTED AREAS IN COMMUNICATIONS
Autore/i: Cossu, Giulio; Sturniolo, Alessandro; Messa, Alessandro; Scaradozzi, David; Ciaramella, Ernesto
Classificazione: 1 Contributo su Rivista
Abstract: Marine researchers and operators during their daily work need consistent data from the underwater environment to constantly monitor the habitat's probes and the robots condition. For underwater applications, wireless communication is of paramount importance. Today, the needs for high-speed communication has prompted the exploration of the Underwater Optical Wireless Communications (UOWCs) method. This paper presents the design and validation aspects of the optical layer of a bidirectional UOWC system developed in the framework of the European Project SUNRISE, able to provide wireless connectivity compliant to 10Base-T Ethernet protocol (Manchester-coded signal with 10 Mb/s data rate). The designed modems are made of two similar optical transceivers, each including a transmitter, a receiver unit, and an optical power monitor part. The transmitter is based on an array of blue Light Emitting Diodes; the receiver exploits a commercially available Avalanche Photodiode (APD) and the monitoring relies on a pin-photodiode. The modems, after a deep characterization in controlled environments, were proved to work with the required 10Base-T Ethernet, up to 7.5 m distance in shallow harbor waters. The complete optical system is intended to become a node of the SUNRISE infrastructure. © 1983-2012 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/257977 Collegamento a IRIS

2018 Experimental Setup for the Validation of the Bio-Inspired Thruster of an Ostraciiform Swimming Robot
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Autore/i: Costa, D.; Callegari, M.; Palmieri, G.; Scaradozzi, D.; Brocchini, M.; Zitti, G.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last two decades, bio-inspired solutions have been thoroughly investigated as a source of efficiency and manoeuvrability improvement for underwater robots. The possibility to design a machine capable of propelling itself like a marine animal strongly depends on the understanding of the mechanics principles underlying biological swimming. The adoption of advanced simulation and measurement techniques is then fundamental to investigate the fluid-structure interaction phenomena characterizing the locomotion of aquatic animals. To address this very ambitious objective, the Authors designed an experimental setup devised to investigate the propulsive performances of an ostraciiform swimming robot. The numerical simulations performed on an oscillating foil led to the design of a dedicated force sensor, able to allow a complete characterization of the bio-inspired thruster and its actuation mechanism. The experimental test campaign is still under development but the results of the preliminary tests are hereby provided
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/261561 Collegamento a IRIS

2018 Development and Experimental Tests of a ROS Multi-agent Structure for Autonomous Surface Vehicles
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Raspa, Paolo; Panebianco, Luca; Screpanti, Laura
Classificazione: 1 Contributo su Rivista
Abstract: Robotic structures that couple autonomous surface vehicles and unmanned underwater vehicles in integrated systems with various levels of cooperation provide interesting solutions to the problem of developing efficient, versatile and cost effective tools for exploration, monitoring and exploitation of the underwater environment. In this paper we describe the development and preliminary field testing of an autonomous surface vehichle that can automatically track, deploy and recover a small remotely operated vehicle, which is guided from a shore-ground station. This goal is achieved by exploiting two-ways transmission of data and commands through the umbilical and a wireless link with a shore-ground station. In this way, pilots can experiment telepresence in the underwater environment, avoiding the need of expensive and logistically demanding manned supply vessel. The vehicle is a small aluminum hull boat, equipped with a steering outboard electric motor. A multi-agent system in the ROS framework is proposed for the robotic structure. The use of commercial-off-the-shelf components and the choice of a multi-agent ROS architecture are a mean to reduce costs and to assure performances, modularity and versatility. Field tests in both supervised and autonomous guidance mode have been performed in order to assess the basic functionalities of the system and their results are illustrated and discussed
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252071 Collegamento a IRIS

2018 Design of a Bio-Inspired Autonomous Underwater Robot
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Costa, Daniele; Palmieri, Giacomo; Palpacelli, Matteo-Claudio; Panebianco, Luca; Scaradozzi, David
Classificazione: 1 Contributo su Rivista
Abstract: The following paper presents the design and fabrication of an ostraciiform swimming robot and its navigation control and guidance system. Compared to other biomimetic vehicles, the chosen architecture has a lower propulsive efficiency but is easier to waterproof and capable to withstand greater pressures. To generate the alternating motion of the robot bio-inspired thruster, namely a plane fin, a transmission system was designed to replace the direct drive widely adopted in underwater biomimetic vehicles. The mechanical efficiency of two alternative mechanisms capable to actuate the fin were computed according to a preliminary sizing of the robot and its targeted swimming performances. Therefore, the more suitable solution was manufactured and installed aboard. At the same time, a proper navigation, guidance and control architecture (NGC) was designed and then integrated in the robot main controller. The proposed solution allows the vehicle to perform different missions autonomously once their profiles are received from the base station. Preliminary tests results and future works are discussed in the final conclusions. © 2017 Springer Science+Business Media B.V.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252070 Collegamento a IRIS

2018 The ARROWS Project: Robotic technologies for underwater archaeology
IOP Conference Series: Materials Science and Engineering
Autore/i: Allotta, B.; Costanzi, R.; Ridolfi, A.; Salvetti, O.; Reggiannini, M.; Kruusmaa, M.; Salumae, T.; Lane, D. M.; Frost, G.; Tsiogkas, N.; Cocco, M.; Gualdesi, L.; Lacava, G.; Roig, D.; Gundogdu, H. T.; Dede, M. I. C.; Baines, S.; Tusa, S.; Latti, P.; Scaradozzi, D.
Editore: Institute of Physics Publishing
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper summarizes the main results achieved during the three-year European FP7 ARROWS project (ARchaeological RObot systems for the Worlds Seas). ARROWS concluded at the end of August 2015 and proposed to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) technologies to reduce the operational cost of typical underwater archaeological campaigns. The methodology used by ARROWS researchers identified archaeologists requirements for all the phases of a campaign. These were based on guidelines issued by the project Archaeology Advisory Group (AAG), which comprised of many European archaeologists belonging to the consortium. One of the main goals of the ARROWS project was the development of a heterogeneous team of cooperating AUVs; these comprised of prototypes developed in the project and commercially available vehicles. Three different AUVs have been built and tested at sea: MARTA, characterized by flexible hardware modularity for easy adaption of payload and propulsion systems, U-CAT, a turtle inspired bio-mimetic robot devoted to shipwreck penetration and A-Size AUV, a small light weight vehicle which is easily deployable by a single person. The project also included the development of a cleaning tool for well-known artefacts and maintenance operations. Results from the official final demonstrations of the project, held in Sicily and in Estonia during Summer 2015, are presented in the paper as an experimental proof of the validity of the developed robotic tools.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262353 Collegamento a IRIS

2018 Lab4Dive Mobile Smart Lab for Augmented Archaeological Dives
IOP Conference Series: Materials Science and Engineering
Autore/i: Scaradozzi, D.; Zingaretti, S.; Ciuccoli, N.; Costa, D.; Palmieri, G.; Bruno, F.; Ritacco, G.; Cozza, M.; Raxis, P.; Tzifopanopoulos, A.
Editore: Institute of Physics Publishing
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Lab4Dive project aims to design, develop, and validate an innovative, marketable and competitive product for supporting underwater archaeologists in surveying, documenting and preserving the underwater cultural heritage. These activities could be improved considerably with the introduction of new technological devices and tools, helping underwater archaeologists to collect data from the marine environment. The project will provide a solution by equipping divers with portable, low cost and relatively small sized data-gathering systems (i.e. environmental sensors, acoustic localization system, HD cameras, etc.), so they can significantly improve both the amount of data collected in a single mission and the management of time and human resources at disposal. In this paper, the preliminary developments and the tests of the Lab4Dive system will be presented, which is mainly based on two modules: Cloud Server Module and the Underwater Module. The latter is based on two systems: an underwater tablet, that supports the diver during the immersion providing an augmented navigation interface that guides the diver along the selected targets; and a Docking Station, to acquire and exchange data coming from different environmental sensors, a high-resolution camera and an acoustic localization system, physically connected to it.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262352 Collegamento a IRIS

2018 Computational fluid dynamics analysis and design of an ostraciiform swimming robot
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Autore/i: Costa, D.; Franciolini, M.; Palmieri, G.; Crivellini, A.; Scaradozzi, D.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The following paper presents the integration between the computational fluid dynamics (CFD) analysis of an oscillating foil and the design and fabrication of an ostraciiform swimming robot, a bio-inspired vehicle that consists of a rigid hull and an oscillating fin hinged to fore body through a revolute joint. Compared to other robotic fish, the aforementioned architecture has a lower propulsive efficiency but is capable of withstanding greater pressures with respect to other soft and piecewise-flexible propulsion systems. To generate the fin alternating motion a transmission mechanism based on a barrel cam was designed to replace the direct drive widely adopted in other biomimetic vehicles. In order to size the robot thruster and actuator, the forces acting on the oscillating fin were computed in Reynolds Averaged Navier-Stokes (RANS) equations implemented in a Discontinuous Galerkin (DG) solver. The numerical predictions were compared to analytic solutions provided in literature and the resulting model was then adopted to design an ostraciiform swimming robot and its navigation, guidance and control system. This vehicle will serve, in future work, as a test bench to validate the author's conclusions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262356 Collegamento a IRIS

2018 Digital chest tomosynthesis: the 2017 updated review of an emerging application
ANNALS OF TRANSLATIONAL MEDICINE
Autore/i: Ferrari, Arianna; Bertolaccini, Luca; Solli, Piergiorgio; Di Salvia, Paola Oriana; Scaradozzi, David
Classificazione: 1 Contributo su Rivista
Abstract: Lung cancer is the leading cause of cancer death and second most common cancer among both men and women, but most of them are detected when patients become symptomatic and in late-stage. Chest radiography (CR) is a basic technique for the investigation of lung cancer and has the benefit of convenience and low radiation dose, but detection of malignancy is often difficult. The introduction of computed tomography (CT) for screening has increased the proportion of lung cancer detected but with higher exposure dose and higher costs. Digital chest tomosynthesis (DCT), a tomographic technique, may offer an alternative to CT. DCT uses a conventional radiograph tube, a flat-panel detector, a computer-controlled tube mover and reconstruction algorithms to produce section images. It shows promise in the detection of potentially malignant lung nodules, with higher sensibility than CR, and is emerging as a low-dose and low-cost alternative to CT to improve treatment decisions. In fact, an increasing number of researchers are showing that tomosynthesis could have a role in the detection of lung cancer, in addition to its present role in breast screening. However, DCT offers some limitations, such as limited depth resolution, which may explain the difficulty in detecting pathologies in the subpleural region and the occurrence of artefacts from medical devices. Once solved these limitations and once more studies supporting its use will be available, DCT could become the first-line lung cancer screening tool among patients at considerable risk of lung cancer.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262350 Collegamento a IRIS

2018 Implementation and Assessment Methodologies of Teachers’ Training Courses for STEM Activities
TECHNOLOGY, KNOWLEDGE AND LEARNING
Autore/i: Scaradozzi, D.; Screpanti, L.; Cesaretti, L.; Storti, M.; Mazzieri, E.
Classificazione: 1 Contributo su Rivista
Abstract: Educational Robotics is rapidly gaining attention as an effective methodology to develop skills and engage students preserving their peculiar style of learning. It is often tied together with two other methodologies, Coding and Tinkering, characterized by a similar hands-on approach. In order to fully exploit their inclusive features, teachers need to be prepared to introduce them into classroom. It is often noticed that in service teachers are not yet fully prepared to face this challenge. Many actions have been established to recover this situation, but a proper method for assessing whether these actions are successful or not is not yet developed. This paper presents a methodology for introducing in-service teachers to Educational Robotics, Coding and Tinkering and for assessing the outcomes. 184 in-service teachers were assessed and results analysed. Final considerations draw a picture of the situation amongst the sample chosen for the present study, observing that the intervention seemed to be successful in providing key notions and examples, and improving teachers’ self-confidence.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262355 Collegamento a IRIS

2018 Sea-Trial of Optical Ethernet Modems for Underwater Wireless Communications
JOURNAL OF LIGHTWAVE TECHNOLOGY
Autore/i: Cossu, Giulio; Sturniolo, Alessandro; Messa, Alessandro; Grechi, Simone; Costa, Daniele; Bartolini, Andrea; Scaradozzi, David; Caiti, Andrea; Ciaramella, Ernesto
Classificazione: 1 Contributo su Rivista
Abstract: A new pair of optical wireless modems has been realized, which exploit visible light communication to transmit Ethernet signals through water. The modem prototypes were finally tested in sea waters at La Spezia harbor; they successfully transmitted 10 Mbit/s 10Base-T signals over up to 10 m, notwithstanding the high turbidity and the strong sunlight. Final tests included the integration with SUNRISE testbed and the use with a moving robot, remotely operated. Commercial components were used to realize the modems; thus, we expect that the key design concepts can be used as a starting point for practical deployment of this technology.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262351 Collegamento a IRIS

2018 Sea-trial of an ethernet-based underwater VLC communication system
2018 Optical Fiber Communications Conference and Exposition, OFC 2018 - Proceedings
Autore/i: Cossu, G.; Sturniolo, A.; Messa, A.; Grechi, S.; Scaradozzi, D.; Caiti, A.; Ciaramella, E.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: We experimentally demonstrate at NATO site in Spezia a bi-directional underwater optical wireless transmission compliant with 10Base-T Ethernet. Zero packet-loss-was achieved up to 10 m distance in a real harbor, with shallow murky waters and daylight.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262354 Collegamento a IRIS

2018 A Complete IoT Infrastructure to Ensure Responsible, Effective and Efficient Execution of Field Survey, Documentation and Preservation of Archaeological Sites
IEEE 4th International Forum on Research and Technologies for Society and Industry, RTSI 2018 - Proceedings
Autore/i: Zingaretti, S.; Scaradozzi, D.; Ciuccoli, N.; Costa, D.; Palmieri, G.; Bruno, F.; Ritacco, G.; Cozza, M.; Raxis, P.; Tzifopanopoulos, T.; Manglis, A.; Agouridis, C. S.; Michalis, 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/11566/266125 Collegamento a IRIS

2018 Sea-trial of an Ethernet-based underwater VLC communication system
Optics InfoBase Conference Papers
Autore/i: Cossu, G.; Sturniolo, A.; Messa, A.; Grechi, S.; Scaradozzi, D.; Caiti, A.; Ciaramella, E.
Editore: OSA - The Optical Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/266126 Collegamento a IRIS

2017 An innovative approach to School-Work turnover programme with educational robotics
MONDO DIGITALE
Autore/i: Cesaretti, Lorenzo; Storti, Michele; Mazzieri, Elisa; Screpanti, Laura; Paesani, Antonio; Scaradozzi, David
Classificazione: 1 Contributo su Rivista
Abstract: This paper presents an innovative approach to alternating School- Work turnover programme based on Educational Robotics and on project-based learning. At the beginning of the year 2017 (from January to April), Liceo Volta-Fellini of Riccione proposed a STEM practical activity to its own students as a School-Work turnover programme. This course of Robotics was developed and designed by TALENT srl and Università Politecnica delle Marche with 3 objectives: raising interest in STEM education, providing students with the opportunity to learn to work in team, raising awareness towards their own cognitive processes and capabilities through the evaluation of their experience in the alternating school-work programme. Six classes were involved in the project, three from Scientific course and three from Applied Sciences course. The achievement of the project's aims was evaluated collecting data from students by means of a self-assessment questionnaire; students could express their level of agreement to the questions using a 5- point Likert scale: each group of questions associated to a specific aim with an average value greater than 3 allowed to consider that goal reached. As each objective scored an average value of 4.1, 3.5 and 3.6, authors consider all the three goals accomplished.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/257978 Collegamento a IRIS

2017 Field test of an integrated ASV/ROV platform
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Ciuccoli, Nicolò
Editore: Society of Petroleum Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The issue of making available efficient, versatile and cost effective solutions for exploring, monitoring and exploiting the marine environment is a challenge that can be tackled by developing integrated robotic platforms, where autonomous surface vehicles (ASV) cooperates with unmanned underwater vehicles (UUV). A robotic structure of that kind is considered in this work, which continues the activity of the authors and co-workers. The robotic platform consists of a small ASV that can serve as supply vessel for a micro-UUV, which is remotely guided by a pilot from a shore-ground station. The present work focuses on the integration of the UUV component in the overall structure and in the development of the its remote guidance system. Mechatronic, control and communication problems encountered in implementing this solution are described and the results of functional tests are illustrated. A simple and efficient robotic structure that can be managed by a single operator for exploration and light intervention in relatively shallow water (up to a depth of about 50m) is finally assembled and made ready for field test in an harbor basin in the next months. Copyright © 2017 by the International Society of Offshore and Polar Engineers (ISOPE).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/257980 Collegamento a IRIS

2017 An innovative force sensor to evaluate the drag of small outboard motor watercrafts
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Perdon, Anna Maria
Editore: Society of Petroleum Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Drag coefficients are important parameters in modelling the dynamic behavior of watercrafts and in design efficient and reliable control schemes for them. Evaluation of drag coefficients, either by theoretical or by experimental methods is a challenging and resource demanding problem. In this paper, we describe an innovative sensor that can measure the thrust of the outboard motor which propels a watercraft. In steady state motion, the measured thrust equals the drag and therefore its measurements can be used to determine drag coefficients. The structure and the characteristics of a prototypal version of the sensor are described, together with its calibration procedure. Field tests are illustrated and the results of measurements are discussed. Copyright © 2017 by the International Society of Offshore and Polar Engineers (ISOPE).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/257979 Collegamento a IRIS

2017 DocuScooter: A novel robotics platform for marine citizen science
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Scaradozzi, David; Zingaretti, Silvia; Panebianco, Luca; Altepe, Corentin; Egi, S. Murat; Palma, Marco; Pantaleo, Ubaldo; Ferraris, Davide; Micheli, Fiorenza
Editore: Society of Petroleum Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Conservation and monitoring of marine systems and large-scale underwater data acquisition are too demanding for single researchers. The exploitation of citizen science and the development of new technology can significantly facilitate these actions. In this work a novel system that allows scuba divers to collect data during their leisure activity is presented. It consists of a modular robotics system connected with a variable number of heterogeneous payloads, directly manageable through a tablet, to equip an underwater scooter. After the mission, the user can upload the data on an appropriate web server and launch a 3D reconstruction process, providing ad-hoc outputs for different applications. Copyright © 2017 by the International Society of Offshore and Polar Engineers (ISOPE).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/257981 Collegamento a IRIS

2017 BCF swimming locomotion for autonomous underwater robots: a review and a novel solution to improve control and efficiency
OCEAN ENGINEERING
Autore/i: Scaradozzi, David; Palmieri, Giacomo; Costa, Daniele; Pinelli, Antonio
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/246718 Collegamento a IRIS

2017 UNIVPM BRAVe: A hybrid propulsion underwater research vehicle
INTERNATIONAL JOURNAL OF AUTOMATION TECHNOLOGY
Autore/i: Scaradozzi, David; Palmieri, Giacomo; Costa, Daniele; Zingaretti, Silvia; Panebianco, Luca; Ciuccoli, Nicolo'; Pinelli, Antonio; Callegari, Massimo
Classificazione: 1 Contributo su Rivista
Abstract: In the last decade, the underwater activities performed by archaeologists and biologists have benefited from scientific research on the guidance, control, and sensory systems of unmanned vehicles. In fact, because underwater sites of interest are often difficult for divers to access, the use of unmanned vehicle technology to conduct surveys could be quite advantageous. In this paper, a novel and partially-biomimetic underwater robot, referred to as BRAVe (Biomimetic Research Autonomous Vehicle), is presented. For documentation purposes, it is equipped with a hybrid propulsion system, which consists of two different types of thrusters. The thrusters are designed to compensate for their reciprocal flaws in order to achieve a more efficient overall system. Specifically, the biomimetic thruster is employed for its superior energetic efficiency, and the horizontal propellers are exploited for accurate maneuvering. While the documentation and 3D reconstruction of the underwater seabed is a consolidated aspect for the authors, the hybrid propulsion system represents the main innovation of the present work. The increase in efficiency achieved by this propulsion system allows the vehicle to perform a thorough and precise documentation of underwater remains within short distances, while exploiting the maximum possible autonomy. This article discusses the details of the development of all the vehicle compartments and their associated characteristics, focusing on the significance of this technology. In addition, the results of 3D reconstructions extrapolated from images taken during real field missions are presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/246709 Collegamento a IRIS

2017 Underwater position estimation for an underwater vehicle using unscented Kalman filter
2017 25th Signal Processing and Communications Applications Conference, SIU 2017
Autore/i: Scaradozzi, David; Panebianco, Luca; Ciuccoli, Nicolo'; Zingaretti, Silvia; Egi, S. Murat; Altepe, Corentin
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Marine researchers need consistent historical and georeferenced data from the marine environment in order to constantly monitor the biological condition of the habitat or to document delicate archeological sites. To overcome the difficulties related to the acquisition of high quantity of worthy data and to the accurate estimation of the position, the development of easy to-use IT tools could certainly help. This article aims to present a tool that can equip different type of underwater vehicles capable of estimating its position during his surveys using its on-board sensors and with the aid of an external buoy. The estimation algorithm is based on the UKF technique and some preliminary simulation results of its performances are presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252067 Collegamento a IRIS

2017 Procedures and technologies for 3D reconstruction with divers of underwater archaeological sites and marine protected areas
IMEKO TC19 Workshop on Metrology for the Sea, MetroSea 2017: Learning to Measure Sea Health Parameters
Autore/i: Panebianco, Luca; Zingaretti, Silvia; Ciuccoli, Nicolò; Altepe, Corentin; Murat Egi, S.; Micheli, Fiorenza; Scaradozzi, David
Editore: IMEKO-International Measurement Federation Secretariat
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Underwater monitoring and exploration actions are fundamental to preserve natural habitats and submerged cultural heritage, but researchers have to face high costs related to technology and staff to carry out researches in this troublesome environment. As a partial solution to these problems, Citizen Science has been incrementally employed by the scientific community but, to effectively make the most of it, it is mandatory to design two components: a generic-scenario procedure that describes the steps to perform before, during and after the survey and tailored technologies to acquire, gather, process and visualize the environmental data. In this work, a procedure tested in different underwater missions, that is the enhancement of a precedent one, and technologies that, arranged in a pipeline, carry out all the process from data acquisition to output visualization are presented. The procedure and technology were tested in tailored tests aimed to guarantee the validity of the technologies.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262344 Collegamento a IRIS

2016 Real-Time Reconstruction of Underwater Environments : from 2D to 3D
OCEANS 2015 - MTS/IEEE Washington
Autore/i: Rossi, Matija; Scaradozzi, David; Drap, Pierre; Recanatini, Pietro; Dooly, Gerard; Omerdi, Edin
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a real-time 2D image mosaick- ing tool developed to provide instantaneous feedback on image quality and area coverage during underwater site inspection or documentation surveys. The algorithm implements a feature extraction and matching approach to stitching video frames into a single image. While its main advantage is providing good results for fast documentation in real-time even on low-end computer hardware, it has also some limitations in terms of sensitivity to the camera motion and lower performance in textureless or uniform environments. The final part of the paper addresses those limitations by providing an insight of the concept behind the ongoing development of a real-time direct 3D reconstruction tool for underwater applications.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235011 Collegamento a IRIS

2016 OptoCOMM: Development and experimentation of a new optical wireless underwater modem
OCEANS 2016 MTS/IEEE Monterey, OCE 2016
Autore/i: Bartolini, Andrea; Caiti, Andrea; Ciaramella, Ernesto; Conte, Giuseppe; Cossu, Giulio; Costa, Daniele; Grechi, Simone; Nuti, Roger; Scaradozzi, David; Sturniolo, Alessandro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247719 Collegamento a IRIS

2016 A software tool to support design and upgrade of energy production and storage systems
CONTEMPORARY ENERGY
Autore/i: Conte, G; Paciello, L; Scaradozzi, D.; Perdon, A. M.
Classificazione: 1 Contributo su Rivista
Abstract: Home energy systems that can produce, store and manage electricity are efficient solutions to satisfying the growing demand of power in home installations by the exploitation of renewable sources. The design of systems that assure autonomy without oversizing the production with respect to expected requirements can be greatly facilitated by the use of tools for modelling and evaluating performances by simulation in a simple way. Here, we propose a method to model home energy systems by means of Petri Nets and, on that basis, we describe conceptually a software simulation tool, called EPSS (Energy Production and Storage Simulator), that can be used for analyzing the system’s behavior and optimizing its structure with respect to autonomy and self-consumption.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247722 Collegamento a IRIS

2016 Design of a bio-inspired underwater vehicle
Conference Proceedings of MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Autore/i: Costa, Daniele; Palmieri, Giacomo; Palpacelli, MATTEO CLAUDIO; Callegari, Massimo; Scaradozzi, David
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Bio-inspiration can lead to a significant improvement in propulsive efficiency and maneuverability of Autonomous Underwater Vehicles employed in large areas exploration. As a matter of fact, fish swimming capabilities are still far superior to what has been achieved by the modern nautical technology. In order to exploit the propulsive principles of fish swimming, a novel mechanism has been designed and prototyped to drive the thrust-generating caudal fin of the biomimetic underwater robot manufactured by the authors.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240451 Collegamento a IRIS

2016 A robotic platform for underwater assisted manipulation
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Casalino, Giuseppe; Simetti, Enrico; Sperindè, Alessandro; Torelli, Sandro
Editore: International Society of Offshore and Polar Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247486 Collegamento a IRIS

2016 Development and testing of low-cost ASV
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, G.; Scaradozzi, D.; Mannocchi, D.; Raspa, P.; Panebianco, L.
Editore: International Society of Offshore and Polar Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247487 Collegamento a IRIS

2016 A wearable critical flicker fusion frequency detector for scuba divers
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Pelaia, Paolo; Screpanti, Laura; Gala, Fabrizio; Rocco, Monica
Editore: International Society of Offshore and Polar Engineers
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247485 Collegamento a IRIS

2016 OptoCOMM: Introducing a new optical underwater wireless communication modem
3rd Underwater Communications and Networking Conference, Ucomms 2016
Autore/i: Caiti, Andrea; Ciaramella, Ernesto; Conte, Giuseppe; Cossu, Giulio; Costa, Daniele; Grechi, Simone; Nuti, Roger; Scaradozzi, David; Sturniolo, Alessandro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: OptoCOMM aims at demonstrating the potential, at physical level, of a communication facility for the SUNRISE platform constituted by an Optical Underwater Wireless Communication (OUWC) module with target performance of 10 Mb/s transmission rate at 10 meters range in shallow medium/high turbidity harbour waters. The module, which is based on blue Light Emitting Diode (LED) units and common photodiodes, is an evolution of the proof-of-principle prototype already proven in laboratory (pool). It will constitute an additional node integrated in the Littoral Ocean Observatory Network (LOON) test-bed of the SUNRISE infrastructures, providing a high speed and short-range communication node, which will complete the capability of acoustic modems already present in the test-bed. Three modules (nodes) will be developed and experimentally demonstrated: one for direct integration with the LOON infrastructures, one, battery powered, to be potentially installed on buoys, Remotely Operated Vehicles (ROVs), etc., and one to be installed on the eFolaga Autonomous Underwater Vehicle (AUV) of the proponents. The paper describes in detail the development of the modems as well as the first lab experiments, where the core technology has been successfully tested.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247720 Collegamento a IRIS

2016 Cultural Heritage and Mobile Robotics Technologies
HERITAGE 2016 Proceedings of the 5th International Conference on Heritage and Sustainable Development Vol. I
Autore/i: dell ‘Erba, Ramiro; Conte, Giuseppe; Scaradozzi, David; Bandera, Juan Pedro
Editore: Green Lines Institute for sustainable development
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper reviews current research works at the authors’ Institutions to illustrate how mobile robotics and related technologies can be used to enhance economical fruition, control, protection and social impact of the cultural heritage. Robots allow experiencing on-line, from remote locations, tours at museums, archaeological areas and monuments. These solutions avoid travelling costs, increase beyond actual limits the number of simultaneous visitors, and prevent possible damages that can arise by over-exploitation of fragile environments. The same tools can be used for exploration and monitoring of cultural artifacts located in difficult to reach or dangerous areas. Examples are provided by the use of underwater robots in the exploration of deeply submerged archaeological areas. Besides, technologies commonly employed in robotics can be used to help exploring, monitoring and preserving cultural artifacts. Examples are provided by the development of procedures for data acquisition and mapping and by object recognition and monitoring algorithms.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247718 Collegamento a IRIS

2016 Archaeology oriented optical acquisitions through MARTA AUV during ARROWS European project demonstration
OCEANS 2016 MTS/IEEE Monterey, OCE 2016
Autore/i: Allotta, Benedetto; Costanzi, Riccardo; Ridolfi, Alessandro; Reggiannini, Marco; Tampucci, Marco; Scaradozzi, David
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/248434 Collegamento a IRIS

2016 INNOVATIVE ROBOTICS TOOLS FOR TEACHING STREM AT THE EARLY STAGE OF EDUCATION
INTED2016: 10TH INTERNATIONAL TECHNOLOGY, EDUCATION AND DEVELOPMENT CONFERENCE
Autore/i: Scaradozzi, David; Pachla, P.; Screpanti, Laura; Costa, Daniele; Berzano, B.; Valzano, M.
Editore: IATED-INT ASSOC TECHNOLOGY EDUCATION A& DEVELOPMENT, LAURI VOLPI 6, VALENICA, BURJASSOT 46100, SPAIN
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252089 Collegamento a IRIS

2016 Designing the NGC system of a small ASV for tracking underwater targets
ROBOTICS AND AUTONOMOUS SYSTEMS
Autore/i: Conte, G; De Capua, G.P.; Scaradozzi, D.
Classificazione: 1 Contributo su Rivista
Abstract: The paper describes the development of the Navigation, Guidance and Control system of a small, prototypal Autonomous Surface Vehicle (ASV), which is part of an ASV/UUV (Unmanned Underwater Vehicle) robotic system. The main task of the ASV is to serve as supply vessel for the UUV it can carry, deploy and recover and to allow communication with a remote control station. The main problem the NGC system has to handle is that of making the ASV track the UUV and maintain the relative distance within a given bound, using delayed information about the UUV position provided by an acoustic tracking and positioning systems. The specific tracking problem is formulated in a suitable way and a strategy for its solution is proposed and implemented by means of an appropriate control architecture. Stability is discussed using Lyapunov techniques and performances are shown by means of simulations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234145 Collegamento a IRIS

2016 Experimental testing of a cooperative ASV-ROV multi-agent system
IFAC-PapersOnLine Volume 49, Issue 23
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Raspa, Paolo; Panebianco, Luca; Screpanti, Laura
Editore: Elsevier
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258027 Collegamento a IRIS

2016 Testing methods to support management decisions in coralligenous and cave environments. A case study at Portofino MPA
MARINE ENVIRONMENTAL RESEARCH
Autore/i: Zapata Ramírez, Paula A; HUETE STAUFFER, CARLA GRACE; Scaradozzi, David; Marconi, Michele; Cerrano, Carlo
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/236081 Collegamento a IRIS

2016 Experimental testing of a cooperative asv-rov multi-agent system
10th IFAC Conference on Control Applications in Marine Systems CAMS 2016
Autore/i: Conte, Giuseppe; Scaradozzi, David; Mannocchi, Daniele; Raspa, Paolo; Panebianco, Luca; Screpanti, Laura
Editore: Elsevier B.V.
Luogo di pubblicazione: Trondheim
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The development of versatile and cost effective robotic tools for exploration and intervention in the underwater environment is presently a topic of interest in marine engineering. A viable, efficient solution is given by robotic platform that couple autonomous surface vehicles and unmanned underwater vehicles in integrated structures with various levels of cooperation. In this paper, we describe a number of field tests on the surface component of a robotic platform consisting of an autonomous surface vehicle that can automatically deploy and recover a small remotely operated vehicle. The aim of the tests are to assess the main functionality of the navigation, guidance and control system of the vehicle in relation to basic navigation tasks, both in supervised and in fully autonomous mode. In particular, in order to assure cooperation with the deployed remotely operated vehicle, the ability to track a target is considered.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247216 Collegamento a IRIS

2016 “RETHINK LORETO: WE BUILD OUR SMART CITY!” A STEM EDUCATION EXPERIENCE FOR INTRODUCING SMART CITY CONCEPT WITH THE EDUCATIONAL ROBOTICS
ICERI Proceedings
Autore/i: Scaradozzi, David; Screpanti, Laura; Cesaretti, Lorenzo; Mazzieri, E.; Storti, Michele; Brandoni, Milena; Longhi, Anna
Editore: IATED-INT ASSOC TECHNOLOGY EDUCATION & DEVELOPMENT, LAURI VOLPI 6, VALENICA, BURJASSOT 46100, SPAIN
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Nowadays the world is facing increasingly complex and challenging problems. Promoting education between the young generations is of the utmost importance in order to equip them with the most useful and powerful means to face this challenge. To do so we must see the world for what it is now, a place full of technology, where science is everywhere, from healthcare and infrastructure to energy and environment, just to mention a few; thus, helping children to develop skills in Science, Technology, Engineering and Math (STEM) has become an important part of basic literacy in today's knowledge. Learning STEM is not only a bare and cruel necessity of life, it can be fun for children and as such, it could be a mean to convey other important ideas and to teach more effectively other subjects. The use of robots to help children approaching new concepts and ideas has been proving to be effective. We want to report here an example of how Robotics was used to make young learners, from eight years old to thirteen, think about active citizenship and environmental issues. The Italian Ministry of Education, University and Research (MIUR) strongly believes in widening the adoption of new methodologies that will allow technology to enter the classrooms in the Italian schools. This is proved by the latest Italian National Plan for Digital Education (Piano Nazionale Scuola Digitale - PNSD), a policy for setting up a comprehensive innovation strategy across Italy's school system, bringing it into the digital age. The project we want to present in this article belongs to PNSD bundle of initiatives. More in depth, the project "Rethink Loreto: we build our Smart City!" is an innovative experience targeting the need to educate boys and girls to an active citizenship, developing their digital skills as well as the so-called soft skills. The project was not only a mean to talk about STEM (Science, Technology, Engineering and Mathematics) and Robotics with primary school children and lower secondary school students, but also a mean to equip teachers with new tools and methodologies, bringing the Maker philosophy and the Tinkering world into the school. Objectives of the project were to develop logical thinking, problem solving and construction abilities, to train students to use digital technologies and to stimulate attitude toward teamwork, encouraging interpersonal communication. Aim of the project was to think about the city of the future, considering the city as we know it now and imagining how to make it better with the use of technology and working with issues of automation, quality of life, energetic efficiency, accessibility and environmental sustainability. Four partners worked together in this project to reach these objectives. First of all, the school Istituto Comprensivo "G. Solari" settled in Loreto (Ancona, Italy), in which all the courses took place. Secondly, TALENT srl (Technological Applications for Learning Empowerment and Thoughts), an innovative start-up with a social vocation, which represented the technological partner. Then, Universita Politecnica delle Marche, which is the University of the Local Region of Marche, representing the academic partner with the aim to formalize the work and to validate the results. Lastly, the Municipality of Loreto promoted the project and hosted the final exhibition of the results the project yielded to.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/266082 Collegamento a IRIS

2015 ROS multi-agent structure for autonomous surface vehicles
MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World
Autore/i: Conte, Giuseppe; Scaradozzi, David; Sorbi, Laura; Panebianco, Luca; Mannocchi, Daniele
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work describes a multi-agent Navigation Guidance and Control system that is designed to equipping a low-cost ASV. Beside facilitating design, construction and maintenance, the multi-agent structure gives modularity and it increases reliability against partial failures. Individual agents are implemented using ROS and a dedicated, custom developed hardware board that couples an ARM processor and a microcontroller. This hybrid hardware architecture has the advantage of providing high computational capability and easy interfacing with sensors and actuators. Some results about testing and validating the NGC system are presented and discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234147 Collegamento a IRIS

2015 Teaching Robotics at the Primary School: An Innovative Approach
PROCEDIA: SOCIAL & BEHAVIORAL SCIENCES
Autore/i: Scaradozzi, David; Sorbi, Laura; Pedale, Anna; Valzano, Mariantonietta; Vergine, Cinzia
Classificazione: 1 Contributo su Rivista
Abstract: Many researchers and teachers agree that the inclusion of Science, Technology, Engineering, and Math in early education provides a strong motivation and a great improvement in learning speed. Most curricula in primary schools include a number of concepts that cover science and math, but less effort is applied in teaching problem solving, computer science, technology and robotics. The use of robotic systems and the introduction of Robotics as a curricula subject can bring the possibility of transmit to children the basics of technology and to give them other kind of human and organizational values. This work present a new program introduced in an Italian primary school thanks to the collaboration with National Instrument and Universit\`a Politecnica delle Marche. The subject of Robotics becomes part of the Primary school curricula for all the five years of formation. The program has allowed the teachers training and a complete way through which children have demonstrated great learning abilities, not only in mere technology but also in collaboration and teamwork.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235016 Collegamento a IRIS

2015 A low-cost pipeline for semi-real time underwater site study
OCEANS 2015 - Genova
Autore/i: Scaradozzi, David; Sorbi, Laura; Gambogi, Pamela
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work presents an innovative and low- cost pipeline conceived for the complete study of underwater sites. The pipeline is inserted in a more complex control scheme, developed with the final aim of obtaining very accurate documentations. Underwater data can be gathered by both divers and robots, and elaborated using a dedicated cloud computing system, which gives to researchers a 3D reconstruction of the explored area and a 3D print of the model in semi-real time. Higher quality 3D models and the relative print can also be obtained in post-processing; the relative outputs are available in the most common formats and in a virtual reality environment. The definition of a structured methodology with the terms of control theory will allow the characterization of analytical indexes useful to evaluate the quality of the investigation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235012 Collegamento a IRIS

2015 Robotic tools and techniques for improving research in an underwater delicate environment
MARINE TECHNOLOGY SOCIETY JOURNAL
Autore/i: Sorbi, Laura; Scaradozzi, David; Zoppini, Francesco; Zingaretti, Silvia; Gambogi, Pamela
Classificazione: 1 Contributo su Rivista
Abstract: The use of versatile and multipurpose robotic systems in underwater sites constitutes a high-value technology, useful in the exploration, monitoring, and documentation of important archaeological findings or biological parameters. Intervention must always be nondestructive, noninvasive, and delicate; for this reason, it is important to develop tools and systems that allow telepresence and improve the pilot’s ability to work in conditions and environments that are dangerous and often inaccessible for divers. One of the most important objectives of underwater robotic research includes developing easy-to-use devices and systems that can safely and efficiently be operated by relatively inexperienced operators. Nowadays, archaeological and marine sanctuaries require a significant budget to be studied and preserved by national and international organizations because of their large number and the challenges related to conducting surveys with “light” equipment and robots. This paper presents a set of tools and technological solutions developed with the common aim of improving the efficiency of diving operations and commercial low cost micro-ROVs (remotely operated vehicles) in surveying and documenting fragile underwater sites. In particular, this paper describes a force feedback joystick for ROV precise guidance and positioning, an innovative 3D live streaming capability for better perception of the work environment, and an innovative cloud strategy for processing, archiving, and elaborating on underwater data at the time of survey. Results have demonstrated that the developed tools significantly improve the efficiency of survey investigations performed directly by scientists and that they have a variety of applications and their design prepares them for future integration. Keywords: underwater site exploration, technology for divers, remotely operated vehicles, underwater archaeology.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235013 Collegamento a IRIS

2015 A software tool to support design and upgrade of energy production and storage systems
Proceedings of The 5th International Conference and Workshop REMOO-2015 - Technological, Modelling & Experimental Achievements in Energy Generation Systems
Autore/i: Conte, Giuseppe; Luca, Paciello; David, Scaradozzi; Anna Maria, Perdon
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years, the rise in cost of fuel and the introduction of incentives from European countries led to a growth of interest for home systems that can locally produce, store and manage electric energy. In this scenario, a correct sizing, with respect to the expected consumption, of the energy production and storage devices is a key element for keeping acceptable the cost of the system. Here, we propose and describe a software simulation tool that can be used in the system design phase in order to determine, in a given range, the values of nominal power of the energy production devices (photovoltaic panels) and the values of capacity of the storage devices (battery) that satisfy basic requirements about autonomy and selfconsumption. The designer can then choose among the various possible combinations of nominal power and battery capacity the one that better fits with other requirements, like e.g. that of minimizing the costs of components. The tool works by simulating energy production and flows over a given time period and under chosen external condition. Its structure basically consists of a Petri Net, in which energy production, consumption and flows are represented, in a quantized way, by the exchange of tokens. Such structure has the advantage of providing a simple, effective and intuitive way to describe the features and functionalities of the system that are of interest in the design phase. Behaviours that force autonomy and self-consumption are implemented by means of inhibitory arcs. Two series of simulations, with different discretization steps, are used in order to explore the performances of systems characterized by various combinations of nominal power and battery capacity in a range chosen by the designer. Combinations that do not satisfy specific design requirements about autonomy and self-consumption (expressed roughly as percentage of consumed energy that is locally produced and as percentage of produced energy that is locally consumed) are automatically discarded.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234144 Collegamento a IRIS

2014 DiRAMa facilitates data gathering and analysis at sea system creates 3D images using data gathered from mobile devices
SEA TECHNOLOGY
Autore/i: Scaradozzi, David; Sorbi, Laura; Zoppini, Francesco
Classificazione: 1 Contributo su Rivista
Abstract: The study of submarine environments is affecting a growing audience in the fields of science, technology and entertainment. Archaeologists are always interested in documenting and cataloging underwater sites, while biologists aim at monitoring and sampling water and biological parameters. Photos captured during a mission can integrate additional levels of environmental information, such as location coordinates, temperature, pressure and pH measurements, which are gathered by the mobile device at the time of shooting. Some of the information is obtained by onboard sensors; other data can be accessed by the capability of specific boards to interface with external hardware over a variety of commonly used protocols. These boards are small enough to be easily housed in an underwater smartphone case. Data gathered by the mobile device are collected in a database managed by a solid and well-organized server technology that is able to process and return results to external users.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225540 Collegamento a IRIS

2014 Robotic tools and systems for man/machine cooperation in underwater archaeology
6th International Congress "Science and Technology for the Safeguard of Cultural Heritage in the Mediterranean Basin"
Autore/i: G. Conte, D. Scaradozzi
Editore: Valmar
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Abstract: The paper describes the architecture and the features of an advanced, robotic platform for underwater exploration and intervention. The characteristics of the robotic platform make it suitable for use in the field of underwater archaeology, where cooperation between man and machine can represent a winning solution to overcome the difficulties of operating in harsh but fragile environments. The use of automatic techniques for navigation, guidance and control of marine vehicles, for managing communication under and over the sea surface, for processing and interpreting large amounts of nonhomogeneous, asynchronous data is the key ingredient in the development of the robotic platform. Test and experiments in field missions represent the main validation method for the hardware and software solutions that implement such techniques. Reference is made to a number of recent papers and to the activity carried on in the framework of structured research projects.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234152 Collegamento a IRIS

2014 An innovative program to teach robotics at the primary schools
Iarp 2014
Autore/i: Sorbi, Laura; Scaradozzi, David; Pedale, Anna; Valzano, Mariantonietta; Vergine, Cinzia
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235014 Collegamento a IRIS

2014 Innovative monitoring tools to define Good Environmental Status of Coralligenous habitats
Thirteen International Symposium - GEOHAB 2014
Autore/i: Zapata Ramirez, Paula Andrea; Huete-Stauffer, Carla; Scaradozzi, David; Marconi, Michele; Cerrano, Carlo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235015 Collegamento a IRIS

2014 Development and integration of a novel IP66 Force Feedback Joystick for offshore operations
Proc. 22nd Mediterranean Conference of Control and Automation (MED)
Autore/i: Scaradozzi, David; Sorbi, Laura; Zingaretti, Silvia; Biagiola, Matteo; Omerdic, Edin
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Intervention activities in underwater environments are of great importance in many areas, such as the exploration, monitoring and documentation of sea resources, historical treasures or industrial applications. The use of robotic systems and automatic procedures is becoming fundamental, since the work conditions for divers are risky and often unfeasible, and several kind of works are every way impossible for humans. One of the most important objectives of the underwater robotic research consists in making technological systems friendly and easy to use by all kind of experts. This paper presents the development and test of a Force Feedback (FFB) Joystick aimed at supporting ROVs pilots during their work. Reaction forces on the joystick axes, based on specific error parameters, let the pilot understand in real-time the underwater environment where the robot is moving and thruster velocity saturation limits, thus improving significantly the efficiency of the given mission. The present work describes the design, assembly and programming of the joystick, and its test within a virtual environment simulating the real time control of Internet-enabled smart ROVs operating in remote locations. Results obtained with this kind of applications are discussed, and potentiality of the systems are underlined for future developments.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225241 Collegamento a IRIS

2014 A Simulation Tool for Home Energy Production and Storage System Using Photovoltaic and Airborne Wind Energy
Proc. of QUAESTI - VIRTUAL MULTIDISCIPLINARY CONFERENCE
Autore/i: Paciello, Luca; Scaradozzi, David; Conte, Giuseppe; Coleman, Joseph; Toal, Daniel
Editore: Thomson Ltd, Slovakia
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a software tool called EPSS-AWE (Energy Production and Storage Simulator - Airborne Wind Energy) that simulates a hybrid solar-wind energy production and storage home system, in which the wind power production element is an AWE generation system and the solar element is a traditional photovoltaic (PV) plant. Simulation based on realistic data can be used to evaluate the performance of hybrid power production and storage systems in different configurations, and to correctly size their components in the design phase.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225279 Collegamento a IRIS

2014 ROAD -Robotic Assisted Diving: physiology of diving
Proceedings Workshop at 13th Intl.Conf.onIntelligentAutonomousSystems IAS-1
Autore/i: Rocco, Monica; Pelaia, Paolo; Conte, Giuseppe; Scaradozzi, David; D’Ippolito, Filippo; Gala, Fabrizio; Blasi, Roberto Alberto De
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Underwater diving on compressed air or other breathing gases results in a range of physiological effects and potentially pathophysiological sequelae over the risk of drowning. Human divers can cease breathing for short dives or they must use a Self Contained Underwater Breathing Apparatus (SCUBA) containing air. Being underwater means being under pressure, and that pressure increases rapidly as you dive deeper. That means that the various gas laws come into play, and those laws can impact the "function of living organisms and their parts”. We assist to a change in compliance, resistance and in work of breathing as well as a change in blood volume distribution with some effect on the heart. The different gas laws could giustified some pathophysiological effects like oxygen toxicity, nitrogen narcosis, and decompressions sickness. We discuss all these items.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225271 Collegamento a IRIS

2014 3D video streaming from a Remotely Operated Vehicle
EDERC 2014 - Proceedings of the 6th European Embedded Design in Education and Research Conference
Autore/i: Scaradozzi, David; Sorbi, Laura; Zoppini, Francesco
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Remotely Operated Vehicles have been used in underwater exploration for many years. At the same time, 3D video and photo technology has been improving, allowing the user to better perceive the third dimension. This work presents the hardware development of a 3D video system integrated in a commercial ROV, able to bring to the surface the stereo vision in real time. An opportune interface has been implemented, displaying videos and a model of the robot which moves proportionally to data perceived by its sensors. The work has been almost completed and have found resounding success among the final users. © 2014 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225541 Collegamento a IRIS

2014 Teaching Robotics at the Primary School: An Innovative Approach
Proc. of International Conference on New Horizons in Education, INTE 2014.
Autore/i: Scaradozzi, David; Sorbi, Laura; Pedale, Anna; Valzano, Mariantonietta; Vergine, Cinzia
Editore: SAKARYA UNIVERSITY
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Many researchers and teachers agree that the inclusion of Science, Technology, Engineering, and Math in early education provides a strong motivation and a great improvement in learning speed. Most curricula in primary schools include a number of concepts that cover science and math, but less effort is applied in teaching problem solving, computer science, technology and robotics. The use of robotic systems and the introduction of Robotics as a curricula subject can bring the possibility of transmit to children the basics of technology and to give them other kind of human and organizational values. This work present a new program introduced in an Italian primary school thanks to the collaboration with National Instrument and Università Politecnica delle Marche. The subject of Robotics becomes part of the Primary school curricula for all the five years of formation. The program has allowed the teachers training and a complete way through which children have demonstrated great learning abilities, not only in mere technology but also in collaboration and teamwork.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225313 Collegamento a IRIS

2014 Innovative strategy and process for underwater data gathering and results elaboration
Proc. of 22nd Mediterranean Conference of Control and Automation (MED)
Autore/i: Scaradozzi, D; Sorbi, L. ; Zoppini, F. ; Conte, G. ; Ramirez, P.A.Z. ; Cerrano, C.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The development of new marine environment monitoring technologies is a field of research involving an heterogeneous public. The documentation and cataloging of underwater sites as well as the supervision and sampling of biological parameters have always involved researchers like archaeologists and biologists. Moreover, sport activities regarding the sea have been showing a keen interest in more efficient devices that are specifically developed for storing data during the immersion. Within the introduced framework, it is important to let the user operate in an efficient and easy way, without creating damages to the environment. This paper describes the design and realization of a device, called DiRAMa, and the relative architecture for data gathering in underwater environments. The device is planned to make the image and data acquisition easy, and let the user upload all the information on an appropriate Web Server as soon as an Internet connection is available. Users can launch 3D reconstruction processes, which use photos and other materials just uploaded, while the Web Server sends notification on the mobile device informing about elaboration status. Innovation and potentiality brought by DiRAMa are introduced, and the general architecture of the system described. The validation of the structure out of water and its use in real field mission involving biologists and other scientist is discussed, together with possible future improvements. © 2014 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225258 Collegamento a IRIS

2014 ROAD-Robotic Assisted Diving: underwater robot technology
Proceedings Workshop at 13th Intl.Conf.onIntelligentAutonomousSystems IAS-1
Autore/i: Conte, Giuseppe; Scaradozzi, David; Sorbi, Laura; Zanoli, Silvia Maria; D'Ippolito, Filippo; Fagiolini, Adriano
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The activities associated to underwater diving are of great importance in many areas but the practice of diving is still characterized by significant risks, especially for professional divers who works at high depth, and limited practicability. The research project ROAD-RObotics for Assisted Diving aims at developing a prototypal robotic system and a number of automatic procedures to monitor and to assess the physiological conditions of divers during their activities. Physiological data will be gathered by measuring devices and inferred from the analysis of diver’s behaviors and they will be processed and compared with suitable models in order to get relevant information for safety.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225200 Collegamento a IRIS

2014 ROAD project: Robotics for assisted diving
Proceeding 22nd Mediterranean Conference on Control and Automation
Autore/i: Conte, Giuseppe; Scaradozzi, David; Sorbi, Laura; Zanoli, Silvia Maria; D'Ippolito, Filippo; Fagiolini, Adriano; Pelaia, Paolo; Rocco, Monica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The activities associated to underwater diving are of great importance in many areas. In the second half of the last century, diving technologies have greatly progressed, but diving is still characterized by significant risks, especially for professional divers who works at high depth, and limited practicability. The use of robotic systems and automatic procedures would allow, as in other situations where safety is of concern (for example, in case of hazardous works or in relation to hostile environments), a reliable monitoring and assessment of the physiological conditions of human operators during their activities. Moving from currently available technologies in underwater robotics, the ROAD (Robotics for Assisted Diving) project aims to develop an intelligent robotic system which is able to supervise in a semi-automatic way the activities performed by teams of divers. Such system will operate by monitoring a set of physiological and behavioral parameters. The collected data will be processed on-line in order to evaluate the current status and to reconstruct the evolution of the psychophysical conditions of the divers during their undertakings. The project has been founded Italian PRIN (National program of Research interest) involves two groups of experts with competence, respectively, in the physiology of diving and in the robotic technologies. The coordinator group is part of ISME (Interuniversity Center of Integrated Systems for the Marine Environment). © 2014 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225210 Collegamento a IRIS

2014 A design tool for modelling and sizing of energy production/storage home system
Proc. of Environmental Energy and Structural Monitoring Systems (EESMS)
Autore/i: Paciello, Luca; Pedale, Anna; Scaradozzi, David; Conte, Giuseppe
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years, the rise in cost of fuel and the introduction of incentives from European countries led to a growth of interest for home systems that can locally produce, store and manage electric energy. In this scenario, a correct sizing, with respect to the expected consumption, of the energy production and storage devices is a key element for keeping acceptable the cost of the system. Here, we propose and describe a software simulation tool that can be used in the system design phase in order to determine, in a given range, the values of nominal power of the energy production devices (photovoltaic panels) and the values of capacity of the storage devices (battery) that satisfy basic requirements about autonomy and self-consumption. The designer can then choose among the various possible combinations of nominal power and battery capacity the one that better fits with other requirements, like e.g. that of minimizing the costs of components. The tool works by simulating energy production and flows over a given time period and under chosen external condition. Its structure basically consists of a Petri Net, in which energy production, consumption and flows are represented, in a quantized way, by the exchange of tokens. Such structure has the advantage of providing a simple, effective and intuitive way to describe the features and functionalities of the system that are of interest in the design phase. Behaviours that force autonomy and self-consumption are implemented by means of inhibitory arcs. Two series of simulations, with different discretization steps, are used in order to explore the performances of systems characterized by various combinations of nominal power and battery capacity in a range chosen by the designer. Combinations that do not satisfy specific design requirements about autonomy and self-consumption (expressed roughly as percentage of consumed energy that is locally produced and as percentage of produced energy that is locally consumed) are a- tomatically discarded.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/225234 Collegamento a IRIS

2013 Research Activities at the Politechnic University of Marche
ROCOCO - Cooperative and Collaborative Robotics,
Autore/i: G. Conte; D. Scaradozzi; S. Zanoli
Editore: CUES
Luogo di pubblicazione: Salerno
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/164710 Collegamento a IRIS

2013 Tools and techniques for underwater archaeological sites documentation
OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common
Autore/i: Scaradozzi, David; Sorbi, Laura; Zoppini, F.; Gambogi, P.
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The amount of data required for a virtual reconstruction of an underwater archaeological site requires automatic systems for collecting data, based on the use of robots and unmanned underwater vehicles, which can work for a long time, in a hostile environment, without risk to human operators and with acceptable costs. However, such systems have often to be driven by expert pilots, adding costs to the usual Data gathering campaigns. This paper shows solutions found through subsequent campaigns, thanks to the expertise of a multidisciplinary team and in collaboration with several research institutions. In particular, this work presents the added value of technology within the data collection process from underwater archaeological sites, describing an assisted guidance system for a MicroROV developed in order to help unskilled pilot. Results of 3D reconstructions from images taken during real field mission with the above technology are described. © 2013 MTS.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/158710 Collegamento a IRIS

2013 Developing and Testing a Capacitive Distance Sensor for Use in Industrial Environment
Proc. of the 2013 International Symposium on Electromagnetic Compatibility (EMC Europe 2013)
Autore/i: A. De Leo; D. Scaradozzi; G. Conte; M.Candelaresi; G. Cerri; V. Mariani Primiani; P. Russo
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this work, the development and the testing of a capacitive distance sensor, based on E-field measurement, for applications in industrial environments is presented. In particular, the structure and the working principle of the sensor, as well as the process of optimization of the sensing elements and some functional tests in absence of disturbances are described. Then, the EMC precompliance, in particular the radiated susceptibility and the ESD immunity, is experimentally investigated. In particular it must assured that the functionality of the robot will be compliant to safety assessment even in the presence on an external disturb. Results are discussed and solutions to make the apparatus more immune are briefly outlined.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/129862 Collegamento a IRIS

2013 Un sistema robotico integrato per l’esplorazione e l’intervento nell’ambito dell’archeologi sottomarina
Conoscenza e tutela del patrimonio sommerso
Autore/i: G. Conte; D. Scaradozzi
Editore: Aracne editrice srl
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/205831 Collegamento a IRIS

2013 Realization of an E-field Sensory System for Sensor Based Man/Machine Cooperation
TRANSACTION ON CONTROL AND MECHANICAL SYSTEMS
Autore/i: G. Conte; D. Scaradozzi; M. Rosettani; M. Candelaresi; E. Svampa
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/164711 Collegamento a IRIS

2013 Innovative study methods for the Mediterranean coralligenous habitats
ADVANCES IN OCEANOGRAPHY AND LIMNOLOGY
Autore/i: Zapata-Ramírez, Pa; Scaradozzi, D; Sorbi, L; Palma, M; Pantaleo, U; Ponti, M; Cerrano, C.
Classificazione: 1 Contributo su Rivista
Abstract: Coralligenous habitats are of special interest in the Mediterranean Sea because they represent one of the most important biodiversity ‘hot-spots’ and are considered of great relevance for fisheries activities in the region. Despite their importance, however, there are missing consensual methodologies for their monitoring and, despite some attempts, no environmental or ecological quality indices have been established yet. This situation could be related to the difficulties associated with their exploration and their spatial heterogeneity. These habitats are in urgent need of efficient standard monitoring and management protocols programmes to develop an effective network for their conservation. Here we reviewed the available methodologies and robotics tools used to evaluate and monitor benthic habitats, highlighting the importance of defining rapid cost-effective sampling and analyses approaches and architectures for future monitoring of changes in coralligenous habitats based on current technological developments. We identified still images acquisitions as the most effective data gathering system. Stereo photogrammetry, photomosaic elaboration and three-dimensional (3D) modelling may largely improve the data analysis and therefore the quality status assessment of the coralligenous habitats. The advantage and efficiency of different approaches and methods, and whether they should be applied and standardised for further monitoring activities, were discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/152114 Collegamento a IRIS

2012 Assisting Micro-ROV operators during surveys in fragile environments
SEA TECHNOLOGY
Autore/i: Scaradozzi D.; Conte G.; Sorbi L.
Classificazione: 1 Contributo su Rivista
Abstract: Surveys and data gathering in delicate biological marine environments or in archaeological sites can significantly capitalize from the use of UUVs. In such situations, teleoperation becomes fundamental, as well as the possibility of using minimally invasive practices. During operations, the two ROVs' guidance systems are decoupled. The larger robot works in station keeping or path following, either automatically or under the supervision of an expert operator, while the smaller one is controlled by an operator not specifically trained for piloting ROVs. A supervised control system can be developed to guide the large ROy, while a human operator on the vessel pilots the micro-ROV. Using position information from the acoustic system, the automatic guidance implemented by the supervisory control system maintains the large ROV in a stationary position or guides it along a predetermined path. The architecture of the supervisory control system is organized on two levels.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/116462 Collegamento a IRIS

2012 Assisted guidance system for Micro ROV in underwater data gathering missions.
2012 20th Mediterranean Conference on Control and Automation, MED 2012
Autore/i: D. Scaradozzi; G. Conte; L. Sorbi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Recent years have seen an increasingly interest by the scientific community in the realization of minimally invasive technologies and tools for carrying out activities like exploration and intervention in the marine environment. This paper will describe the design and realization of a novel assisted guidance system for a Micro ROV, which is part of a more complex robotic system, together with a large ROV. Within this framework, the smaller robot is employed as a mobile appendix of the larger one, while the latter acts as an actuated garage and a supply vessel of the first. During operations, the ROVs guidance systems are decoupled, that is the larger one works in station keeping or in path following, either automatically or under the supervision of an expert operator, while the smaller one is teleoperated by a pilot not necessarily trained. This structure allows scientists like marine biologists, archaeologists and oceanographers to operate directly the Micro ROV, combining their knowledge of the application domain with the ability of professional ROV pilots. The described robotic structure is potentially very efficient and versatile, but its realization implies the development of solutions which could support the Micro ROV untrained operators. For this reason, the present paper focuses on the description of an assisted guidance system for Micro ROV aimed at achieving the objective above. The system makes the Micro ROVs pilot keep the vehicle within a given range from the large ROV, by means of a reactive joystick. Generation of the reactive force is described, and the use of the assisted guidance system in performing underwater data gathering missions of an archaeological site is discussed. © 2012 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/116470 Collegamento a IRIS

2012 Modeling and Control of a Low-cost ASV
Proceedings 9th IFAC Workshop on Maneuvering and Control of Marine Craft
Autore/i: G. Conte; G.P. De Capua; D. Scaradozzi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/87668 Collegamento a IRIS

2012 Geoposition data aided 3D documentation of archaeological and biological sites
Proceedings of Meetings on Acoustics
Autore/i: L. Sorbi; D. Scaradozzi; G. Conte; P. Gambogi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Most of marine scientists' work consists in documentation of underwater sites. The common need for different applications is to obtain enriched maps of the underwater environment in an efficient way. Up until recently, underwater site reconstructions were represented by sketches produced after human surveys, and the geometric measurements were taken by divers with hand-held instruments. These techniques require a considerable effort in terms of time and economic resources. Within the last ten years ISME (Interuniversity Ctr. Integrated Systems for the Marine Environment) and SBAT (Italian Ministry of Culture, Superintendence of Archaeological Goods of Tuscany-Soprintendenza per i Beni Archeologici di Toscana) have worked toward automation of the survey process, providing scientific methodologies and the technological tools for the virtual exploration, which can be applied both to archaeological and biological environments. This paper presents an innovative methodology and an integrated system useful to obtain a geo-referenced augmented 3D map of an underwater site. The project improved the accessibility of marine environment through 3D documents created in pdf format that allow virtual explorations. The developed tools have been validated within several underwater sites and together with various archaeological institutions. The same technologies can be adapted in underwater biological applications. © 2013 Acoustical Society of America.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/158706 Collegamento a IRIS

2012 Geoposition data aided 3D documentation of archaeological and biological sites
Proceedings of Meetings on Acoustics
Autore/i: Sorbi, Laura; Scaradozzi, David; Conte, Giuseppe; Gambogi, Pamela
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/266127 Collegamento a IRIS

2011 Virtual exploration of marine environments
Underwater Intervention Conference 2011, UI 2011
Autore/i: D. Scaradozzi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/158707 Collegamento a IRIS

2011 E-field Sensors and Sensor-based Control Strategies for M/M Safe Cooperation
Proceedings of the 18th IFAC World Congress, 2011
Autore/i: G.Conte; D. Scaradozzi; M. Rosettani
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we describe the use of an artificial sensitive skin, realized by means of E-field sensors, for enhancing safety and man machine cooperation in robotic work-cells. Sensory signal from the sensitive skin are interpreted with the aid of additional information about the robot s motion, so to provide emergency stop signal in case of unintentional proximity or contact between man and robot or, alternatively, in case of intentional contact by the man, to transmit suitable commands. An experimental prototypal installation on an industrial manipulator is described and results of various tests are illustrated.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/71843 Collegamento a IRIS

2011 Geoposition data aided mosaicing for archeology sites documentation: The islet of Bisaga (Kornati Archipelago) site case
2011 19th Mediterranean Conference on Control and Automation, MED 2011
Autore/i: Scaradozzi D.; Radic Rossi I.; Zubicić K.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65932 Collegamento a IRIS

2011 Underwater Archaeological Surveys with Autonomous Robots
Proc.10th 10th International Conference on Computer Applications and Information Technology in the Maritime Industries.
Autore/i: A. Caiti; V. Calabrò; G. Conte; S. Zanoli; D. Scaradozzi; P. Drapp
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/72375 Collegamento a IRIS

2011 Building simulation/emulation environments for home automation systems
19th Mediterranean Conference on Control and Automation, MED 2011
Autore/i: Conte G.; Scaradozzi D.; Donnini R.; Pedale A.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65947 Collegamento a IRIS

2010 Strategies for Energy Management in Home Automation Systems
Proceedings of Stochastic Modeling Techniques and Data Analysis International Conference
Autore/i: G. CONTE; A. M. PERDON; D. SCARADOZZI; G. MORGANTI; F. DEZI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/54086 Collegamento a IRIS

2010 ROBOTICS TOOLS FOR UNDERWATER ARCHAEOLOGY
Science for Cultural Heritage - Technological Innovation and Case Studies in Marine and Land Archaeology in the Adriatic Region and Inland - VII International Conference on Science, Arts and Culture - Veli Lošinj, Croatia, 2007
Autore/i: Conte, Giuseppe; Zanoli, Silvia Maria; Scaradozzi, David; Gambella, Luca
Editore: World Scientific Co.
Luogo di pubblicazione: Singapore
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/230088 Collegamento a IRIS

2010 Development of tools and methods for safe M/M Cooperation
Control Themes in Hyperflexible Robotic Worcells
Autore/i: G. CONTE; SCARADOZZI D; ZANOLI S. M; ROSETTANI M
Editore: CUES
Luogo di pubblicazione: SALERNO
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/40950 Collegamento a IRIS

2010 Apparecchiatura per la gestione del sistema di controllo di un macchinario dotato di una parte mobile provvista di almeno un sensore di prossimità e contatto
Autore/i: G. CONTE; SCARADOZZI D; ROSETTANI M
Classificazione: 6 Brevetti
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48852 Collegamento a IRIS

2010 Resource management in home automation systems
18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings
Autore/i: Conte, Giuseppe; Perdon, ANNA MARIA; Scaradozzi, David; Morganti, G; Rosettani, M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/49548 Collegamento a IRIS

2010 A Feedback Scheme for Missions Managing in Underwater Archeology
IFAC Proceedings Volumes (IFAC-PapersOnline)
Autore/i: CONTE G; S. ZANOLI; D. SCARADOZZI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/43130 Collegamento a IRIS

2010 A Game Theoretic Approach to Resources' Management in Home Automation Systems
Proc. 6th Spain, Italy and Netherland meeting on Game theory.
Autore/i: G. Conte; A. Perdon; D. Scaradozzi; M. Rosettani
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/72382 Collegamento a IRIS

2009 An application of E-field sensors in industrial robotics
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Autore/i: Conte, Giuseppe; Scaradozzi, David; Rosettani, M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper investigates the possibility of constructing touch and proximity sensory systems for industrial robots by means of low cost electric field sensors. The interest in this application is motivated by the possibility of implementing new modalities of interaction and cooperation between man and robot in industrial environments, according to the revised ISO standards on Robots for industrial environments. The use of two E-field sensors, having different architecture, for the realization of an artificial skin on robot links is considered and studied. Prototypes of the sensory system are developed and tested on a simple, reduced-scale model of an anthropomorphic manipulator, showing the feasibility of the proposed solution and its suitability to reduce the risk of dangerous collisions between humans and robot in a shared workspace.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53034 Collegamento a IRIS

2009 Optimising Home Automation Systems: A Comparative Study on Tabu Search and Evolutionary Algorithms
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Autore/i: Conte, Giuseppe; Scaradozzi, David; Perdon, ANNA MARIA; Morganti, G.; Brintrup, A.
Luogo di pubblicazione: THESSALONIKI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52941 Collegamento a IRIS

2009 Innovative technology for studying growth areas of Posidonia oceanica
Proc. IEEE Workshop on Environmental, Energy, and Structural Monitoring Systems, EESMS
Autore/i: G. CONTE; SCARADOZZI D; DE CAPUA G.P; SORBI L; LUCIANI C; DE CECCO P.G; SORCI A
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/44783 Collegamento a IRIS

2009 Monitoring groundwater characteristics by means of a multi-parametric probe and sampling device
Proc. IEEE Workshop on Environmental, Energy, and Structural Monitoring Systems, EESMS
Autore/i: G. CONTE; D. SCARADOZZI; G. VITAIOLI; M. ROSETTANI; S. FRANCA; A. TOCCACELI; A. DELLANNO
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/44784 Collegamento a IRIS

2009 Robotics techniques for data acquisition in underwater archeology
INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL
Autore/i: CONTE G.; ZANOLI S.M.; SCARADOZZI D.; CAITI A.
Classificazione: 1 Contributo su Rivista
Abstract: The paper presents a procedural methodology for the cooperation, at various level, of UUV and human operators to extract, in a non invasive way, as much information as possible from an underwater archaeological site with minimal expenditure of time and resources. Traditional methodologies of exploration of underwater archaeological sites have been enhanced thanks to new technologies and the possibility given to the archaeologist to promptly have a global information about the whole area of interest. In particular, in the paper, techniques for constructing augmented maps of the sites are illustrated. In the present approach, augmented maps are made accessible in real time to the archaeologist supervisor by means of a friendly interface. This allows to inform promptly the operators about the actual progresses of the survey, so that corrective actions can be eventually triggered on line. Furthermore, the possibility to contextualize the present survey data on wider scale maps (GIS) significantly enhances the global situation awareness of the archaeologists by pointing out correlations with the territory and with other sites. The experiences gathered on several missions on different archaeological sites have confirmed that the developed procedures guarantee an efficient and cost effective automation of the marine archaeologists’ work.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50171 Collegamento a IRIS

2009 Multi-Agent System Theory for modelling a Home Automation System
Proc. The 10th International Work-Conference on Artificial Neural Networks (IWANN2009)
Autore/i: Conte, Giuseppe; Morganti, Gianluca; Perdon, ANNA MARIA; Scaradozzi, David
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/72384 Collegamento a IRIS

2009 Underwater Vehicle Technology in the European Research project VENUS
UNDERWATER TECHNOLOGY
Autore/i: CONTE G; GAMBELLA L; SCARADOZZI D; S. ZANOLI; CAITI A; CALABRÒ V; ALCOCER A; ALVES J; CARDEIRA B; CUNHA R; CURADO F; OLIVEIRA P; OLIVEIRA A; PASCOAL A; RUFINO M; SEBASTIÃO L; SILVESTRE C
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/27349 Collegamento a IRIS

2009 Underwater Vehicle Technology in the VENUS project
UNDERWATER TECHNOLOGY
Autore/i: CONTE G.; GAMBELLA L.; SCARADOZZI D.; ZANOLI S.M.; CAITI A.; CALABRÒ V.; ALCOCER A.; ALVES J.; CARDEIRA B.; CUNHA R.; CURADO F.; OLIVEIRA P.; OLIVEIRA A.; PASCOAL A.; RUFINO M.; SEBASTIÃO L.; SILVESTRE C.
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50183 Collegamento a IRIS

2009 Multi-Agent System Theory for Resource Management in Home Automation Systems
JOURNAL OF PHYSICAL AGENTS
Autore/i: CONTE G; MORGANTI G; A. PERDON; SCARADOZZI D
Editore: [Madrid] : Red de Agentes Físicos Ministerio de Educación y Ciencia
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35739 Collegamento a IRIS

2009 Multi-Agent System Theory for Modelling a Home Automation System
JOURNAL OF PHYSICAL AGENTS
Autore/i: CONTE G; MORGANTI G; PERDON A.M; D. SCARADOZZI
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51269 Collegamento a IRIS

2009 Multi-agent system theory for modelling a home automation system
Bio-Inspired Systems: Computational and Ambient Intelligence
Autore/i: Morganti, Gianluca; Perdon, ANNA MARIA; Conte, Giuseppe; Scaradozzi, David
Editore: Springer
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A paradigm for modelling and analysing Home Automation Systems is introduced, based on Multi-Agent System theory. A rich and versatile environment for Home Automation System simulation is constructed for investigating the performances of the system. The exploitation of limited resources (electricity, gas, hot water) depends on behavioural parameters of the individual appliances. In order to deal with the problem of developing systematic design and validation procedures for control strategies, global performance indices for the system are introduced. Different strategies for allocating resources and establishing priorities in their use can therefore be tested and compared.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/41046 Collegamento a IRIS

2008 Robotics techniques for data acquisition in underwater archeology
Proc. 17th International Workshop on Robotics in Alpe-Adria-Danube Region
Autore/i: G. CONTE; S. M. ZANOLI; D. SCARADOZZI; A. CAITI; L. GAMBELLA
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52904 Collegamento a IRIS

2008 Parameter Tuning in Distributed Home Automation Systems: towards a Tabu Search approach
16th Mediterranean Conference on Control and Automation MED'08
Autore/i: Conte, Giuseppe; Scaradozzi, David; Perdon, ANNA MARIA; Morganti, G.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53232 Collegamento a IRIS

2008 Underwater SLAM with ICP Localization and Neural Network Objects Classification, Proc. ISOPE 2008
Proceedings of the International Offshore and Polar Engineering Conference
Autore/i: Conte, Giuseppe; Scaradozzi, David; Zanoli, Silvia Maria; Gambella, Luca; Marani, Giammarco
Editore: Int. Soc. Offshore and Polar Engineers (ISOPE),ISOPE with cooperating societies and associations
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The aim of this paper is to propose a technique for Simultaneous Localization and Mapping in underwater environments by means of acoustic sensors. The proposed procedure consists in the application of suitable Neural Network and Iterative Closest Point algorithms for objects detection, agent localization and map construction. General Regression Neural Network and improved ICP algorithms are implemented in order to process sonar data, to minimize the computational time and to maximize efficiency in localization tasks without using dynamical models of the agent. Experimental tests have been performed in a simple, structured static environment collecting data by means of a single-beam, mechanically scanning sonar. Results show good performances of the procedures in simple but meaningful situations. Copyright © 2008 by The International Society of Offshore and Polar Engineers (ISOPE).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/49546 Collegamento a IRIS

2008 Underwater photogrammetry for archaeology -The VENUS project framework
GRAPP 2008 - Proceedings of the 3rd International Conference on Computer Graphics Theory and Applications
Autore/i: Drap, P; Scaradozzi, David; Gambogi, P.; Gauch, F.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250356 Collegamento a IRIS

2008 Underwater Archeology Missions Design for Data Gathering Automation, Proc. MED'08
2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08
Autore/i: Conte, Giuseppe; Zanoli, Silvia Maria; Scaradozzi, David; Gambella, L.; Calabrò, V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/49517 Collegamento a IRIS

2008 Underwater Vehicle Technology in the VENUS project,in Proceedings Unmanned Underwater Vehicle Showcase
Autore/i: D. SCARADOZZI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/49377 Collegamento a IRIS

2008 UPGRADE and IMODELASER: Tools and Best Practice for 3D DataAcquisition and Processing for CH in Different Environments , in " EPOCH Conference on Open Digital Cultural Heritage Systems"
Autore/i: D. SCARADOZZI
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/49380 Collegamento a IRIS


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