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Sauro LONGHI

Pubblicazioni

Sauro LONGHI

 

532 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
342 4 Contributo in Atti di Convegno (Proceeding)
132 1 Contributo su Rivista
44 2 Contributo in Volume
10 3 Libro
4 6 Brevetti
Anno Risorsa
2020 Machine learning-as-a-service for consumer electronics fault diagnosis: A comparison between matlab and azure ML
Digest of Technical Papers - IEEE International Conference on Consumer Electronics
Autore/i: Prist, M.; Longhi, S.; Monteriu, A.; Freddi, A.; Pallotta, E.; Ciabattoni, L.; Cicconi, P.; Giuggioloni, F.; Caizer, E.; Verdini, C.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Today, the improvement of the product value in consumer goods, such as new services to increase the positive customer experience, is the subject of many research activities. In a context where the product complexity becomes ever greater and the product life-cycle is always shorter, the use of intelligent tools for supporting all phases of the product life-cycle is very important. One of the aspects that is taking interest is to support the consumer in fault management. This analysis are well-known practices in the industrial, automotive fields, etc. but less used for consumer electronics. This paper analizes a Cloud service based on a Machine Learning (ML) approach used to provide fault detection capabilities to household appliances equipped with electric motors and compare the results with on premise ML algorithms provided research tools. The purpose of this paper is to perform a preliminary comparison of ML algorithm performances provided by two software, namely Microsoft Azure (cloud solution) and MATLAB (on premise solution), on a study case. In detail, the vibration data of an asynchronous motor installed in an oven extractor hood for commercial restaurant kitchen have been analyzed. To this end, two classification algorithms have been selected to implement fault diagnosis techniques.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276300 Collegamento a IRIS

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

2020 RMAS architecture for industrial agents in IEC 61499
PROCEDIA MANUFACTURING
Autore/i: Bonci, Andrea; Longhi, Sauro; Lorenzoni, Emanuele; Pirani, Massimiliano
Classificazione: 1 Contributo su Rivista
Abstract: This paper analyses an architecture, recently proposed and under development, that aims to render the design and the development of multi-agent systems viable for the vision and the needs of the industry in the cyber-physical systems era. Prominent standardization work is currently focusing on the IEC 61499 standard as a most promising basis for the integration of industrial agents in the real field. In this context, authors propose RMAS (Relational Multi-Agent System) as a possible useful aid and means for the researches and the practices in the field. On this purpose, the compliances and the possible overlaps between the major features and capabilities of RMAS and IEC 61499 are assessed and discussed. This work aims to constitute a position paper for the future possible developments around IEC 61499.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276856 Collegamento a IRIS

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

2020 The Double Propeller Ducted-Fan, an UAV for safe Infrastructure inspection and human-interaction
25th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2020
Autore/i: Bonci, Andrea; Cervellieri, Alice; Longhi, Sauro; Nabissi, Giacomo; Scala, Giuseppe Antonio
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Infrastructure systems strongly influence contemporary society and increasingly our quality of life depends on it, but unfortunately these infrastructures are ageing and failures are becoming common. Automate maintenance procedures can be a real solution to cope with these problems but several limits have to be overcome yet. In this work, these limits are faced by proposing an alternative UAV that would bring advantages in safe inspection tasks and human-interaction, named Double Propeller Ducted-Fan. An alternative UAV’s architecture jointly with a dynamic model and a simplified linear control scheme is here proposed, by taking into account the requirements demand for further commercial development. The validity of the model and the proposed control scheme are evaluated in simulations, also taking into account real disturbances and noise from sensors. The results are encouraging in term of performances, compared with tests carried out with linear controllers in similar UAVs.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/282651 Collegamento a IRIS

2020 Towards an All-Wheel Drive Motorcycle: Dynamic Modeling and Simulation
IEEE ACCESS
Autore/i: Bonci, Andrea; Longhi, Sauro; Scala, Giuseppe Antonio
Classificazione: 1 Contributo su Rivista
Abstract: Modern motorcycles are evolving more and more towards complex systems by the increasing integration of mechanical, electrical and control disciplines. All-wheel drive (AWD) vehicles have proven effective to improve vehicle's performances and rider's safety. Despite this, manufacturers have developed few AWD motorcycles and little research has been devoted to them. Obvious difculties concern torque distribution to the front wheel because of steering system. Nowadays, the integration of technologies eases the implementation of front wheel drive opening new research perspectives. In this work, the dynamic model of an AWD motorcycle with an attached rider is proposed. It represents the rst symbolic analysis investigating the effects of front wheel traction on the dynamics of a motorcycle for supporting the design of AWD motorcycles reducing trials and tests on prototypes. The proposed model is parametric with respect to the motorcycle geometry, and it allows to simulate complex operating modes of the AWD, such as cornering phenomena, taking into account coupling of lateral and longitudinal dynamics and tire-road interactions. Unlike other works, here the authors include a full tire model by exploiting theoretical slips of the brush model for tire's aligning moment too, instead of applying a totally empirical representation less suitable for a complete symbolic description. Besides, to simulate the equations of motion, the benets and disadvantages of using AWD with torque distribution have been pointed out introducing a new handling ratio. Two verication procedures validate the model: one is performed theoretically, the other carries out a comparison with a multibody software, whose model is more sophisticated, this latter embeds all main motorcycle's dynamics. Although radically different, being the rst theoretical and the second numericalcomputational, both methods exhibit consistent behavior between them, and effectiveness of the former is also consistent with the results of a multibody simulator under the assumptions made.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/282532 Collegamento a IRIS

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

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

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

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

2019 Holonic Management Tree Technique for Performance Improvement Over Self-Similar System Structures
MANAGEMENT STUDIES
Autore/i: BONCI, Andrea; LONGHI, Sauro; PIRANI, MASSIMILIANO
Classificazione: 1 Contributo su Rivista
Abstract: This paper presents the detailed definition of technique for the automation of the management of complex business systems, whether they are constituted of services and productions. The technique has been referred here for the first time as Holonic Management Tree (HMT) and has been consistently contextualized into undergoing research on technological frameworks for the management cybernetics, in which the concept of viable system represents a fundamental stance. HMT is based on the use of recursive formulas over self-similar holonic structures for the attainment of continuous performance improvement in a complex and continuously evolving process. The problem is associated to a recursive tree of self-similar structures of which in this paper we discuss the interpretation with respect to knowledge modeling domain. The basic expressions for the computation of the 2nd degree trees are provided and explained in detail by means of an example in lean management context. Moreover, this work presents and discusses the expressions that handle the implementation of the n-th degree case as a recurrent abstraction of the basic and simple 2nd degree computation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/266232 Collegamento a IRIS

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

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

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

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

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

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

2019 Cornering analysis of a motorcycle longitudinal traction control system
Advances in Engineering Research
Autore/i: Bonci, A.; De Amicis, R.; Longhi, S.; Lorenzoni, E.
Editore: NovaScience Publishers, Inc
Luogo di pubblicazione: New York
Classificazione: 2 Contributo in Volume
Abstract: The development of Active Safety System technologies is an emerging topic in regard to Powered Two-Wheelers (PTW’s). In the wake of new technologies available, many governments are legislating in vehicle safety, and this is prompting the manufacturers of PTWs to innovate their active safety devices.The main issue in designing stability control systems for PTW’s lays in the different and complex driving dynamics in comparison to four-wheeled vehicles.The present work analyses the effects of a longitudinal Traction Control System on the dynamics of a PTW in cornering conditions, i.e when the lateral dynamics arise. Following a model-based design approach, the behaviour of a PTW in cornering can be described with sufficient accuracy if both the longitudinal and the lateral dynamics are considered. Further improvements concerning the analytical treatment of the slippages allow the model to simulate falls. The motorcycle’s model used in this work represents one of the first attempts proposed in literature to analytically address the analysis and prevention of two-wheeled vehicle falls, whose complex dynamics normally requires the use of multibody software. A model-based control design for PTW allows the investigation of the performance of a Traction Control System not only when the vehicle travels in a straight line, but also in cornering and in presence of adverse road conditions, i.e. when the sideslip arises due to slippery road conditions. In straight line motion there is only longitudinal dynamics. In cornering, the lateral dynamics is also exhibited and it is coupled with the longitudinal one. Until now, in literature, the Traction Control Systems have been addressed by considering only the longitudinal slip dynamics. Although in absence of lateral slippage a longitudinal controller can reduce the oversteer phenomenon and improve the two-wheeled vehicle’s behaviour in cornering, this does not happen anymore in adverse road conditions. The driving torque that guarantees the longitudinal traction can be computed by a model-based control system taking into account the non-linearities of the friction forces acting on the tyres. The controller has been tested in a simulation environment, based on the PTW’s analytical model proposed by the authors.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263726 Collegamento a IRIS

2019 Tiny Cyber-Physical Systems for Performance Improvement in the Factory of the Future
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The present work extends a performance metrics method for the treatability of some classes of problems in manufacturing automation that can be represented as a systemof- systems controlled by a cyber-physical infrastructure. With the use of proper distributed and recursive computing approaches, the complexity of the control of cyber-physical systems can be attacked through a unified and human-centered simple framework that complies with the forthcoming pervasive computing challenges posed by the smart manufacturing scenarios. The aim of this work is to provide the proof of concept of an effective methodology that relies on the decomposition of a production goal into a hierarchical self-similar structure of subgoals for the steering of the system towards improved effectiveness. An implementation of the technique is proposed by means of multi-actor and multi-database paradigms. The simulation of an implementation and an experimental deployment on low cost embedded device is provided.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259876 Collegamento a IRIS

2019 Prospective ISO 22400 for the challenges of human-centered manufacturing
IFAC-PAPERSONLINE
Autore/i: Bonci, A.; Longhi, S.; Pirani, M.
Classificazione: 1 Contributo su Rivista
Abstract: The standard definition of the key performance indicators for the manufacturing operations management level could not resist the incoming challenges and models of the 4th industrial revolution, which currently relies on the paradigms abiding by the cyber-physical system of systems vision. By means of a brief survey of the current trends, a set of recommendations are provided in order to open discussions for the foreseen evolutions of the ISO 22400 standard. A focus is made on the role of the humans in their increasingly closer collaboration with the pervasive autonomous intelligent entities in the context of a human-centered manufacturing. It is contended that there is still some room for a review of the definitions of the performance indicators and their structure that should aim to reflect human and intelligent automation aspects in an integrated framework.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276848 Collegamento a IRIS

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

2019 RMAS Architecture for Autonomic Computing in Cyber-Physical Systems
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
Autore/i: Bonci, A.; Longhi, S.; Pirani, M.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Autonomic computing initiative aimed to develop computer systems capable of self-management in order to overcome the rapidly growing complexity of computing systems management. Similar complexity affects the management and control of the systems in the industry of the future that currently relies on the advancements in cyber-physical systems frameworks. With this position paper, the RMAS architecture is checked against the major properties of autonomic systems. RMAS is proposed as a methodological and technological platform to reduce the barriers that complexity poses to further growth in intelligent automation and control.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276855 Collegamento a IRIS

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

2019 Predictive Maintenance System using motor current signal analysis for Industrial Robot
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Bonci, A.; Longhi, S.; Nabissi, G.; Verdini, F.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Predictive Maintenance (PdM) is one of the key enabling technologies in Industry 4.0. The Factories of the Future will adopt highly automated and interconnected environment where predictive fault detection will have an essential role to ensure efficient and reliable industrial operations. Due to their high efficiency and their low cost Cartesian Robots (CRs) represent one of the widely used automation systems in industry. Their movements and efficiency depends on transmission system and its degradation. However not much has been done in terms of PdM for these robots and very few works tries to deal with this problems. Different failures for those kind of robots are attributable to the transmission system. This work details the effect of the transmission system on the robot electrical actuation according to Motor Current Signal Analysis (MCSA) theory. This analysis propose different tools, used in others disciplines for different purposes, to infer features of the faulty condition. By monitoring the motor current of the CR, after a signal preprocessing, a proper fault index have been investigated in order to detect the functionality state of the transmission system. The preliminary results obtained are encouraging compared to classic spectral analysis. The monitoring and analysis have also been extended to the transient state. All the fault detection tests have been carried out directly on the electric drive mounted on a real industrial CR.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276854 Collegamento a IRIS

2019 Modelling of all-wheel drive motorcycle for dynamics analysis and control
BMD 2019
Autore/i: Bonci, A.; Longhi, S.; Lorenzoni, E.; Scala, G. A.
Editore: Symposium on the Dynamics and Control of Single Track Vehicles
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Over the years, the trend of innovation and development of all-wheel drive (AWD) solutions for motorcycles has undergone a great delay compared to what occurred for cars, although four wheeled drive systems have shown to bring undoubted advantages in terms of safety, as well as in terms of stability and handling of the vehicle. The factors contributing to this delay are manifold. Jointly with market shares motivations, the most intuitive reason concerns the mechanical difficulties in distributing the torque to the front wheel, not to mention the complexity in managing the nature inherently unstable and highly nonlinear of an under actuated two-wheeled vehicle. The few commercial proposals available on the market, exploit only partially the potential of an AWD motorcycle, indeed, they are conceived to transfer to the front wheel only the exceeding part of the drive torque during the rear wheel slip. In this work, an AWD motorcycle model with attached rider is proposed. It has been developed a dynamic model in a symbolic way, and then compared with a multi-body simulation software. It allows investigating the front wheel drive effects on the motorcycle dynamics. The proposed model takes into account the lateral dynamics, the longitudinal dynamics and the tyre-road interactions
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276850 Collegamento a IRIS

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

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

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

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

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

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

2018 Simulation Analysis and Performance Evaluation of a Vibratory Feeder Actuated by Dielectric Elastomers
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Autore/i: Bonci, Andrea; Rizzello, Gianluca; Longhi, Sauro; Naso, David; Pirani, Massimiliano; Seelecke, Stefan; Lorenzoni, Emanuele
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The present paper deals with a novel, alternative excitation device for vibratory feeders which is based on the use of smart materials for motion generation. In particular, the paper investigates how to improve the performance of a vibratory conveyor by replacing the traditional electromagnetic actuator with a new excitation system based on innovative dielectric elastomer membranes. One of the main research goals consists in the design of the dielectric elastomer actuator (geometry, number of membrane layers) in order to ensure to the conveyor the same basic vibratory performance of a conveyor driven by electromagnetic actuator. At the same time, it is expected that the novel actuator solution leads to improved characteristics in terms of energy consumption and weight. A comparative performance analysis has been carried out in terms of frequency, transient, energy, and power responses. The simulation tests performed to characterize the dynamic behavior of the system have been described along with the promising preliminary results.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263546 Collegamento a IRIS

2018 On the Traction Control of Single-Track Vehicles in Different Trim Conditions
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Autore/i: Bonci, Andrea; De Amicis, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper investigates the effects of a traction control system on the motorcycle’s dynamics when both straight line or cornering conditions are considered. A nonlinear sliding mode controller has been chosen. When the rear wheel traction is lost after a rapid acceleration, the controller reduces the power supplied by the engine allowing the rear wheel to regain grip and stability. This situation has been simulated with the motorcycle running in vertical position and in leaning condition. The latter allows to investigate the behaviour of the traction control when the motorcycle’s dynamic is more affected by the roll angle. The results show that the controller is able in both the cases to reduce the longitudinal slip of the rear wheel. Moreover, in leaning situation, the controller acting indirectly on the lateral dynamic reduces the oversteer, a phenomenon that can lead to the lowside fall. The simulations have been carried out by means of the motorcycle analytical model proposed by the authors in prior works. This mathematical platform is able to examine with sufficient detail the behavior of a two-wheeled vehicle in the most significant situations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263553 Collegamento a IRIS

2018 A Smooth Traction Control Design for Two-Wheeled electric vehicles
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Autore/i: Bonci, Andrea; De Amicis, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263552 Collegamento a IRIS

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

2018 A Review of Recursive Holarchies for Viable Systems in CPSs
Proceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Cucchiarelli, Alessandro; Carbonari, Alessandro; Naticchia, Berardo; Longhi, Sauro
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work reviews and recaps some lessons learnt in the industrial cyber-physical systems playground to indicate a viable path towards an effective use of artificial intelligence in distributed automation. The holon concept is used as a pivotal tool towards a simplification of the design and implementation of architectures that exploit recursive patterns and self-similarities to keep the industrial systems-of-systems problem under control, whilst addressing the consistent coupling between the physical environmental and the reasoning processes. The Beer’s viable system model is used as an inspiration towards new viable holistic visions of the production system-of-systems.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263571 Collegamento a IRIS

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

2018 Cell Battery Emulator for Hardware-in-the-Loop BMS Test
Proc. of IEEE 18th Int. Conference on Environmental and Electrical Engineering, EEEIC 2018
Autore/i: Buccolini, Luca; Orcioni, Simone; Longhi, Sauro; Conti, Massimo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/261691 Collegamento a IRIS

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

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

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

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

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

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

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

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

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

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

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

2018 Holonic Overlays in Cyber-Physical System of Systems
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Carbonari, Alessandro; Naticchia, Berardo; Cucchiarelli, Alessandro; Longhi, Sauro
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper gives a novel perspective about the role of the self-similarities in the modelling of system of systems with cyber-physical representation. With the adoption of virtual overlays of dynamically self-adapting holarchies, the emergent characteristics and behaviors of the information and automation systems are mapped into a recursive tree of autonomic components that can be typically realized through holonic multiagent systems. The nested computing structures that are used to achieve a productivity goal are kept simple by means of self-similarities. This simplification provides a viable methodology for the pervasive management and the automated programming of the holonic components. The technique described is suitable for a prompt adoption on a vast class of manufacturing, robotics, mechatronics, and facility management processes, whilst enabling a continuum between humans and machines. An advantage of the proposed method is its agnosticism with respect to most of the specific but heterogeneous technological means adopted in the already existent automation realizations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263568 Collegamento a IRIS

2018 RMAS: Relational Multiagent System for CPS Prototyping and Programming
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Bianconi, Carlo; Longhi, Sauro
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes RMAS (Relational model Multiagent Systems), a database-centric architecture for the realization of multiagent systems suitable for the embodiement of reasoning and control in cyber-physical systems. The RMAS uses a tightly coupled association between an active database management system and a host processing language. A first instance of RMAS is proposed by means of the coupling of the Matlab environment and the SQLite database language. The choice of the database language is guided by the keen attention of embedded systems of the Internet of Things. An example of a typical holonic manufacturing problem with mechatronics entities is conducted by means of the proposed architecture.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263545 Collegamento a IRIS

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

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

2018 An instrumental approach for monitoring physical exercises in a visual markerless scenario: A proof of concept
JOURNAL OF BIOMECHANICS
Autore/i: Capecci, Marianna; Ceravolo, Maria Gabriella; Ferracuti, Francesco; Grugnetti, Martina; Iarlori, Sabrina; Longhi, Sauro; Romeo, Luca; Verdini, Federica
Classificazione: 1 Contributo su Rivista
Abstract: This work proposes a real-time monitoring tool aimed to support clinicians for remote assessing exercise performances during home-based rehabilitation. The study relies on clinician indications to define kinematic features, that describe five motor tasks (i.e., the lateral tilt of the trunk, lifting of the arms, trunk rotation, pelvis rotation, squatting) usually adopted in the rehabilitation program for axial disorders. These features are extracted by the Kinect v2 skeleton tracking system and elaborated to return disaggregated scores, representing a measure of subjects performance. A bell-shaped function is used to rank the patient performances and to provide the scores. The proposed rehabilitation tool has been tested on 28 healthy subjects and on 29 patients suffering from different neurological and orthopedic diseases. The reliability of the study has been performed through a cross-sectional controlled design methodology, comparing algorithm scores with respect to blinded judgment provided by clinicians through filling a specific questionnaire. The use of task-specific features and the comparison between the clinical evaluation and the score provided by the instrumental approach constitute the novelty of the study. The proposed methodology is reliable for measuring subject's performance and able to discriminate between the pathological and healthy condition.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/253076 Collegamento a IRIS

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

2018 On the falls of two wheeled vehicles
INTERNATIONAL JOURNAL OF MECHANICS
Autore/i: Bonci, Andrea; Longhi, Sauro; Lorenzoni, Emanuele; SCALA, GIUSEPPE ANTONIO
Classificazione: 1 Contributo su Rivista
Abstract: The study and analysis of two-wheeled vehicle’s falls and critical situations are difficult tasks to perform due to the rather elaborate dynamics that come into play. However, to prevent such events, it is necessary a good understanding of the conditions that trigger them. To this purpose, suitable tools able to show how the vehicle's parameters may influence its dynamic behavior are required. In the present paper the analysis of the major falls relative to a two-wheeled vehicle is performed by means of dynamics simulations based on the motorcycle model presented by the authors in prior works. The simulations are also discussed in relation to alternative descriptions provided by theoretical instruments reported in the literature and the substantial consistency of the results is shown.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259875 Collegamento a IRIS

2018 Performance Improvement in CPSs over Self-similar System Structures
IFAC-PAPERSONLINE
Autore/i: Bonci, Andrea; Pirani, Massimiliano; MANSANTA, CHIARA; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The present paper presents the further developement of a solution for the performance improvement of distributed cyber-physical systems that approximate complex productive processes, introducing self-similarities in holonic systems. The proposed methodology provides a viable solution for a manufacturing system that integrates robotics, mechatronics and automation systems at different levels. Performance measurements and bottlenecks detection on critical production paths achieve a pervasive control of the effectiveness of associated the system-of-systems by means of a well-defined sequence of specific and minimal corrective actions. This work presents an extension to n-th degree of formulas previously applied to tree structures of the 2nd degree.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259878 Collegamento a IRIS

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

2018 A Database-Centric Framework for the Modeling, Simulation, and Control of Cyber-Physical Systems in the Factory of the Future
JOURNAL OF INTELLIGENT SYSTEMS
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The factory of the future scenario asks for new approaches to cope with the incoming challenges and complexity of cyber-physical systems. The role of database management systems is becoming central for control and automation technology in this new industrial scenario. This article proposes database-centric technology and architecture that aims to seamlessly integrate networking, artificial intelligence, and real-time control issues into a unified model of computing. The proposed methodology is also viable for the development of a framework that features simulation and rapid prototyping tools for smart and advanced industrial automation. The full expression of the potentialities in the presented approach is expected in particular for applications where tiny and distributed embedded devices collaborate to a shared computing task of relevant complexity.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252404 Collegamento a IRIS

2018 La formazione come strumento anticorruzione
Anticorruzione nella sanità. Reazioni e azioni
Autore/i: Longhi, Sauro
Editore: Aracne editrice
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259224 Collegamento a IRIS

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

2017 Modelling and hardware-in-the-loop simulation for energy management in induction cooktops
IEEE 7th International Conference on Consumer Electronics - Berlin (ICCE-Berlin)
Autore/i: Prist, Mariorosario; Pallotta, Emanuele; Monteriu, Andrea; Longhi, Sauro; Cicconi, Paolo; Russo, Anna Costanza; Germani, Michele
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Induction cooktops are very efficient systems, but, their energy consumption should be reduced using a temperature controller for optimizing the electrical power. Such controllers are already widely spread in several applications (air conditioning, ovens, etc.). Induction cooktops work with discrete levels of power, and, therefore, the user can select and modify the requested power level during the cooking. This paper presents the Hardware-In-the-Loop simulation to develop an active temperature controller, which optimizes the energy management of the water boiling using an induction cooktop. A thermal and induction model has been developed in MATLAB/Simulink® framework, while a discrete PID controller has been implemented inside a physical ATMEGA processor and tested within the Hardware-In-the-Loop platform.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252390 Collegamento a IRIS

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

2017 Information management and decision making supported by an intelligence system in kitchen fronts control process
ADVANCES IN INTELLIGENT SYSTEMS AND COMPUTING
Autore/i: Stadnicka, Dorota; BONCI, Andrea; PIRANI, MASSIMILIANO; LONGHI, SAURO
Classificazione: 1 Contributo su Rivista
Abstract: Measuring systems used for alternative control are the basis of the kitchen fronts acceptance. The assessment of such products is difficult. On the basis of the performed analysis, it can be said that different operators make dif-ferent decisions that result in different problems in a case study manufactur-ing company. In the work, the authors propose a cyber-physical distributed computing infrastructure to implement performance metrics methods extend-ed to manage the control system and to support the decisions concerning im-provements in the control process. It will result in the minimization or avoid-ance of operators’ mistakes concerning the wrong acceptance or rejection of the finished product.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247038 Collegamento a IRIS

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

2017 Comparison of dynamical behaviours of two motorcycle's' models in the simulation of lowside fall
WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Autore/i: Bonci, Andrea; De Amicis, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele
Classificazione: 1 Contributo su Rivista
Abstract: The study and analysis of motorcycle’s critical driving situations, falls and accidents, are difficult to be described analitically because of the simultaneity of different and complex phenomena which make the dynamics quite elaborate. However, the controllers for active safety systems of motorcycles cannot be synthesized regardless by a suitable analytic model of the vehicle dynamic. In this paper, an analytic model able to describe the strong nonlinearities conveyed by the complex dynamic of a two-wheeled vehicle in curve, is presented. The model takes into account the coupling between the in-plane and out-of-plane dynamics which is accounted for the system nonlinear behaviour, the rear traction and the nonlinear features of the tyres dynamics. The major steps taken to derive such a model are described. Two sets of motion equations with different levels of accuracy have been developed making use of two different linearizations. The first one is obtained as linearization with respect to the roll and the steer angle around the vertical position, while the second is given by the linearization with respect to the steer angle only. A comparison between the two models for a given initial condition have been made by simulating a real scenario representing a critical vehicle condition, the lowside fall. Results show how these two models have no substantial differences in the description of the low side major dynamics making the simpler model a feasible choice for a model-based design of motorcycle’s control system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252403 Collegamento a IRIS

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

2017 Modeling and Simulation of the Motorcycle’s Lowside Fall
PROCEDIA MANUFACTURING
Autore/i: BONCI, Andrea; De Amicis, Riccardo; LONGHI, SAURO; LORENZONI, Emanuele
Classificazione: 1 Contributo su Rivista
Abstract: The deployment of active safety systems enhancing the motorcycle stability and supporting riders in defusing critical and dangerous driving situations is a topic of major concern in the two-wheel research community. In the design and development of safety control systems, setting up an adequate model of the controlled system is a key issue since it should be able to describe adequately the motion of the vehicle in critical situations such as precarious adherence, cornering brake and acceleration, or dangerous falls. In literature, these situations are typically investigated by means of black box approaches, namely by using multibody numerical simulators in which the equations governing the vehicle dynamics are unknown. In this paper, instead, the authors propose an analytical model as alternative to black box approach for the simulation of critical and complex motorcycle’s dynamics leading to falls. The model has been presented in author’s earlier works, it has a minimum degree of complexity, considers the rear wheel traction/braking and takes into account the interactions between longitudinal and lateral friction forces acting on the tyres. This analytical model has allowed to investigate the lowside phenomenon and the simulation results will be presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247034 Collegamento a IRIS

2017 Self-similar computing structures for CPSs: a case study on POTS service process
IFIP ADVANCES IN INFORMATION AND COMMUNICATION TECHNOLOGY
Autore/i: Stadnicka, Dorota; Pirani, Massimiliano; Bonci, Andrea; Chandima Ratnayake R., M; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper proposes a novel method for the structuring of the knowledge of a service process in order to be processed by lightweight declarative computing infrastructures. Through the identification of selfsimilarities in the process, the flow of the structured information and the sequence of activities performed in the process are easily implemented by means of cyber-physical systems technologies, in order to timely meet the customer/stakeholder’s requirements. The study was performed in a telecommunication service providing organization. Service teams create a collaborative network. With the use of the CPS proposed in this work they can communicate problems and disseminate solutions. This methodology uses the information of a set of performance indicators of the service organization to achieve a better control of the effectiveness and the bottlenecks in the supply network. The methodology is borrowed from the mechatronics field and it is prone to a natural extension and reuse for the similar information structures in manufacturing processes.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/248424 Collegamento a IRIS

2017 A motorcycle's analytical model describing the highside fall in panic situations
IFAC-PAPERSONLINE
Autore/i: Bonci, A.; De Amicis, R.; Longhi, S.; Lorenzoni, E.; Scala Giuseppe, Antonio.
Classificazione: 1 Contributo su Rivista
Abstract: Starting from the analytical approach of the motorcycle dynamic modelling, this paper proposes a further improvement concerning the analytical treatment of the slippages in order to simulate the highside fall. The model represents the rst attempt proposed in literature to address analitically the highside phenomenon whose complex dynamics normally requires the use of multibody software. The complex dynamics of the vehicle in curve, where critical situations may occur, has been characterized by introducing the interactions between the friction forces described by the well known Magic Formula. The proposed model has allowed to simulate the highside phenomenon that is triggered in excessive braking condition by a panicked rider releasing the brake too quickly in an attempt to correct the trajectory in curve. The simulation results show that the highside is well captured, moreover they are in good agreement with similar results obtained by using multibody software. The model is set to become a viable tool for the analysis and the synthesis of motorcycle's safety devices preventing dangerous falls.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247035 Collegamento a IRIS

2017 Comparison of dynamic models for a motorcycle during lowside fall
17th International Conference on Signal processing Robotics and Automation, (ISPRA ’17)
Autore/i: Bonci, Andrea; DE AMICIS, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele
Editore: WSEAS Press
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The controllers for active safety systems of motorcycles cannot be synthesized regardless by a suitable analytic dynamic model of the vehicle. Generally the analytical study and analysis of critical driving situations, falls and accidents is a complex task, since these events take place due to the simultaneity of different and complex phenomena. An analytical model able to capture the dynamics of a two-wheeled vehicle in curve is considered. In this paper the performance of the proposed model in describing the low side fall, a critical vehicle condition involving the safety of the rider, is investigated. The model has the minimum degree of complexity needed to describe complex dynamics and two different assumptions of accuracy have been made on it. The linearized version of the model has been compared with a nonlinearized version and the results have shown no substantial differences in the description of the lowside major dynamics.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247037 Collegamento a IRIS

2017 A unified observer for robust sensorless control of DC–DC converters
CONTROL ENGINEERING PRACTICE
Autore/i: CIMINI, Gionata; IPPOLITI, Gianluca; ORLANDO, Giuseppe; LONGHI, SAURO; Miceli, Rosario
Classificazione: 1 Contributo su Rivista
Abstract: Due to the large variety of converters' configurations, many different sensorless controllers are available in the literature, each one suited for a particular converter. The need for different configurations, especially on the same power supply, make it clear the advantage of having a shared control algorithm. This paper presents a unified nonlinear robust current observer for buck, boost and buck–boost converters in synchronous and asynchronous configurations. The unified observer speeds up the design, tuning and the implementation, and requires a memory cheaper code, easier to certify. Simulation and experimental results are presented to validate the approach in different scenarios. © 2017 Elsevier Ltd
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247736 Collegamento a IRIS

2017 Robotics 4.0: Performance Improvement Made Easy
22nd IEEE International Conference on Emerging Technologies And Factory Automation
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Longhi, Sauro
Editore: IEEE, Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The present paper proposes a conceptual framework along with a practical solution for the problem of integrating the performance indicators of production processes with the capabilities of robotic systems and machinery. This will enable technology transfer and development of automated production processes within the new vision of industry 4.0. The proposed methodology is a solution for improving the performance of a manufacturing system that integrates robotics, mechatronics and automation systems at different levels. Performance measurements and bottlenecks detection on critical production paths are performed in order to achieve a dynamic and on-line system improvement. This consists of a pervasive control of the effectiveness of the system-of-systems, by means of a well-defined sequence of specific and minimal corrective actions. The proposed technique is advisable in the complex scenario of decentralized manufacturing. The nature of the solution is context-dependent and scalable.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/248422 Collegamento a IRIS

2017 Embedded solutions for a class of highly unstable, underactuated and self-balancing robotic systems
EURASIP JOURNAL ON EMBEDDED SYSTEMS
Autore/i: BONCI, Andrea; PIRANI, MASSIMILIANO; LONGHI, SAURO
Classificazione: 1 Contributo su Rivista
Abstract: This paper presents a didactic framework in embedded electronics systems that is used to elicit awareness into students and engineers on the design issues arising in the realization of a class of underactuated robots and aerial vehicles that needs be robustly controlled due to their intrinsic unstability. The applications prototyped on the embedded platform presented here are conceived, by design, to be compliant with tiny collaborative robotics applications in order to adhere to the needs of the complex cyber-physical systems problem. The proposed platform is self-contained with on-board sensing and computation. Its engineering uses only off-the-shelf and mass production components. The system is based on a general purpose embedded board equipped with a 32-bit microcontroller which is able to manage all the basic tasks of this robotic platform: sensing, actuation, control and communication. The framework is described, and initial experimental results are introduced. Three applications are presented in this work as a validation of the methodology: a ballbot robot, a legged robot and a quadrotor aerial vehicle. The chosen case studies are robotics applications that are specialized in performing maneuvers when operating in tight spaces as in the human living environments. © 2016, Bonci et al.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237326 Collegamento a IRIS

2017 Smart Cities e Smart Communities: i risultati di un questionario ai comuni della Regione Marche
EYESREG
Autore/i: Compagnucci, Fabiano; Longhi, Sauro; Revel, Gian Marco
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250071 Collegamento a IRIS

2017 Comparison of dynamic models for a motorcycle during lowside fall
WSEAS TRANSACTIONS ON APPLIED AND THEORETICAL MECHANICS
Autore/i: Bonci, Andrea; De Amicis, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele
Classificazione: 1 Contributo su Rivista
Abstract: The controllers for active safety systems of motorcycles cannot be synthesized regardless by a suitable analytic dynamic model of the vehicle. Generally the analytical study and analysis of critical driving situations, falls and accidents is a complex task, since these events take place due to the simultaneity of different and complex phenomena. An analytical model able to capture the dynamics of a two-wheeled vehicle in curve is considered. In this paper the performance of the proposed model in describing the low side fall, a critical vehicle condition involving the safety of the rider, is investigated. The model has the minimum degree of complexity needed to describe complex dynamics and two different assumptions of accuracy have been made on it. The linearized version of the model has been compared with a nonlinearized version and the results have shown no substantial differences in the description of the lowside major dynamics.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252405 Collegamento a IRIS

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

2017 Multimedia experience enhancement through affective computing
2017 IEEE International Conference on Consumer Electronics, ICCE 2017
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Longhi, Sauro; Pepa, Lucia; Romeo, Luca; Verdini, Federica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259871 Collegamento a IRIS

2017 Real-time mental stress detection based on smartwatch
2017 IEEE International Conference on Consumer Electronics, ICCE 2017
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Longhi, Sauro; Pepa, Lucia; Romeo, Luca; Verdini, Federica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259872 Collegamento a IRIS

2017 On the modelling and analysis of a motorcycle in critical leaning conditions
5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)
Autore/i: Andrea, Bonci; De Amicis, Riccardo; Lorenzoni, Emanuele; Longhi, Sauro
Editore: IEEE, Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The development of Intelligent Transportation System (ITS) technologies is an emerging topic in regards to Powered Two-Wheelers (PTW's). Major researches on automobiles are still focused on the area of active safety systems which aim to minimize the risks of accidents by controlling the stability of the vehicle in critical situations. The main issue in designing stability control systems for motorcycles lays in the different and complex driving dynamics in comparison to four-wheeled vehicles. Nowadays the most sophisticated system available for commercial powered two-wheelers is the anti-lock braking system (ABS). Undoubtedly it provides safety benefits, but it is not designed to operate during strong cornering in presence of high lateral accelerations. For the design of motorcycle's safety control systems the set-up of a proper vehicle's model is a major issue. Often the model is required to be as simple as possible and able to describe the most of the roll dynamic behaviour, but these two requirements are conflicting. The author's prior works proposed an analytical model with rear wheel traction able to examine a motorcycle during acceleration and braking in straight running or cornering condition. This model linearized around the vertical position considers the coupling of the dynamics and provides an adequate description of the friction forces, hence it proves effective in describing the dynamics of a vehicle in curve. In this paper, in order to obtain a better understanding of the vehicle dynamics in critical situations, simulation tests and comparisons between the behaviours of the linearized model and the same model with no roll linearization have been made considering the vehicle in highside fall.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/248421 Collegamento a IRIS

2017 An embedded database technology perspective in cyber-physical production systems
PROCEDIA MANUFACTURING
Autore/i: BONCI, Andrea; PIRANI, MASSIMILIANO; LONGHI, SAURO
Classificazione: 1 Contributo su Rivista
Abstract: The goal of the paper is the proposition of an enabling technology for the control and optimization of cyber-physical production systems, oriented to the lightweight implementation of performance metrics methodology in a network of distributed devices. The database-centric perspective, applied to distributed devices, supports the adoption of well-known key performance metrics for viable lightweight control policies and optimization of complex scenarios in the factory of the future. An experiment of the technique on a real case data set is presented and analyzed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247033 Collegamento a IRIS

2017 Lo sviluppo intelligente nei comuni delle Marche: i risultati dell’indagine Smart Cities e Communities
ECONOMIA MARCHE
Autore/i: Compagnucci, Fabiano; Longhi, Sauro; Revel, Gian Marco
Classificazione: 1 Contributo su Rivista
Abstract: Questo lavoro nasce dall'esigenza di comprendere come i comuni marchigiani stiano affrontando la sfida della crescita intelligente, ossia un modello di sviluppo caratterizzato da un maggior livello di sostenibilità economica, sociale ed ambientale rispetto a quello attuale. La valutazione delle performance dei comuni delle Marche rispetto a questo tipo di sviluppo si articola in due fasi: in primo luogo verrà fornita una panoramica delle politiche implementate nella nostra regione rispetto ad una serie di indicatori comunemente utilizzati per connotare la strategia Smart Cities e Communities; nella seconda fase, tali evidenze verranno confrontate con i risultati di un questionario somministrato ai comuni marchigiani, volto a reperire informazioni su alcune condizioni abilitanti rispetto alla formulazione di politiche intelligenti, e sulle caratteristiche di queste ultime. Lo scopo ultimo dell'articolo è quello di dimostrare che la strategia Smart Cities e Communities, nonostante venga generalmente declinata alla scala dei sistemi urbani e metropolitani, debba essere considerata anche rispetto a contesti meno spiccatamente urbani, come quello marchigiano, fornendo, in tal senso, specifici suggerimenti di policy.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258457 Collegamento a IRIS

2017 Smart cities and communities in the marche region
TERRITORIO
Autore/i: Compagnucci, Fabiano; Longhi, Sauro; Revel, Gian Marco
Classificazione: 1 Contributo su Rivista
Abstract: Starting from a neo-institutional and a neo-evolutionary approach to the concept of Smart Cities and Communities, the goal of this paper is threefold. First, it aims at investigating the meaning of smartness for a small-sized, polycentric and manufacturing-oriented region such as the Marche Region. Secondly, it aims at assessing its performances in terms of “smart development” by means of specific development policies indicators and a questionnaire submitted to its municipalities in 2015. Results show that some of the structural problems affecting the region have only partially been addressed by public policies. On this basis, regional and sub-regional policy implications are framed disentangling between prerequisites for a smart development and smart policies stricto sensu.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258455 Collegamento a IRIS

2017 Smart monitoring of user and home environment: the Health@Home acquisition framework
7th Italian Forum on Ambient Assisted Living, ForitAAL 2017
Autore/i: Pietroni, Filippo; Casaccia, Sara; Revel, Gian Marco; Prist, Mariorosario; Monteriù, Andrea; Longhi, Sauro; Scalise, Lorenzo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work has been developed within the framework of the Italian smart city project “Health@Home (H@H)”. The main goal is the development of a joint network (heterogeneous devices, both biomedical and home automation) to monitor the user’s health conditions within the home environment, together with dedicated services from the measured quantities. In particular, H@H follows the context of the Active and Assisted Living environment to improve the well-being of elderly giving support to the users at home. In this paper, the authors describe the implemented final prototype software architecture implemented, the measuring protocol used in resting conditions and the implementation of three user services, providing real-time feedback about the user health status.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250025 Collegamento a IRIS

2017 Microgrid sizing via profit maximization: A population based optimization approach
IEEE International Conference on Industrial Informatics (INDIN)
Autore/i: Cavanini, Luca; Ciabattoni, Lucio; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247738 Collegamento a IRIS

2017 The Relational Model: in Search for Lean and Mean CPS technology
IEEE 15TH INTERNATIONAL CONFERENCE OF INDUSTRIAL INFORMATICS (INDIN'2017)
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Dragoni, Aldo Franco; Cucchiarelli, Alessandro; Longhi, Sauro
Editore: IEEE, Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The complexity of cyber-physical systems (CPSs) poses new challenges in their design, model checking and maintenance. The hardware and software designers are in search, more than ever, for simple and interoperable approaches that render the complexity of CPSs a treatable matter. In this work, database language is suggested as an enabling technology and a lean technique to the purpose. An example with best available embedded database technology is conducted by means of a deployment test on tiny embedded electronics.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/248425 Collegamento a IRIS

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

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

2017 Human-Robot Cooperation via Brain ComputerInterface in Assistive Scenario
7th Italian Forum on Ambient Assisted Living, ForitAAL 2017
Autore/i: Foresi, Gabriele; Freddi, Alessandro; Iarlori, Sabrina; Longhi, Sauro; Monteriù, Andrea; Ortenzi, Davide; Proietti Pagnotta, Daniele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years, the development of robots for assisting and collaborating with peo-ple has experienced a large growth. Applications for assistive robots include hospitalservice robots, factory intelligent assistants and personal homecare robots. Workingin shared environments with human beings, these robots have frequent need of aneffective human-robot cooperation. This work introduces a possible approach forperforming human-robot cooperation, namely recognition of a user selected objectby means of Brain Computer Interface (BCI), followed by pick and place of thesame object via a robotic arm. The object selection is achieved using a BCI thatallows to choose one among different objects of common use, by interpreting theP300 signals generated in the brain when the image of the object desidered by theuser appears on a computer screen. Then, the robot recognizes through a classifierif the selected object is within its workspace, grasps the object and moves it intoa different position. This system could support people with limited motor skills orparalysis, playing an important role in structured assistive environments in a near future.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250030 Collegamento a IRIS

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

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

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

2016 A goal-oriented, ontology-based methodology to support the design of AAL environments
EXPERT SYSTEMS WITH APPLICATIONS
Autore/i: DIAMANTINI, Claudia; Freddi, Alessandro; LONGHI, SAURO; POTENA, Domenico; STORTI, EMANUELE
Classificazione: 1 Contributo su Rivista
Abstract: One of the most critical issues in Ambient Assisted Living (AAL) is the design of systems that can evolve to meet the requirements of individuals as their needs and health conditions change. Although much work has been done on home and building automation systems for AAL, often referred to as assistive domotics, there is in fact still a substantial lack of solutions capable to support system designers in the early stage of development of such assistive systems. To this aim, the work contributes to the research on design of assistive domotic systems by presenting an ontology-driven methodology aimed to guide the development process. The novel contributions of the paper include the goal-oriented approach of the methodology, which involves the elicitation and analysis of AAL requirements and their formal representation in an ontology, where high-level goals are described in terms of subgoals and tasks, that are then linked to corresponding measures and devices. Moreover, logic-based reasoning enables more advanced functionalities useful at design time. We present a validation of the methodology showing typical use cases both related to the development from scratch of a domotic system with assistive capabilities starting from a set of high-level user requirements and the redesign of existing implementations according to changed requirements.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/236317 Collegamento a IRIS

2016 Fire exit signs: The use of neurological activity analysis for quantitative evaluations on their perceptiveness in a virtual environment
FIRE SAFETY JOURNAL
Autore/i: Occhialini, Martina; Bernardini, Gabriele; Ferracuti, Francesco; Iarlori, Sabrina; D'Orazio, Marco; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: Emergency signs represent the easiest way to assist a person during an emergency building evacuation, such as in a fire. However, previous studies show that signs can also not be correctly perceived (because of: smoke/lighting conditions, sign positions in relation to individual's position, pictograms dimensions), consequently becoming useless. This study focuses on the effectiveness of exit signs, in terms of type and position. The related numerical quantification is founded on an objective experimental neurological method. A neurological stimulus (P300) is generated when the individual understands the meaning of the sign. It is so possible to objectively evaluate by using a neuro-headset the performance of each subject in terms of perceptual attention. The use of similar direct data overlooks errors connected to conscious or unconscious individual mediation in answers. Evacuation motion simulations are performed using a virtual reality environment because of limits in the neuro-headset use when walking. Two types of exit signs (reflective and photoluminescent) are tested considering different positions and environmental conditions (illuminated and not). The sign identification distance is retrieved and compared to results of real-world experiments. Finally, the sign effectiveness is also inquired in terms of statistical P300 presence on the analysed sample. © 2016 Elsevier Ltd. All rights reserved.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237317 Collegamento a IRIS

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

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

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

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

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

2016 Real time step length estimation on smartphone
2016 IEEE International Conference on Consumer Electronics, ICCE 2016
Autore/i: PEPA, LUCIA; Marangoni, Giacomo; DI NICOLA, MATTEO; CIABATTONI, LUCIO; VERDINI, Federica; SPALAZZI, Luca; LONGHI, SAURO
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Smartphones are particularly suitable for health related applications during daily living, given their diffusion into society and computational capabilities. We proposed a smartphone application for real-time step length estimation, using inverted pendulum model. We tested the proposed solution on 5 healthy subjects, comparing the smartphone estimation with a stereophotogrammetric system. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237323 Collegamento a IRIS


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