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SAURO LONGHI

Pubblicazioni

SAURO LONGHI

 

496 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
327 4 Contributo in Atti di Convegno (Proceeding)
119 1 Contributo su Rivista
36 2 Contributo in Volume
10 3 Libro
4 6 Brevetti
Anno Risorsa
2018 Quegli artisti che chiamiamo insegnanti
INNOVATIO EDUCATIVA
Autore/i: Longhi, Sauro; Monteriu', Andrea
Editore: CAMPUS L'INFINITO SRL
Luogo di pubblicazione: RECANATI
Classificazione: 3 Libro
Abstract: In una società che incontenibilmente si trasforma, la conoscenza, la ricerca e la sua valorizzazione, possono aiutarci sia a decifrare che a scoprire ciò che ci circonda. In tutto questo l’insegnante ha un ruolo fondamentale, da riscoprire e riabilitare. L’insegnante è come un artista a cui è affidato il compito di lasciare un segno e di leggere la complessità degli eventi, oggi più che mai. È lui che potrà accompagnarci verso la conoscenza e traghettarci verso il futuro.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254564 Collegamento a IRIS

2018 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 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

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 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 Performance Improvement in CPSs over Self-similar System Structures
IFAC-PapersOnLine
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Mansanta, Chiara; Longhi, Sauro
Editore: Elsevier B.V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259878 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
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259875 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 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
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259876 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 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 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 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 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 Health@Home: Pilot cases and preliminary results : Esidential sensor network to promote the active aging of real users
MeMeA 2018 - 2018 IEEE International Symposium on Medical Measurements and Applications, Proceedings
Autore/i: Casaccia, Sara; Pietroni, Filippo; Scalise, Lorenzo; Revel, Gian Marco; Monteriù, Andrea; Prist, Mariorosario; Frontoni, Emanuele; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This study is realized within the framework of the Health@Home Italian project. The focus of this paper is to provide a description of the experimentation in a pilot case in Veneto region (Italy). The integrated residential sensor network (composed by a mix of domotic equipment and biomedical devices), which will allow older people to improve their life-style in their houses, is discussed, together with the apartments selection (i.e. the specifications and requirements) and the users’ recruitment. The authors will also introduce the analysis of the expected results, based on measurements of preliminary data and signals in living lab and the first feedback from the 13 recruited users. The results of the preliminary tests are used to improve the architecture, following the user-acceptance and the data collection. In this phase of the study, the possible services have been hypothesized, and this aspect will be investigated after the end of the experimentation phase (end of 2018)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262313 Collegamento a IRIS

2018 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 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 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 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 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 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 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 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

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 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
Proceedings of the 18th Working Conference on Virtual Enterprises PRO-VE 2017
Autore/i: Stadnicka, Dorota; Pirani, Massimiliano; Bonci, Andrea; Chandima Ratnayake, R.M.; Longhi, Sauro
Editore: Springer
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
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 Human Monitoring, Smart Health and Assisted Living: Techniques and technologies
Healthcare Technologies, IET Digital Library
Autore/i: Longhi, Sauro; Monteriù, Andrea
Editore: Institution of Engineering and Technology
Luogo di pubblicazione: London
Classificazione: 3 Libro
Abstract: Interest in Information and Communication Technologies for human monitoring, smart health and assisted living is growing due to the significant impact that these technologies are expected to have on improving the quality of life of ageing populations around the world. This book brings together chapters written by a range of researchers working in these topics, providing an overview of the areas and covering current research, developments and applications for a readership of researchers and research-led engineering practitioners. It discusses the promises and the possible advantages of these technologies, and also indicates the challenges for the future. Topics covered include: personal monitoring and health data acquisition in smart homes; contactless monitoring of respiratory activity; technology-based assistance of people with dementia; wearable sensors for gesture analysis; design and prototyping of home automation systems for the monitoring of elderly people; multi-sensor platform for circadian rhythm analysis; smart multi-sensor solutions for activity detection; human monitoring based on heterogeneous sensor networks; mobile health for vital signs and gait monitoring systems; and smartphone-based blood pressure monitoring for falls risk assessment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249837 Collegamento a IRIS

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

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

2017 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 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 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 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 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 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 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 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

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 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 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 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 A motorcycle's analytical model describing the highside fall in panic situations
Proceedings of the 20th World Congress of the International Federation of Automatic Control IFAC 2017 World Congress
Autore/i: Bonci, Andrea; DE AMICIS, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele; Scala, G. A.
Editore: Elsevier
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
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 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 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 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 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 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 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 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 Information management and decision making supported by an intelligence system in kitchen fronts control process
Proceedings of the 1st International Conference on Intelligent Systems in Production Engineering and Maintenance, ISPEM 2017
Autore/i: Stadnicka, Dorota; Bonci, Andrea; Pirani, Massimiliano; Longhi, Sauro
Editore: Springer
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
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

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

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

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

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

2016 An algorithm for modelling the manufacturing plant based on energy performances and productivity KPIs
IFAC-PapersOnLine
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Longhi, Sauro
Editore: Elsevier
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Energy efficiency, performance of equipments, processes and production plants are present challenges in the context of sustainable manufacturing. Energy consumption is also the main economic, environmental and societal issue. Manufacturing plays a major role in energy consumption. Nowadays these challenges can be addressed by pursuing Energy Efficient Manufacturing. Productivity key performance indicators (KPIs) are powerful tool to measure performance from the shop-floor up to the plant level. They are used to optimize manufacturing processes but generally they do not take into account energy consumption. In this paper an energy consumption model based on productivity KPIs is used to investigate performances at the plant level and an algorithm is proposed to evaluate the effectiveness of actions over time whilst achieving overall improvements of the energy efficiency.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247027 Collegamento a IRIS

2016 Motorcycle lateral and longitudinal dynamic modeling in presence of tyre slip and rear traction
2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016
Autore/i: Bonci, Andrea; De Amicis, Riccardo; Longhi, Sauro; Scala, Giuseppe Antonio; Andreucci, Andrea
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes a mathematical model of a motorcycle that deals with the lateral and longitudinal dynamics, the tyre slip and the rear wheel traction. The vehicle is considered as an assembly of two rigid bodies. The proposed dynamic formulation is based on Lagrange’s equations, it allows to formulate the equations of motion with 7 degrees of freedom (DoF). The model assess the vehicle behavior in response to a propulsion torque applied to the rear wheel and a rider torque applied to the motorcycle handlebar. The model is able to describe the coupling of the in-plane (longitudinal) and outof- plane (lateral) dynamics taking into account the rear and the front longitudinal tyre slip related to the rear wheel traction. In order to solve the linearized equations of motion, no multi body software was used, only numeric simulation tools such as matlab.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247028 Collegamento a IRIS

2016 Artificial bee colonies based optimal sizing of microgrid components: A profit maximization approach
2016 IEEE Congress on Evolutionary Computation, CEC 2016
Autore/i: 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/11566/247752 Collegamento a IRIS

2016 A scalable production efficiency tool for the robotic cloud in the fractal factory
IECON Proceedings (Industrial Electronics Conference)
Autore/i: Pirani, Massimiliano; Bonci, Andrea; Longhi, Sauro
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The present paper proposes an effective metrics for production efficiency and a bottleneck detection algorithm of recursive nature for its application on lightweight embedded systems on board of the robotics and automation components of the factory of the future. The proposed methodology is particularly suited if the fractal paradigm is applied to the factory seen as a complex system of systems but with relevant self-similarities across the several layers of components and structures from the shop-floor up to the enterprise level. A performance test has been conducted to demonstrate the viability of the technology for tiny embedded devices with the use of declarative embedded database language. Due to the high scalability of the algorithm and its simplicity, it seems suitable also for the robotic cloud paradigm, where constituent mechatronics, sensors and actuators components are provided as a service. The results provided suggests that, with the use of similar recursive and distributed form of computing, production bottlenecks or fault detection can be scaled to address the complex and pervasive cyber-physical systems problems that characterize the 4th industrial revolution strategies.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247031 Collegamento a IRIS

2016 Motorcycle's lateral stability issues: Comparison of methods for dynamic modelling of roll angle
2016 20th International Conference on System Theory, Control and Computing, ICSTCC 2016 - Joint Conference of SINTES 20, SACCS 16, SIMSIS 20 - Proceedings
Autore/i: Bonci, Andrea; De Amicis, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele; Scala, Giuseppe A.
Editore: IEEE, Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes a simulation scenario in order to compare a proposed motorcycle model in cornering condition. The behaviours obtained by considering a linearized roll dynamic and a nonlinear roll dynamic have been investigated in order to evaluate their use in designing automatic stability controls of a motorcycle. The former model shows a linear dependency on the roll angle and the steer angle. The second model starts from the former and removes the linearization on the roll angle. The comparative analysis of the results shows how the proposed model is able to describe adequately the cornering dynamics for a suficiently large roll angles. These performances are suitable for designing a motorcycle active safety device controlling the lateral dynamic for preventing lateral falls.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247032 Collegamento a IRIS

2016 A motorcycle enhanced model for active safety devices in intelligent transport systems
MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings
Autore/i: Bonci, Andrea; De Amicis, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele; Scala, Giuseppe A.
Editore: IEEE, Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes to enhance the first R.S. Sharp’s motorcycle mathematical model, in order to take into account the longitudinal, the wheels dynamics and the rear wheel traction. The added equations of motion are obtained by lagrangian formulation. To model, also the road surface, two additional equations describing the longitudinal slip and the longitudinal forces dynamic are included. The model is able to describe the coupling of the in-plane (longitudinal) and out-ofplane (lateral) dynamics and represents a suitable computational tool for designing preventive motorcycle active safety systems and controller synthesis applications. Simulation results and discussions are given in order to illustrate the effectiveness of the proposed mathematical tool
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247029 Collegamento a IRIS

2016 SMART CITIES E SMART COMMUNITIES NELLE MARCHE
ATTI della XXXVII CONFERENZA ITALIANA DI SCIENZE REGIONALI
Autore/i: Fabiano COMPAGNUCCI, Sauro LONGHI, Gian Marco REVEL
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249465 Collegamento a IRIS

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

2016 Indoor thermal comfort control based on fuzzy logic
Advances in Chaos Theory and Intelligent Control
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: Control and monitoring of indoor thermal conditions represent crucial tasks for people’s satisfaction in working and living spaces. In the first part of the chapter we address thermal comfort issues in a working office scenario. Among all standards released, predicted mean vote (PMV) is the international index adopted to define users thermal comfort conditions in moderate environments. In order to optimize PMV index we designed a novel fuzzy controller suitable for commercial Heating, Ventilating and Air Conditioning (HVAC) systems. However in a residential scenario it would be extremely expensive to gather real time measures for PMV computation. Indeed in the second part of the chapter we introduce a novel approach for residential multi room comfort control based on humidex index. A fuzzy logic controller is introduced to reach and maintain comfort conditions in a living environment. Both control systems have been experimentally tested in the central east coast of Italy. Temperature regulation performances of both approaches have been compared with those of a classical PID based thermostat. © 2016, Springer International Publishing Switzerland 2016.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237319 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 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

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

2016 A novel computer vision based e-rehabilitation system: From gaming to therapy support
2016 IEEE International Conference on Consumer Electronics, ICCE 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Iarlori, Sabrina; Longhi, Sauro; Romeo, Luca
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: We propose a novel e-rehabilitation system based on a commercial RGB-D device. Differently from exergaming approaches, clinical objectives scores of each specific body part involved in the exercise are computed. Subjects performances are sent to the physiotherapists in order to support and improve decisions and therapies. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237316 Collegamento a IRIS

2016 IoT based indoor personal comfort levels monitoring
2016 IEEE International Conference on Consumer Electronics, ICCE 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro; Turri, Giacomo
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237320 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 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 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 A Nonlinear System with Coupled Switching Surfaces for Remotely Operated Vehicle Control
10th IFAC Conference on Control Applications in Marine Systems
Autore/i: Dyda, A.A.; Oskin, D.; Longhi, S.; Monteriù, A.
Editore: IFAC
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived approach is proven by applying it for controlling a remotely operated vehicle with parameters from a real ROV. Simulation results show the effectiveness of the proposed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/239063 Collegamento a IRIS

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

2016 Physical rehabilitation exercises assessment based on Hidden Semi-Markov Model by Kinect v2
3rd IEEE EMBS International Conference on Biomedical and Health Informatics, BHI 2016
Autore/i: Capecci, M.; Ceravolo, M.G.; Ferracuti, F.; Iarlori, S.; Kyrki, V.; Longhi, S.; Romeo, L.; Verdini, F.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work investigates how Hidden Semi-Markov Model (HSMM) can be used to monitor and evaluate physical rehabilitation exercises by Kinect v2 to support medical personnel and patients during rehabilitation at home. Authors developed an exercises assessment method based on the extraction of motion features determined by clinicians. Five different rehabilitation exercises are modeled using a HSMM to provide an assessment score. The scores are compared with those obtained using the Dynamic Time Warping to discriminate which, between these two methods, best correlates doctors and physiotherapists' evaluation. Results show that HSMM can be used to evaluate exercise performances and give a feedback to physiotherapists and patients about exercise execution. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237322 Collegamento a IRIS

2016 A database-centric approach for the modeling, simulation and control of cyberphysical systems in the factory of the future
IFAC-PapersOnLine, Volume 49, Issue 12
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Longhi, Sauro
Editore: Elsevier
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The path towards Industrie 4.0, requires that factory automation problems cope with the cyber-physical system complexity and its challenges. Some practical experiences and literature in the field testify that the role of the database management systems is becoming central for control and automation technology in the new industrial scenario. This article proposes database-centric technology and architectures that 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 simulation and rapid prototyping tools for smart and advanced industrial automation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247024 Collegamento a IRIS

2016 Accuracy evaluation of the Kinect v2 sensor during dynamic movements in a rehabilitation scenario
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Autore/i: Capecci, Marianna; Ceravolo, Maria Gabriella; Ferracuti, Francesco; Iarlori, Sabrina; Longhi, Sauro; Romeo, Luca; Russi, S; 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/11566/259866 Collegamento a IRIS

2016 Variable structure sensorless control of PMSM drives
Advances and Applications in Nonlinear Control Systems
Autore/i: Ciabattoni, Lucio; Corradini, Maria Letizia; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: In this chapter has been proposed a robust sensorless cascade control scheme for a Permanent Magnet Synchronous Motor (PMSM)drive.ADiscreteTime Variable Structure Control (DTVSC) is considered and the rotor position and speed are obtained through an Adaptive Extended Kalman Filter (AEKF). The performance of the filter is improved by an on line adjustment of the input and measurement noise covariances obtained by a suitably defined estimation algorithm. The proposed solution is experimentally tested on a commercial PMSM drive equipped with a control system based on a floating point Digital Signal Processor (DSP). © Springer International Publishing Switzerland 2016.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237325 Collegamento a IRIS

2016 Visual based landing for an unmanned quadrotor
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Cocchioni, Francesco; Frontoni, Emanuele; Ippoliti, Gianluca; Longhi, Sauro; Mancini, Adriano; Zingaretti, Primo
Classificazione: 1 Contributo su Rivista
Abstract: One of the main challenges for Unmanned Aerial Systems (UAVs) is to extend the endurance of small vehicles such as multi-rotors. Actually, Li-po batteries that guarantee a flight of about 20 min power this type of vehicles. The endurance can be extended by enabling vehicles to look for recharging station(s). In this paper, we propose a vision system able to detect and track a given pattern hosted on the target-landing platform. The pattern is also useful to estimate the UAV position while approaching the target or during the hovering close to the target. The paper focuses on an optimized adaptive thresholding technique that manages critical situations as changes in the scene’s illumination / shadows. The developed system runs at 90 Hz for processing a 752×480 grayscale image. Preliminary results on an NVidia Tegra Jetson K1 platform are also presented to distribute the computation between CPU and GPU.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228731 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

2015 Residential energy monitoring and management based on fuzzy logic
2015 IEEE International Conference on Consumer Electronics, ICCE 2015
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Pagnotta, D. Proietti; Foresi, G.; 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/11566/228736 Collegamento a IRIS

2015 On the design of observers robust to load variations for synchronous converters
2015 International Conference on Renewable Energy Research and Applications, ICRERA 2015
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro; Miceli, Rosario; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228743 Collegamento a IRIS

2015 Household electrical consumptions modeling and management through neural networks and fuzzy logic approaches
Complex system modelling and control through intelligent soft computations
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: In recent years the European Union and, moreover, Italy has seen a rapid growth in the photovoltaic (PV) sector, following the introduction of the feed in tariff schemes. In this scenario, the design of a new PV plant ensuring savings on electricity bills is strongly related to household electricity consumption patterns. This chapter presents a high-resolution model of domestic electricity use, based on Fuzzy Logic Inference System. The model is built with a "bottom-up" approach and the basic block is the single appliance. Using as inputs patterns of active occupancy and typical domestic habits, the fuzzy model give as output the likelihood to start each appliance within the next minute. In order to validate the model, electricity demand was recorded over the period of one year within 12 dwellings in the central east coast of Italy. A thorough quantitative comparison is made between the synthetic and measured data sets, showing them to have similar statistical characteristics. The focus of the second part of this work is to develop a neural networks based energy management algorithm coupled with the fuzzy model to correctly size a residential photovoltaic plant evaluating the economic benefits of energy management actions in a case study. A cost benefits analysis is presented to quantify its effectiveness in the new Italian scenario and the evaluation of energy management actions. © Springer International Publishing Switzerland 2015.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/195507 Collegamento a IRIS

2015 Fuzzy logic based economical analysis of photovoltaic energy management
NEUROCOMPUTING
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: Since 2002 the European Union has seen a rapid growth in the photovoltaic (PV) sector. During the last two years incentives for PV installations were cut almost worldwide slowing the growth of the market. In this scenario the design of a new plant ensuring economic convenience is strongly related to household electricity consumption patterns and energy management actions. This paper presents a high-resolution model of domestic electricity use based on Fuzzy Logic Inference System. Taking into account consumers sensibility concerning the rational use of energy, the model gives as output a 1-min resolution overall electricity usage pattern of the household. The focus of this work is the use of a novel fuzzy model combined with a cost benefits analysis to evaluate the real economic benefits of load shifting actions. A case study is presented to quantify its effectiveness in the new net metering Italian scenario. © 2015 Elsevier B.V.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228734 Collegamento a IRIS

2015 Embedded low level control of DC motors for actuating robotic legs
WISES 2015 - Proceedings of 12th International Conference on Intelligent Solutions on Embedded Systems
Autore/i: Bonci, Andrea; Longhi, Sauro; Pirani, Massimiliano; Scala, Giuseppe Antonio
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper an embedded system for accurate control of torque, speed and position of DC motors which actuate the joints of a robotic leg is presented. The proposed embedded system is not based on dedicated and expensive motor controllers but on a general pourpose embedded board equipped with a 32bit microcontroller. For each motor the embedded system can selectively operate in three different control modes: torque, speed and position, to control concurrently at least three DC motors with different control tasks. Each motor is simply equipped with a rotatory encoder and a low-cost current sensor which provides measures of velocity and current as feedback signals. The experimental results show that the embedded controller is able to regulate the motor variables with interesting timeresponses. Although the embedded controller was designed for the proposed robotic application, it is applicable to other systems where the concurrent control of several DC-motors is required.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229823 Collegamento a IRIS

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

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

2015 Multi-apartment residential microgrid monitoring system based on kernel canonical variate analysis
NEUROCOMPUTING
Autore/i: Ciabattoni, Lucio; Comodi, Gabriele; Ferracuti, Francesco; Fonti, Alessandro; Giantomassi, Andrea; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In the residential energy sector there is a growing interest in smart energy management systems able to monitor, manage and minimize energy consumption. A key factor to curb household energy consumption is the amendment of occupant erroneous behaviors and systems malfunctioning. In this scenario energy efficiency benefits can be either amplified or neutralized by, respectively, good or bad practices carried out by end users. Authors propose a diagnostic system for a residential microgrid application able to detect faults and occupant bad behaviors. In particular a nonlinear monitoring method, based on kernel canonical variate analysis, is developed. To overcome the normality assumption regarding the signals probability distribution, Upper Control Limits are derived from the estimated Probability Density Function through Kernel Density Estimation. The proposed method, applied to a smart residential microgrid, is tested on experimental data acquired from July 2012 to October 2013.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229210 Collegamento a IRIS

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

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

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

2015 A tool for home-based rehabilitation allowing for clinical evaluation in a visual markerless scenario
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Autore/i: Capecci, M.; Ceravolo, M.G.; D'Orazio, F.; Ferracuti, F.; Iarlori, S.; Lazzaro, G.; Longhi, S.; Romeo, L.; Verdini, F.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work deals with the design of an interactive monitoring tool for home-based physical rehabilitation. The software platform includes a video processing stage and the exercise performance evaluation. Image features are extracted by a Kinect v2 sensor and elaborated to return the exercises score. Furthermore the tool provides to physiotherapists a quantitative exercise evaluation of subject's performances. The proposed tool for home rehabilitation has been tested on 5 subjects and 5 different exercises and results are presented. In particular both exercises and relative evaluation indexes were selected by specialists in neurorehabilitation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234690 Collegamento a IRIS

2015 Marche Polytechnic University, an international resource for a new scientific and cultural brotherhood
Il respiro italiano. Expo 2015 - The Italian breath. Expo 2015 - El respiro italiano. Expo 2015 - Der italienische Atem. Expo 2015 - 2015年世界博览会——意大利马尔凯大区精神气息
Autore/i: Bronzini, Fabio; Longhi, Sauro
Editore: Gangemi Editore International Publishing
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249784 Collegamento a IRIS

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

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


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