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Sauro LONGHI

Pubblicazioni

Sauro LONGHI

 

548 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
347 4 Contributo in Atti di Convegno (Proceeding)
133 1 Contributo su Rivista
50 2 Contributo in Volume
14 3 Libro
4 6 Brevetti
Anno Risorsa
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 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 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 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 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

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

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

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

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

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

2016 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 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 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 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 A database-centric approach for the modeling, simulation and control of cyberphysical systems in the factory of the future
IFAC-PAPERSONLINE
Autore/i: BONCI, Andrea; PIRANI, MASSIMILIANO; LONGHI, SAURO
Classificazione: 1 Contributo su Rivista
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 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 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 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; Azar, Ahmad Taher
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 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 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 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 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 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 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 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 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 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, SAURO; MONTERIU', Andrea
Editore: IFAC
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived approach is proven by applying it for controlling a remotely operated vehicle with parameters from a real ROV. Simulation results show the effectiveness of the proposed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/239063 Collegamento a IRIS

2016 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 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

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

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

2015 High-resolution mapping of river and estuary areas by using unmanned aerial and surface platforms
2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Autore/i: Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo; 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/11566/235072 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 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; MONTERIU', 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

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

2015 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 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 Electric motor defects diagnosis based on kernel density estimation and Kullback-Leibler divergence in quality control scenario
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
Autore/i: FERRACUTI, FRANCESCO; GIANTOMASSI, ANDREA; IARLORI, SABRINA; IPPOLITI, Gianluca; LONGHI, SAURO
Classificazione: 1 Contributo su Rivista
Abstract: The present paper deals with the defect detection and diagnosis of induction motor, based on motor current signature analysis in a quality control scenario. In order to develop a monitoring system and improve the reliability of induction motors, Clarke-Concordia transformation and kernel density estimation are employed to estimate the probability density function of data related to healthy and faulty motors. Kullback-Leibler divergence identifies the dissimilarity between two probability distributions and it is used as an index for the automatic defects identification. Kernel density estimation is improved by fast Gaussian transform. Since these techniques achieve a remarkable computational cost reduction respect the standard kernel density estimation, the developed monitoring procedure became applicable on line, as a Quality Control method for the end of production line test. Several simulations and experimentations are carried out in order to verify the proposed methodology effectiveness: broken rotor bars and connectors are simulated, while experimentations are carried out on real motors at the end of production line. Results show that the proposed data-driven diagnosis procedure is able to detect and diagnose different induction motor faults and defects, improving the reliability of induction machines in quality control scenario. © 2015 Elsevier Ltd.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228738 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 Report RdS/PAR2014/025. Miglioramento delle funzionalità di un simulatore di edificio e sua evoluzione verso la simulazione di reti di edifici in scenari di demand response
Report Ricerca di Sistema
Autore/i: Comodi, G.; Fonti, A.; Polonara, F.; Longhi, S.
Classificazione: 3 Libro
Abstract: Il crescente interesse verso politiche attive della gestione della domanda di energia (demand side management) e verso azioni che possano modificarne il profilo (demand response) implica necessariamente che l’utente finale, per garantire il proprio comfort, abbia a disposizione sistemi energetici che possano garantire la flessibilità della propria domanda: sistemi di generazione distribuita (che trasformano l’utente finale da “consumer” a “prosumer”) ed accumuli elettrici e termici. L’evoluzione naturale del simulatore sviluppato nei PAR precedenti è quindi quella di modellare questi sistemi che sono in grado di garantire una maggiore flessibilità della domanda di energia del consumatore. In particolare, sono stati implementati: sistemi di (co-)generazione distribuita con microturbina a gas (che trasformano l’utente finale da “consumer” a “prosumer”) e sistemi di accumulo, sia termici che elettrici. Inoltre, è stata introdotta la funzionalità di dynamic pricing per simulare le condizioni al contorno del mercato dell’energia elettrica e del gas. Infine, il modello del cluster già presentato l’anno scorso è stato calibrato” sulla base dei dati sperimentali provenienti dalla rete di sensori dello “Smart village ENEA”. Il modello della microturbina implementato risulta essere molto affidabile, grazie anche alla quantità di dati sperimentali in possesso dell’Università Politecnica delle Marche che ha svolto attività di ricerca su questa macchina per diversi anni. La modellazione degli accumuli (termico ed elettrico) fornisce risultati verosimili ed in linea con la bibliografia internazionale. Il simulatore della rete di edifici, la fase di calibrazione ha dimostrato la bontà del simulatore nel ricostruire l’andamento della domanda di energia termica giornaliera degli edifici del distretto: i isultati mostrano una ottima rispondenza tra i massimi ed i minimi (sia assoluti che relativi) nell’arco delle ventiquattro ore. Tuttavia, in futuro altro lavoro dovrà essere svoltoper cercare di ridurre l’errore assoluto tra il valore simulato e quello reale.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/238887 Collegamento a IRIS

2015 Signal based fault detection and diagnosis for rotating electrical machines: Issues and solutions
Complex System Modelling and Control Through Intelligent Soft Computations
Autore/i: Giantomassi, Andrea; Ferracuti, Francesco; Iarlori, Sabrina; Ippoliti, Gianluca; Longhi, Sauro
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: Complex systems are found in almost all field of contemporary science and are associated with a wide variety of financial, physical, biological, information and social systems. Complex systems modelling could be addressed by signal based procedures, which are able to learn the complex system dynamics from data provided by sensors, which are installed on the system in order to monitor its physical variables. In this chapter the aim of diagnosis is to detect if the electrical machine is healthy or a change is occurring due to abnormal events and, in addition, the probable causes of the abnormal events. Diagnosis is addressed by developing machine learning procedures in order to classify the probable causes of deviations from system normal events. This chapter presents two Fault Detection and Diagnosis solutions for rotating electrical machines by signal based approaches. The first one uses a current signature analysis technique based on Kernel Density Estimation and Kullback-Liebler divergence. The second one presents a vibration signature analysis technique based on Multi-Scale Principal Component Analysis. Several simulations and experimentations on real electric motors are carried out in order to verify the effectiveness of the proposed solutions. The results show that the proposed signal based diagnosis procedures are able to detect and diagnose different electric motor faults and defects, improving the reliability of electrical machines. Fault Detection and Diagnosis algorithms could be used not only with the fault diagnosis purpose but also in a Quality Control scenario. In fact, they can be integrated in test benches at the end or in the middle of the production line in order to test the machines quality. When the electric motors reach the test benches, the sensors acquire measurements and the Fault Detection and Diagnosis procedures detect if the motor is healthy or faulty, in this last case further inspections can diagnose the fault. © Springer International Publishing Switzerland 2015.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/202930 Collegamento a IRIS

2015 Robust control of robot arms via quasi sliding modes and neural networks
Advances and Applications in Sliding Mode Control Systems
Autore/i: Corradini, Maria Letizia; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: This chapter presents a control approach for robotic manipulators based on a discrete-time sliding mode control which has received much less coverage in the literature with respect to continuous time sliding-mode strategies. This is due to its major drawback, consisting in the presence of a sector, of width depending on the available bound on system uncertainties, where robustness is lost because the sliding mode condition cannot be exactly imposed. For this reason, only ultimate boundedness of trajectories can be guaranteed, and the larger the uncertainties affecting the system are, the wider is the bound on trajectories which can be guaranteed. As a possible solution to this problem, in this chapter a discontinuous control law has been proposed, employing a controller inside the sector based on an estimation, as accurate as possible, of the overall effect of uncertainties affecting the system. Different solutions for obtaining this estimate have been considered and the achievable performances have be compared using experimental data. The first approach consists in estimating the uncertain terms by a well established method which is an adaptive on-line procedure for autoregressive modeling of non-stationary multivariable time series by means of a Kalman filtering. In the second solution, radial basis neural networks are used to perform the estimation of the uncertainties affecting the system. The proposed control system is evaluated on the ERICC robot arm. Experimental evidence shows satisfactory trajectory tracking performances and noticeable robustness in the presence of model inaccuracies and payload perturbations. © Springer International Publishing Switzerland 2015.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/191502 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 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 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 AAL Technologies for Independent Life of Elderly People
Ambient Assisted Living: Italian Forum 2014
Autore/i: BENETAZZO, FLAVIA; FERRACUTI, FRANCESCO; FREDDI, ALESSANDRO; GIANTOMASSI, ANDREA; IARLORI, SABRINA; LONGHI, SAURO; MONTERIU', Andrea; ORTENZI, DAVIDE
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Assistive technologies have the objective to improve the people quality of life of in daily living, with a special aim to those who suffer of physical disabilities or cognitive impairment, which may be caused by an accident, disease or the natural process of ageing. The present paper describes the main results of a study realized for the INTERREG IVC INNOVAGE project, where the domain target addressed are: home and building automation and assistive robotics. The project provides a quick overview of the typical needs of elderly people, describes the state-of-the-art technologies which can be adopted to satisfy these needs and presents a critical analysis of the functionalities, which present and future assistive technologies should possess. The result of this study is a detailed assessments of requirements and limits of nowadays domotics and robotics technologies aimed to improve people quality of life.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234065 Collegamento a IRIS

2015 Evacuation Aid for Elderly in Care Homes and Hospitals: An Interactive System for Reducing Pre-movement Time in Case of Fire
Ambient Assisted Living - Italian Forum 2014
Autore/i: D'Orazio, Marco; Bernardini, Gabriele; Longhi, Sauro; Olivetti, Paolo
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237315 Collegamento a IRIS

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

2015 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 Design and experimental evaluation of an interactive system for pre-movement time reduction in case of fire
AUTOMATION IN CONSTRUCTION
Autore/i: D'Orazio, Marco; Longhi, Sauro; Bernardini, Gabriele; Paolo, Olivetti
Classificazione: 1 Contributo su Rivista
Abstract: Abstract After hearing a fire alarm, people continue to carry out activities not directly connected to the evacuation procedure: this pre-movement phase could be very long, especially when people are involved in carrying out their working activities and in using their electronic devices. Starting from this problem regarding safety, our study proposes a system for reducing pre-movement time that is based on an interaction with the people being evacuated. The system, composed of individual wearable devices, is organized in two modules: the first is the Zig-Bee-based localization module which identifies people's positions after the alarm and understands whether they are evacuating; the second is an interactive module which gives a personal stimulus to latecomers. This system was tested for university building evacuation. A case study has been analyzed, which also compared experimental results to those of simulation software. The simulator was able to reasonably reproduce the real phenomenon. The effectiveness of the system was investigated through simulations by considering different individual responses. Our results demonstrate that up to 30% reduction in total evacuation time can be obtained.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/226852 Collegamento a IRIS

2015 Electric motor fault detection and diagnosis by kernel density estimation and kullback-Leibler divergence based on stator current measurements
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Autore/i: Giantomassi, Andrea; Ferracuti, Francesco; Iarlori, Sabrina; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper deals with the problem of fault detection and diagnosis of induction motor based on motor current signature analysis. Principal component analysis is used to reduce the three-phase current space to a 2-D space. Kernel density estimation (KDE) is adopted to evaluate the probability density functions of each healthy and faulty motor, which can be used as features in order to identify each fault. Kullback-Leibler divergence is used as an index to identify the dissimilarity between two probability distributions, and it allows automatic fault identification. The aim is also to improve computational performance in order to apply online a monitoring system. KDE is improved by fast Gaussian transform and a points reduction procedure. Since these techniques achieve a remarkable computational cost reduction with respect to the standard KDE, the algorithm can be used online. Experiments are carried out using two alternate current motors: an asynchronous induction machine and a single-phase motor. The faults considered to test the developed algorithm are cracked rotor, out-of-tolerance geometry rotor, and backlash. Tests are carried out at different load and voltage levels to show the proposed method performance.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/202931 Collegamento a IRIS

2015 Advanced control for fault-tolerant dynamic positioning of an offshore supply vessel
OCEAN ENGINEERING
Autore/i: BENETAZZO, FLAVIA; IPPOLITI, Gianluca; LONGHI, SAURO; RASPA, PAOLO
Classificazione: 1 Contributo su Rivista
Abstract: The paper presents a solution to guarantee a fault-tolerant robust control for the dynamic positioning of an over-actuated offshore supply vessel. Fault detection is obtained by a combination of two model-based techniques: the parity space approach and the Luenberger observer. The dynamic positioning system is provided by a bank of reconfigurable Discrete-Time Variable-Structure Controllers (DTVSC), selected by a supervisor, based on a fault isolation logic. The control system is combined with a wave compensation based on a Multi-rate Extended Kalman Filter (MREKF). The proposed solution is compared with a standard Proportional-Integral-Derivative (PID) control system and a passive nonlinear wave filter to assess its robustness to input disturbances and uncertainties in the model parameters. The simulation tests developed for a scale model of an offshore supply vessel show that, in the case of actuators faults, dynamic positioning is guaranteed by the proposed solution. © 2015 Elsevier Ltd.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228732 Collegamento a IRIS

2014 Report RdS/PAR2013/063. Sviluppo di un simulatore di edifici orientato alla gestione attiva della domanda
Autore/i: Comodi, Gabriele; Fonti, Alessandro; Giantomassi, Andrea; Polonara, Fabio; Longhi, Sauro
Classificazione: 3 Libro
Abstract: Il lavoro svolto durante questa annualità è suddiviso in due linee di attività. Nella prima linea di attività sono state migliorate alcune funzionalità del simulatore termico/elettrico. Nel PAR precedente (2012) la centrale termica/frigorifera era stata simulata ipotizzando un rendimento medio annuo costante sia per la caldaia che per il gruppo frigorifero; il simulatore della centrale termica/frigorifera è stato migliorato facendo variare il rendimento in funzione del fattore di carico e delle condizioni ambientali esterne. Inoltre, sono stati modellati i consumi elettrici integrandoli con quelli termici simulando il controllo dell’accensione e spegnimento dei fan-coil e la dimmerazione dell’illuminazione indoor. Infine è stato inserito il costo dell’energia come condizione al contorno attraverso scenari tariffari flat. Inoltre, il simulatore è stato predisposto per essere integrato con algoritmi di ottimizzazione in modo da arrivare ad una ottimizzazione multi-obiettivo minimizzando il discomfort degli utenti e minimizzando i consumi energetici. La seconda linea di attività è consistita nella valutazione del simulatore a partire dai dati sperimentali degli edifici monitorati al fine di conseguire una migliore corrispondenza tra il modello ed il comportamento reale degli edifici. In particolare, l’attività di tuning è consistita principalmente nella validazione del simulatore applicato all’edificio F40 per un periodo di riferimento di 60 giorni individuato nel primo trimestre 2013; inoltre è stata affrontata una primissima fase di valutazione del simulatore per il cluster di edifici. Per quanto riguarda la valutazione sui consumi reali dell’edificio F40, il simulatore sviluppato fornisce ottimi risultati su scala giornaliera con valori del MAPE che oscillano tra il 7.06% ed il 7.87%; più piccolo è l’intervallo che si vuole simulare più i risultati del simulatore si allontanano dai dati reali, come dimostrano il MAPE orario (che oscilla tra il 17.93% ed il 19.59%) e quello biorario (che oscilla dal 15.68% al 17.28%). Altro risultato significativo è il fatto che la simulazione degli apporti gratuiti migliora di molto le prestazioni del simulatore, con riduzione significativa di tutte le voci di errore. Inoltre, le simulazioni dimostrano che le prestazioni del simulatore non cambiano molto con un maggiore livello di dettaglio delle presenze (presenza nell’edificio o presenza nel singolo ufficio): ottenere una simulazione attendibile solamente con il dato di presenza di edificio permette di ovviare al duplice problema della privacy degli occupanti e del costo di installazione di numerosi sensori di presenza. Le metodologia utilizzata per la simulazione degli apporti gratuiti può così essere estesa a tutti gli edifici del terziario, sia pubblico che privato, in cui sia noto l’ingresso mediante badge. Per quanto riguarda la calibrazione del cluster di edifici, i risultati preliminari ottenuti dalla fase di tuning sono incoraggianti, tuttavia il lavoro da fare è ancora molto. In particolare bisognerà: i) effettuare simulazioni prevedendo la presenza degli apporti gratuiti; ii) verificare il tuning anche a livello di ogni singolo edificio.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229220 Collegamento a IRIS

2014 Autonomous assistive robot for respiratory rate detection and tracking
Ambient Assisted Living: Italian Forum 2013
Autore/i: Benetazzo, Flavia; Freddi, Alessandro; Monteriú, Andrea; Harmo, Panu; Kyrki, Ville; Longhi, Sauro
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Assistive robotics has the objective to improve the quality of life of people in daily living, with a special aim to those who suffer of physical disabilities or cognitive impairment, which may be caused by an accident, disease or the natural process of ageing. Autonomous mobile robots can be adapted to work as assistive robots, because of their capabilities to navigate in unstructured environments and react to changes in it. In order to turn a mobile robot into an assistive robot, the contest of use and the set of functionalities to perform should be clearly identified, while limiting at the same time hardware complexity and costs, which are key factors against the application of assistive technologies into the real world. The present paper deals with the development of a home robot companion, an assistive robot, which is being realized at Università Politecnica delle Marche: its main contribution is the implementation of both a stance detection and respiratory rate algorithm by using the information provided by non-invasive sensors, and their integration into a low cost robotic platform which can perform navigation, user identification and tracking. The overall result is an assistive mobile robot which can increase safety at home for the user.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234056 Collegamento a IRIS

2014 A discrete-time VS controller based on RBF neural networks for PMSM drives
ASIAN JOURNAL OF CONTROL
Autore/i: Ciabattoni, Lucio; Corradini, Maria Letizia; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 1 Contributo su Rivista
Abstract: A method merging the features of variable structure control and neural network design is presented for speed control of a permanent magnet synchronous motor. The proposed control approach is based on a discrete-time variable structure control and a robust digital differentiator for speed estimation. Radial basis function neural networks are used to learn about uncertainties affecting the system. A stability analysis is provided and the ultimate boundedness of the speed tracking error is proved. Control performance has been evaluated by simulations using the model of a commercial permanent magnet synchronous motor drive.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/95662 Collegamento a IRIS

2014 A novel shelving system for nutrition habits measuring
International Workshop Mobile Networks For Biometric Data Analysis (mBiDA 2014)
Autore/i: ORTENZI, DAVIDE; FREDDI, ALESSANDRO; LONGHI, SAURO; MONTERIU', Andrea; PRIST, MARIOROSARIO
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The nutrition has an important role in the prevention of several critical disease. In order to evaluate the eating habits of the modern Italian society, the authors have thought to design an innovative system called “Smart Shelve”. This is a robotic structure integrable with various appliances, such as refrigerators, which allows to receive and deliver several types of foods in order to control their daily consump- tion. Smart shelve has external optical sensors for the food recognition, while right inside it is composed of several food compartments which are equipped with load cells to measure the weight of each type of food. Every week the system is able to send the acquired food consumption information to the cloud in order to provide statistical services regarding the nutrition style of each Italian region. The system is also capable to warn the users who have recently conducted a malnutrition style
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234078 Collegamento a IRIS

2014 Modular design of a novel wireless sensor node for smart environments
MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings
Autore/i: Grisostomi, Massimo; Ciabattoni, Lucio; Prist, Mariorosario; Romeo, Luca; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/186510 Collegamento a IRIS

2014 Actuator fault detection and isolation system for an hexacopter
Proceedings Conference on Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME
Autore/i: A. Freddi; S. Longhi; A. Monteriu; M. Prist
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The problem of detection and isolation of actuator faults in hexacopter vehicles is address in this article. The aim is to detect and isolate possible faults which can occur on the vehicle actuation system (i.e. rotors and propellers). The dynamic nonlinear model of an hexarotor vehicle is first derived to build a model-based diagnosis system. Then a Thau observer is developed to estimate the states of the hexarotor and, on the usage of this information, to generate the needed set of residuals. The developed fault detection and isolation system is finally tested in a high fidelity hexacopter simulator in which different fault situations are considered.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204314 Collegamento a IRIS

2014 Synchronous buck converter control via robust periodic pole assignment
2014 European Control Conference, ECC 2014
Autore/i: Cimini, Gionata; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Pirro, Matteo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/175120 Collegamento a IRIS

2014 Fram evaluation as unified memory for convex optimization algorithms
EDERC 2014 - Proceedings of the 6th European Embedded Design in Education and Research Conference
Autore/i: Cimini, Gionata; Bemporad, Alberto; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/186508 Collegamento a IRIS

2014 RGB-D Video Monitoring System to Assess the Dementia Disease State Based on Recurrent Neural Networks with Parametric Bias Action Recognition and DAFS Index Evaluation
Computers Helping People with Special Needs
Autore/i: S. Iarlori; F. Ferracuti; A. Giantomassi; S. Longhi
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: Within 2050, demographic changes, due to the significant increase of elderly, will represent one of the most important aspect for social assistance and healthcare institutions, particularly in European Union. Great attention is given to dementia diseases with over 35 million people worldwide who live in this condition, affected by cognitive impairment, frailty and social exclusion with considerable negative consequences for their independence. Preference will be given to intervention with high impact on the quality of life of the individual associated with a socio-economic burden, also for people who care for them. The main challenge comes from the social objective of assisting and keeping elderly people in their familiar home surrounding or to enable them to “aging in place”.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/214713 Collegamento a IRIS

2014 Smart home heating system malfunction and bad behavior diagnosis by Multi-Scale PCA under indoor temperature feedback control
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Autore/i: A. Giantomassi; F. Ferracuti; S. Iarlori; G. Puglia; A. Fonti; G. Comodi; S. Longhi
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The household sector is one of the biggest aggregate consumers and this is the reason why increasingly policies have been considering it. One of the key factors in curbing energy consumption in this sector is widely recognized to be due to erroneous behaviors and systems malfunctioning. In this context, energy management in homes is playing, and will play even more in future, a key role in increasing the final consumer awareness towards its own energy consumption and consequently in bursting its active role in smart grids. This paper highlights the economic benefits of low cost intelligent control domestic devices and identifies energy behavior, system malfunctions and improves energy efficiency. The scope is to detect and isolate different types of malfunctions and bad behaviors under an ambient temperature feedback control. The paper presents an application of Multi-Scale Principal Component Analysis to diagnose inefficient occupant behavior and systems malfunctioning and suggest good practices of energy conservation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/213713 Collegamento a IRIS

2014 Home energy management benefits evaluation through fuzzy logic consumptions simulator
Proceedings of the International Joint Conference on Neural Networks, IJCNN 2014
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/179118 Collegamento a IRIS

2014 Kernel canonical variate analysis based management system for monitoring and diagnosing smart homes
Neural Networks (IJCNN), 2014 International Joint Conference on
Autore/i: A. Giantomassi; F. Ferracuti; S. Iarlori; S. Longhi; A. Fonti; G. Comodi
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the contest of household energy management, a growing interest is addressed to smart system development, able to monitor and manage resources in order to minimize wasting. One of the key factors in curbing energy consumption in the household sector is the amendment of occupant erroneous behaviours and systems malfunctioning, due to the lack of awareness of the final user. Indeed the benefits achievable with energy efficiency could be either amplified or neutralized by, respectively, good or bad practices carried out by the final users. Authors propose a diagnostic system for home energy management application able to detect faults and occupant behaviours. In particular a nonlinear monitoring method, based on Kernel Canonical Variate Analysis, is developed. To remove the assumption of normality, Upper Control Limits are derived from the estimated Probability Density Function through Kernel Density Estimation. The proposed method is applied to smart home temperature sensors to detect anomalies respect to efficient user behaviours and sensors and actuators faults. The method is tested on experimental data acquired in a real apartment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/213714 Collegamento a IRIS

2014 An interoperable framework for home automation design, testing and control
2014 22nd Mediterranean Conference on Control and Automation, MED 2014
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/175117 Collegamento a IRIS

2014 Improved set-points tracking of remotely operated underwater vehicles through a supervised pid control scheme
JOURNAL OF MARINE ENGINEERING AND TECHNOLOGY
Autore/i: Ippoliti, Gianluca; Jetto, Leopoldo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper considers the position control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great water depths. The use of a single, time invariant PID controller may result in an unsatisfactory set-point tracking. To cope with this problem, a globally non-linear regulator given by the connection of a supervisor with a finite family of properly chosen PID controllers is here proposed. Each PID is designed to obtain a specific desired feature of the step response and the supervisor governs the switching among them to obtain an overall time-varying control law yielding a globally satisfactory output behaviour. The switching logic is driven by the numerical values assumed by some suitably defined cost functionals of output prediction errors. The performance of the switched controller so obtained is evaluated by numerical simulations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259856 Collegamento a IRIS

2014 Unmanned ground and aerial vehicles in extended range indoor and outdoor missions
2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
Autore/i: Cocchioni F.; Pierfelice V.; Benini A.; Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/175115 Collegamento a IRIS

2014 Robust current observer design for DC-DC converters
3rd International Conference on Renewable Energy Research and Applications, ICRERA 2014
Autore/i: Cimini, Gionata; Ippoliti, Gianluca; Orlando, Giuseppe; Longhi, Sauro; Miceli, Rosario
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/191503 Collegamento a IRIS

2014 Autonomous navigation, landing and recharge of a quadrotor using artificial vision
2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
Autore/i: Cocchioni, Francesco; Mancini, Adriano; Longhi, Sauro
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a solution to UAV reduced endurance and autonomous flight is proposed. With a complete on-board solution, based on artificial vision, the developed system is able to autonomously take off, navigate and land, recharging its battery by using a dedicated landing platform, both in indoor and outdoor scenarios. The landing platform includes a passive centering system to correct the landing error of the UAV, with a novel design wich reduce cost and increase the safety (thanks to small and isolated electrical contacts) without invasive hardware changes on the drone. The developed vision algorithm provides a fast and accurate measurement of UAV position with respect to the landing platform using a visual target, but at the same time it is able to automatically switch to an estimation of position that is independent from the visual target. This aspect is used during navigation or when the tracking of the target fails, ensuring a continuous position measurement feed to the controllers. The developed control system manages all the different phases of a mission (motor turning on/off, take off, navigation, landing, ... ) with low control error, ensuring a landing over the landing platform with an error that is lower than 5cm for both x and y axis. The developed software in ROS environment is modular and provides input/output interfaces to receive command, or send data.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237329 Collegamento a IRIS

2014 Low cost RGB-D vision based system for on-line performance evaluation of motor disabilities rehabilitation at home
Ambient Assisted Living: Italian Forum 2014
Autore/i: BENETAZZO F; IARLORI S; FERRACUTI F; GIANTOMASSI A; ORTENZI D; FREDDI A; MONTERIU' A; CAPECCI M; CERAVOLO MG; INNOCENZI S; LONGHI S
Editore: Springer International Publishing,
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Physical rehabilitation is an important medical activity sector for the recovery of physical functions and clinical treatment of people affected by different pathologies: neurodegenerative diseases (i.e. multiple sclerosis, Parkinson and Alzheimer diseases, amyotrophic lateral sclerosis), neuromuscular disorders (i.e. dystrophies, myopathies, amyotrophies and neuropathies), neurovascular disorders/trauma (i.e. stroke and traumatic brain injuries), and mobility for the elderly. During the rehabilitation, the patient has to perform different exercises, which are specific for the own disease, supervised by physiotherapists. While some exercises have to be performed with specific equipment and under the supervision of professional staff, others can be performed by patients without the supervision of physiotherapists. This allows to reduce the costs of health and care national system and to accomplish the treatment at home. In this work, a computer vision system for physical rehabilitation at home is proposed. The vision system exploits a low cost RGB-D camera and open source libraries for the image processing in order to monitor the exercises performed by the patients, returns a video feedback to improve the treatment effectiveness and increase the user’s motivation, interest, and perseverance. Moreover, the vision system evaluates an exercise score in order to monitor the rehabilitation progress, this is helpful both for the clinician staff and patients. In this way the physiotherapists can also monitor the patients at home and correct their posture if the exercises are not well performed. This approach has been implemented and experimentally tested using the Microsoft Kinect camera, demonstrating good and reliable performances.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/214514 Collegamento a IRIS

2014 Fuzzy logic simulator for energy management algorithms testing
MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Bonci, Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/186509 Collegamento a IRIS

2014 Respiratory rate detection algorithm based on RGB-D camera: theoretical background and experimental results
HEALTHCARE TECHNOLOGY LETTERS
Autore/i: Flavia, Benetazzo; Freddi, Alessandro; Monteriu', Andrea; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: Both the theoretical background and the experimental results of an algorithm developed to perform human respiratory rate measurements without any physical contact are presented. Based on depth image sensing techniques, the respiratory rate is derived by measuring morphological changes of the chest wall. The algorithm identifies the human chest, computes its distance from the camera and compares this value with the instantaneous distance, discerning if it is due to the respiratory act or due to a limited movement of the person being monitored. To experimentally validate the proposed algorithm, the respiratory rate measurements coming from a spirometer were taken as a benchmark and compared with those estimated by the algorithm. Five tests were performed, with five different persons sat in front of the camera. The first test aimed to choose the suitable sampling frequency. The second test was conducted to compare the performances of the proposed system with respect to the gold standard in ideal conditions of light, orientation and clothing. The third, fourth and fifth tests evaluated the algorithm performances under different operating conditions. The experimental results showed that the system can correctly measure the respiratory rate, and it is a viable alternative to monitor the respiratory activity of a person without using invasive sensors.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204124 Collegamento a IRIS

2014 Application of a wireless sensor networks and Web2Py architecture for factory line production monitoring
2014 IEEE 11th International Multi-Conference on Systems, Signals and Devices, SSD 2014
Autore/i: Grisostomi, Massimo; Ciabattoni, Lucio; Prist, Mariorosario; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/150102 Collegamento a IRIS

2014 Fuzzy logic home energy consumption modeling for residential photovoltaic plant sizing in the new Italian scenario
ENERGY
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In recent years, Italy has seen a rapid growth in the PV (photovoltaic) sector, following the introduction of the FIT (feed in tariff) scheme known as Conto Energia. In July 2013 the Italian government definitively cut FITs, leaving only tax benefits and a revised net metering scheme (known as “Scambio sul Posto”) for new PV installations. In this scenario, the design of a new PV plant ensuring savings on electricity bills is strongly related to household electricity consumption patterns. This paper presents a high-resolution model of domestic electricity use. The model is based on Fuzzy Logic Inference System. 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. The model has been validated with electricity demand data recorded over the period of one year within 12 dwellings in the central east coast of Italy. The tool has been used to evaluate the self consumption percentage to correctly size a residential photovoltaic plant in a case study. A cost benefits analysis is presented to show the effectiveness of PV-generation in the new Italian scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/186506 Collegamento a IRIS

2014 RGBD camera monitoring system for Alzheimer’s disease assessment using Recurrent Neural Networks with Parametric Bias action recognition
Proceedings of the 19th IFAC World Congress
Autore/i: S. Iarlori; F. Ferracuti; A. Giantomassi; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The present paper proposes a computer vision system to diagnose the stage of illness in patients a ected by Alzheimer's disease. In the context of Ambient Assisted Living (AAL), the system monitors people in home environment during daily personal care activities. The aim is to evaluate the dementia stage, observing actions listed in the Direct Assessment of Funcional Status (DAFS) index and detecting anomalies during the performance, in order to assign a score explaining if the action is correct or not. In this work brushing teeth and grooming hair by a hairbrush are analysed. The technology consists of the application of a Recurrent Neural Network with Parametric Bias (RNNPB) that is able to learn movements connected with a speci c action and recognize human activities by parametric bias that work like mirror neurons. This study has been conducted using Microsoft Kinect to collect data about the actions observed and oversee the user tracking and gesture recognition. Experiments prove that the proposed computer vision system can learn and recognize complex human activities and evaluates DAFS score.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/214714 Collegamento a IRIS

2014 A low cost mobile platform for educational robotic applications
Proceedings Conference on Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME
Autore/i: Prist, M.; Cavanini, L.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Freddi, A.
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes a low cost mobile platform for robotic applications which is mainly addressed to educators and developers. Most of robotic models in the market use USB or serial standard protocol to retrieve sensor information, and this can generate delays on sensor readings and degradation of the overall performances. The proposed mobile robotic platform is based instead on the Controller Area Network, namely CAN-bus, which permits to obtain high performances and to increase flexibility and expandability for future technology integration.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204313 Collegamento a IRIS

2014 Ambient Assisted Living - Italian Forum 2013
Autore/i: Sauro Longhi; Pietro Siciliano; Michele Germani; Andrea Monteriù
Editore: Springer-Verlag
Luogo di pubblicazione: Berlin
Classificazione: 3 Libro
Abstract: This book presents the refereed proceedings of the Fourth Italian Forum on Ambient Assisted Living (AAL), held in Ancona, Italy, in October 2013. A wide range of issues are covered and new technological developments are described which will support the autonomy and independence of individuals with special needs through an innovative and integrated approach, designed to respond to the socio-economic challenges of an aging population. Topics addressed include: health and well-being, prevention and rehabilitation and support for care providers; active aging and its social implications; services for the frail elderly with health problems and their families; nutrition; ICT platforms/technologies for the benefit of the elderly; home automation and control technologies (autonomy, safety and energy saving); smart cities and smart communities; telemedicine, telerehabilitation, and telecare; mobility, participation and social inclusion; games and fun for the elderly; building design; social housing; interface design and interaction (accessibility, acceptance); social policies to encourage and support active aging; business models, market analysis and development of sustainable financing and business and ethics, privacy and data protection. Many experimental validations based on user trials and usability testing are presented and discussed. The knowledge and insights provided in this book will help researchers and others involved in AAL to understand relevant societal trends, novel technological developments and pressing challenges. 397 pp.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204118 Collegamento a IRIS

2014 Flight Control of a Quadrotor Vehicle Subsequent to a Rotor Failure
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
Autore/i: Alexander Lanzon; Alessandro Freddi; Sauro Longhi
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, the problem of designing a control law in case of rotor failure in quadrotor vehicles is addressed. First, a nonlinear mathematical model for a quadrotor vehicle is derived, which includes translational and rotational dynamics. Then a robust feedback linearization controller is developed, which sacrifices the controllability of the yaw state due to rotor failure to linearize the closed-loop system around a working point, where roll and pitch angles are zero and the angular speed around the vertical axis is a nonzero constant. An H∞ loop shaping technique is adopted to achieve regulation of these variables around the chosen working point. Finally, an outer loop is proposed for achieving control of the linear displacement under the assumption of small angles approximation for the pitch and roll angles. The proposed control strategy allows the vehicle to use the remaining three functional rotors to enter a constant angular speed around its vertical axis, granting stability and representing an effective way to deal with a rotor failure in quadrotor vehicles. Read More: http://arc.aiaa.org/doi/abs/10.2514/1.59869
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204123 Collegamento a IRIS

2014 Autonomous assistive robot for respiratory rate detection and tracking.
Ambient Assisted Living - Italian Forum 2013
Autore/i: F. Benetazzo; A. Freddi; A. Monteriù; V. Harmo; P. Kyrki; S. Longhi
Editore: Springer Verlag Germany
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204122 Collegamento a IRIS

2014 Testing of cooperative tasks for Unmanned Aerial and ground platforms
Proceeding of the Mechatronic and Embedded Systems and Applications (MESA)
Autore/i: A. Gaujens; A. Benini; A. Mancini; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years the Model Based Design for Unmanned Systems aided the safe and rational release of applications running on unmanned systems. In particular in this paper we focus on a hybrid methodology that merges Software in the Loop (SIL) and Model in the Loop (MIL) strategies for cooperative tasks performed by aerial and ground autonomous vehicles. The proposed work flow covers the design and testing of Ground Control Station (GCS) modelled by a finite state machine, the design and testing of navigation code running on UAV and UGV and the testing of cooperative missions. The work-flow is based on a realistic 3D physical simulator interfaced with Matlab-Simulink-Stafeflow. The proposed approach has been successfully tested and evaluated allowing to release runnable and safe code on real targets.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204127 Collegamento a IRIS

2014 Slam-based autonomous wheelchair navigation system for AAL scenarios
Proceedings of the Mechatronic and Embedded Systems and Applications (MESA), 2014
Autore/i: L. Cavanini; F. Benetazzo; A. Freddi; S. Longhi; A. Monteriù
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Commercial electric-power wheelchairs have become much cheaper in the recent years, likewise the availability of reduced size sensors to an affordable price has made their integration easier in this kind of vehicle. This paper presents the development of a smart navigation system applied to an electric wheelchair. The developed work falls within the Ambient Assisted Living field (AAL), which includes all the technologies whose aim is to improve the quality of life of people in the home environment, especially for the elderly and physically impaired. In particular, the present work is focused on the development of technological support aimed at improving the daily life of that population segment who has motor difficulties, and is forced to use personal mobility support systems such as a wheelchair. This system is able to localize the wheelchair while it is moving in an indoor environment. The system exploits a low cost hardware and an integrated open source software, which permit a cheap integration with already available electric wheelchairs.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204126 Collegamento a IRIS

2013 Special issue on ‘periodic systems and robust control’ dedicated to Osvaldo Maria Grasselli
INTERNATIONAL JOURNAL OF CONTROL
Autore/i: A. Astolfi; S. Longhi; A. Tornambè
Classificazione: 1 Contributo su Rivista
Abstract: This special issue celebrates the career of Osvaldo Maria Grasselli. The idea of putting together a special issue dedicated to Osvaldo surfaced during the workshop ‘One-Day Symposium on Advances and Challenges in Linear Control Systems’ organised at the ‘Università di Roma ‘Tor Vergata’ on March 2012, on the occasion of his 70th birthday. This special issue, therefore, contains a record of the technical programme. The research vision of Osvaldo is conspicuous in all contributions, spanning the areas of robust control, geometric control, control of multivariable systems, periodic control systems and their applications.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/111672 Collegamento a IRIS

2013 Auditory paradigm for a P300 BCI system using spatial hearing
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Autore/i: Ferracuti, Francesco; Freddi, Alessandro; Iarlori, Sabrina; Longhi, Sauro; Peretti, P.
Editore: IEEE / Institute of Electrical and Electronics Engineers Incorporated:445 Hoes Lane:Piscataway, NJ 08854:(800)701-4333, (732)981-0060, EMAIL: subscription-service@ieee.org, INTERNET: http://www.ieee.org, Fax: (732)981-9667
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204119 Collegamento a IRIS

2013 Geometric tools for solving the FDI problem for linear periodic discrete-time systems
INTERNATIONAL JOURNAL OF CONTROL
Autore/i: S. Longhi; A. Monteriu'
Classificazione: 1 Contributo su Rivista
Abstract: This paper studies the problem of detecting and isolating faults in linear periodic discrete-time systems. The aim is to design an observer-based residual generator where each residual is sensitive to one fault, whilst remaining insensitive to the other faults that can affect the system. Making use of the geometric tools, and in particular of the outer observable subspace notion, the Fault Detection and Isolation (FDI) problem is formulated and necessary and solvability conditions are given. An algorithmic procedure is described to determine the solution of the FDI problem.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/111671 Collegamento a IRIS

2013 Model-based fault diagnosis for industrial mobile robots
Fault Detection: Classification, Techniques and Role in Industrial Systems
Autore/i: A Monteriu'; S Longhi
Editore: Nova Publishers
Luogo di pubblicazione: New York
Classificazione: 2 Contributo in Volume
Abstract: This chapter describes how a suitable design of a fault diagnosis system can be successfully applied on industrial mobile robots for increasing their reliability and safety, improving their operability and maximize their performance for different tasks and different environments.Structural analysis is applied to the nonlinear model of an industrial mobile robot for residual generation. An adaptive/thresholding decision al- gorithm is described for developing the residual evaluation module. This includes a threshold test based on the minimum and maximum values of the generated residuals to decide if a fault has occurred or not. Moving thresholds are updated using a sliding window of a fixed number of sequential sample readings. With this solution, prob- ability density functions of residuals are unknown and do not need to be estimated. Experimental validation of the proposed scheme is performed on a differential drive industrial mobile robot, and it is presented in the last part of the chapter.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/128493 Collegamento a IRIS

2013 Experimental validation of a dynamic linear model of photovoltaic-thermal collector
39th IEEE Photovoltaic Specialists Conference, PVSC 2013
Autore/i: Ciabattoni, Lucio; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/127075 Collegamento a IRIS


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