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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
2013 A fuzzy logic tool for household electrical consumption modeling
Proceedings 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
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/11566/127079 Collegamento a IRIS

2013 Induction motor fault detection and diagnosis using KDE and Kullback-Leibler divergence
39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Autore/i: Ferracuti, Francesco; Giantomassi, Andrea; Iarlori, Sabrina; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/127081 Collegamento a IRIS

2013 Regional atlas supporting the decision-making process
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259865 Collegamento a IRIS

2013 Supervisory control of PV-battery systems by online tuned neural networks
2013 IEEE International Conference on Mechatronics, ICM 2013
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Mainardi, Emanuele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/88271 Collegamento a IRIS

2013 Report RdS/2013/120. Simulatore di reti di edifici per la messa a punto di strategie di controllo. Applicazione e validazione sperimentale su una rete di edifici
Report Ricerca di Sistema Elettrico
Autore/i: Comodi G.; Fonti A.; Giantomassi A.; Polonara F.; Longhi S.
Classificazione: 3 Libro
Abstract: La presente relazione tecnica riporta una descrizione dell’attività svolta per lo sviluppo di un simulatore di consumi energetici di edifici e di reti di edifici. L’idea di base è quella del “cluster” di zone connesse tra loro da reti energetiche termiche ed elettriche. In questa ottica, l’edificio (in questo caso la palazzina F40 del C.R. ENEA- Casaccia) può essere visto come un cluster di stanze e il quartiere o la via possono essere visti come cluster di edifici (in questo caso la smart street e la microrete energetica a servizio degli edifici F66- F73 del C.R. ENEA- Casaccia). Lo sviluppo del simulatore si è concentrato particolarmente sulla simulazione dei consumi energetici per il riscaldamento e per la climatizzazione; infatti la simulazione degli altri carichi elettrici (illuminazione) è stata l’oggetto del PAR precedente. Il software è sviluppato in ambiente Matlab/Simulink; il cuore del programma è un software open source (HAMbase) che permette di simulare l’edificio. HAMbase tuttavia è solo un blocco di tutta la struttura sviluppata (che comprende centrale termica, ventilconvettori, collettori di mandata e di ritorno, valvole regolatrici…). Il software sviluppato è predisposto per poter sostituire sia i dati generati da HAMbase (temperatura interna, umidità relativa) sia i dati meteorologici, con dati reali provenienti da una centralina meteo e da reti di sensori installati nell’edificio. In particolare, per il PAR 2012 il software di simulazione sviluppato è stato applicato su tre modelli: un modello dell’edificio F40 a 57 zone; un modello dell’edificio F40 a 15 zone; un modello di cluster di edifici della smart street ENEA (edifici F66-F73). Per ciascun modello, sono state svolte simulazioni per due località (Ancona e Roma), in differenti stagioni (estate ed inverno), in modalità free-running e con regolazione mediante termostato. Il simulatore permette di modellare controlli per ciascuna unità minima modellata (zona). I principali controlli modellati sono quelli implementati realmente sulla palazzina F40 reale, vale a dire: i) controllo sull’accensione/spegnimento, regolazione della velocità dei singoli ventilconvettori; ii) temperatura di set-point in ogni ambiente; iii) differenti temperature di mandata dalla centrale termica (non attuabile per nell’F40). Il simulatore del cluster di edifici permette un grado di libertà in più nella regolazione della potenza fornita ai singoli edifici e alle singole zone di questi; a monte di ogni edificio è stata infatti modellata una valvola a tre vie che regola la portata di fluido termovettore che può essere inviata ad ogni stabile. Lo strumento sviluppato dimostra di essere molto potente e flessibile in quanto permette di simulare sia variabili ambientali interne all’edificio sia variabili energetiche nonché, potenzialmente, sistemi complessi di edifici (o reti di edifici, reti di teleriscaldamento) anche accoppiati a sistemi di generazione distribuita. In particolare, le variabili ambientali interne ed energetiche simulate potranno essere utilizzate per definire indici di comfort(ad esempio: PMV - Predicted Mean Vote, Voto medio previsto; PPD - Predicted Percentage of Dissatisfied, Percentuale di insoddisfatti) e di consumo (kWh/m3 condizionato; kWh/addetto) che potranno essere elaborati attraverso funzioni di ottimizzazione (fitness approximation) per la definizione di strategie ottimali di logiche di controllo per la massimizzazione del risparmio energetico. Queste strategie ottimali di controllo possono essere testate ed eseguite sul simulatore stesso in una ottica di miglioramento continuo.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/148702 Collegamento a IRIS

2013 Online tuned neural networks for fuzzy supervisory control of pv-battery systems
2013 IEEE PES Innovative Smart Grid Technologies Conference, ISGT 2013
Autore/i: Ciabattoni, Lucio; Ippoliti, Gianluca; Longhi, Sauro; Cavalletti, Matteo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/89662 Collegamento a IRIS

2013 GIS to Support Cost-effective Decisions on Renewable Sources Applications for low temperature geothermal energy
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer
Luogo di pubblicazione: London
Classificazione: 3 Libro
Abstract: Through the results of a developed case study of information system for low temperature geothermal energy, "GIS supporting cost-effective decisions on renewable sources: application to low temperature geothermal energy" addresses the issue of the use of Geographic Information Systems (GIS) in evaluating cost-effectiveness of renewable resource exploitation on a regional scale. Focusing on the design of a Decision Support System, a process is presented aimed to transform geographic data into knowledge useful for analysis and decision-making on the economic exploitation of geothermal energy. This detailed description includes a literature review and technical issues related to data collection, data mining, decision analysis for the informative system developed for the case study. It is presented a multi-disciplinary approach to GIS design which is also an innovative example of fusion of georeferenced data acquired from multiple sources including remote sensing, networks of sensors and socio-economic censuses. This book is a useful, practical reference for engineers, managers and researchers involved in the design of GIS, decision support systems, investment planning/strategy in renewable energy and ICT innovation in this field.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/98663 Collegamento a IRIS

2013 Design of a home energy management system by online neural networks
11th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, ALCOSP 2013
Autore/i: Ciabattoni, Lucio; Ippoliti, Gianluca; Benini, Alessandro; Longhi, Sauro; Pirro, Matteo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/108863 Collegamento a IRIS

2013 A novel photovoltaic-thermal collector prototype: design, modeling, experimental validation and control
Proceedings 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 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/11566/127080 Collegamento a IRIS

2013 Solar irradiation forecasting for PV systems by fully tuned minimal RBF neural networks
Smart Innovation, Systems and Technologies
Autore/i: Ciabattoni, Lucio; Ippoliti, Gianluca; Longhi, Sauro; Pirro, Matteo; Cavalletti, Matteo
Editore: Springer
Luogo di pubblicazione: Berlin Heidelberg
Classificazione: 2 Contributo in Volume
Abstract: An on-line prediction algorithm able to estimate, over a determined time horizon, the solar irradiation of a specific site is considered. The learning algorithm is based on Radial Basis Function (RBF) networks and combines the growing criterion and the pruning strategy of the minimal resource allocating network technique. An adaptive extended Kalman filter is used to update all the parameters of the Neural Network (NN). The on-line learning mechanism avoids the initial training of the NN with a large data set. The proposed solution has been experimentally tested on a 14 kWp PhotoVoltaic (PV) plant and results are compared to a classical RBF neural network. © Springer-Verlag Berlin Heidelberg 2013.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/83487 Collegamento a IRIS

2013 Actuator fault detection system for a remotely operated vehicle
Control Applications in Marine Systems, Volume# 9 | Part# 1
Autore/i: A. Freddi; S. Longhi; A. Monteriù.
Editore: International Federation of Automatic Control
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper addresses the problem of actuator fault detection for a Remotely Operated Vehicle widely used in navy and marine industries. Firstly, the dynamical model for the Remotely Operated Vehicle is presented. Then this model is used to develop a diagnostic system based on a nonlinear (Thau) observer for residual generation, and on a sequential change detection algorithm for residual evaluation. The diagnostic system is tested through simulation trials in which a fault is injected into one of the actuators. The analysis of the results proves that the developed detection system can correctly detect a fault on one of the actuators by using only measurements of sway, surge and yaw (and their speeds), thus representing an effective solution to the problem of actuator fault detection for the Remotely Operated Vehicle.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204121 Collegamento a IRIS

2013 A quasi-sliding mode observer-based controller for PMSM drives
ASIAN JOURNAL OF CONTROL
Autore/i: Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Marchei, Davide; Orlando, Giuseppe
Classificazione: 1 Contributo su Rivista
Abstract: In this paper a quasi-sliding mode control for a permanent magnet synchronous motor (PMSM) is proposed where a cascade control scheme based on a properly designed state observer provides accurate speed tracking performance. The ultimate boundedness of both the observation error and the speed tracking error is proven. The controller performance has been validated using hardware in the loop (HIL) tests on a simulator based on the model of a commercial PMSM drive. Tests show that the proposed observer-based controller produces good speed trajectory tracking performance and it is robust in the presence of disturbances affecting the system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74954 Collegamento a IRIS

2013 Feature analysis: Selecting decision criteria
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259861 Collegamento a IRIS

2013 GIS-supported decision making for low-temperature geothermal energy in central Italy
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259862 Collegamento a IRIS

2013 Data collection
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259863 Collegamento a IRIS

2013 Decision environment of renewable energy: The case of geothermal energy
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259858 Collegamento a IRIS

2013 Conclusive remarks
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259860 Collegamento a IRIS

2013 GIS-supported decision making
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259859 Collegamento a IRIS

2013 Decision analysis: Choosing the right plant
SpringerBriefs in Applied Sciences and Technology
Autore/i: Gemelli, Alberto; Mancini, Adriano; Diamantini, Claudia; Longhi, Sauro
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259864 Collegamento a IRIS

2013 An IMU/UWB/Vision-based Extended Kalman Filter for Mini-UAV Localization in Indoor Environment using 802.15.4a Wireless Sensor Network
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: A. Benini; A. Mancini; S. Longhi
Classificazione: 1 Contributo su Rivista
Abstract: Indoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mini UAV based on Ultra-WideBand technology, low cost IMU and vision based sensors. In this work an Extended Kalman Filter (EKF) is introduced as a possible technique to improve the localization. The proposed approach allows to use a low-cost Inertial Measurement Unit (IMU) in the prediction step and the integration of vision-odometry for the detection of markers nearness the touchdown area. The ranging measurements allow to reduce the errors of inertial sensors due to the limited performance of accelerometers and gyros. The obtained results show that an accuracy of 10 cm can be achieved.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78355 Collegamento a IRIS

2013 Neural networks based home energy management system in residential PV scenario
39th IEEE Photovoltaic Specialists Conference, PVSC 2013
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/11566/127076 Collegamento a IRIS

2013 Experimental results of discrete time variable structure control for dynamic positioning of marine surface vessels
9th IFAC Conference on Control Applications in Marine Systems, CAMS 2013
Autore/i: Raspa, Paolo; Benetazzo, Flavia; Ippoliti, Gianluca; Longhi, Sauro; Sorensen A.J.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/126064 Collegamento a IRIS

2013 CSP control system implementation on embedded board
4th International Conference on Clean Electrical Power: Renewable Energy Resources Impact, ICCEP 2013
Autore/i: Di Buò, Gianluca; Ippoliti, Gianluca; Renzi, Massimiliano; Pirro, Matteo; Longhi, Sauro; Sileoni, Simone
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/103862 Collegamento a IRIS

2013 MSPCA with KDE thresholding to support QC in electrical motors production line
Manufacturing Modelling, Management, and Control, Volume# 7 | Part# 1
Autore/i: F. Ferracuti; A. Giantomassi; S. Longhi
Editore: International Federation of Automatic Control
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204120 Collegamento a IRIS

2012 A Diagnostic Thau Observer for a Class of Unmanned Vehicles
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: This paper addresses the problem of sensor fault detection for a wide class of Unmanned Vehicles (UVs). First a general model for UVs, based on the dynamics of a 6 Degrees Of Freedom (6-DOF) rigid body, subject to gravity and actuation forces, is presented. This model is shown to satisfy the necessary conditions to the existence of a non-linear observer (Thau) when proper assumptions for the actuation forces are made. The observer can thus be used to generate diagnostic residuals inside a Fault Detection (FD) system. Finally, the proposed approach is customized for sensor fault detection on an unmanned quad-rotor vehicle, and simulation results show the effectiveness of the adopted solution.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64415 Collegamento a IRIS

2012 Nonlinear Decentralized Model Predictive Control Strategy for a Formation of Unmanned Aerial Vehicles
Proceedings of the 2nd IFAC Workshop on Multivehicle Systems
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Aerial vehicles flying in formation may perform more complex tasks than vehicles flying independently. Formation control, however, is a difficult problem to cope with for these kind of vehicles, since they are highly nonlinear, underactuated and the feasible control actions are constrained. Moreover the computational capabilities which can be mounted on aerial vehicles are usually limited, thus centralized solutions should be avoided. To solve these problems, a Nonlinear Decentralized Model Predictive Control algorithm is presented in this paper, taking into account both physical and actuation constraints. Each vehicle is equipped with sensors providing inertial measurements and communicates with its neighbours using a Wireless Local Area Network. Simulation results applied to a formation of quadrotor vehicles show that the proposed technique is a valid way to solve the control problem for a generic formation, granting at the same time the possibility to deal with constraints.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234084 Collegamento a IRIS

2012 Online tuned neural networks for PV plant production forecasting
38th IEEE Photovoltaic Specialists Conference, PVSC 2012
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Mainardi, Emanuele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/82383 Collegamento a IRIS

2012 Report RdS/2012/054 - Sviluppo di un approccio per la gestione ottimale di edifici integrato nella rete della pubblica illuminazione: applicazione su smart village C.R. Casaccia
RICERCA DI SISTEMA ELETTRICO
Autore/i: G. Comodi; A. Giantomassi; F. Polonara; S. Longhi
Classificazione: 3 Libro
Abstract: Obiettivo del presente lavoro è stato quello di sviluppare un simulatore dei consumi dell’edificio F40 nell’ottica di studiare ed implementare possibili strategie di attuazione e controllo al fine di ridurre i consumi dell’edificio stesso. L’edificio F40 può essere considerato, per molti aspetti, rappresentativo di molti edifici sedi di uffici del terziario in generale e della pubblica amministrazione in particolare. Dopo una breve introduzione, il capitolo “Sviluppo di un simulatore multilivello dell’edificio F40 per la modellazione dei consumi energetici” descrive la metodologia che ha portato alla costruzione del codice di calcolo oggetto del presente lavoro. Inizialmente, viene descritto il processo di audit semplificato messo a punto e che è stato propedeutico alla definizione di molte delle regole utilizzate nel codice definitivo e alla individuazione preliminare di alcune possibili pratiche da correggere o eventi da diagnosticare. Successivamente, viene presentato il simulatore dell’edificio sviluppato mediante l’utilizzo della logica fuzzy. Infine nel capitolo “Possibili strategie per il controllo ottimo finalizzato alla riduzione di consumi energetici per l’F40” descrive una prima strategia di riduzione dei consumi ed il relativo risparmio sia in termini energetici che economici: in pratica è stato simulato lo spegnimento della linea luce ordinaria (cioè non comprensiva dell’emergenza) in orario notturno (dalle 20 alle 6 del mattino), nei fine settimana e nei giorni festivi. Il calcolo, basato su uno storico di 1986 ore (83 giorni), mostra un risparmio pari a 1.913 kWh, pari a circa 23 kWh/giorno. Considerando un costo del kWh risparmiato pari a 0,1733 €/kWh, il risparmio economico ottenibile dalla implementazione di tale politica sarebbe stato pari a 331,52 € (in media 3,99 €/giorno). Considerando che il costo dell’attuatore per l’interruzione della linea per l’intero edificio è stato di 275,00 €, nel periodo simulato il sistema di attuazione non solo si sarebbe ripagato ma avrebbe anche portato ad un risparmio di circa 56 €; il PBP di tale strategia è pari, infatti a circa 69 giorni. Tuttavia, la principale ricaduta del presente lavoro, al di là dei risultati soddisfacenti raggiunti sia dal punto di vista tecnico è lo sviluppo di una metodologia robusta e ampiamente replicabile su larga scala in quanto l’edificio F40 può essere considerato, per molti aspetti, rappresentativo di molti edifici sedi di uffici del terziario in generale e della pubblica amministrazione in particolare. La metodologia proposta si basa infatti su un set di dati in ingresso veramente minimo: numero di stanze attive (cioè con almeno una persona), tipo di giorno (lavorativo, fine settimana, festivo) ed ora del giorno. Per attuare queste strategie l’unico dato effettivamente necessario è legato al monitoraggio del numero di stanze attive (gli altri due sono, in fondo, riconducibili ad un calendario); tale dato può essere ottenuto o ricostruito per tutti quegli edifici del terziario (pubblico o privato) che hanno l’ingresso e l’uscita vincolato alla esibizione di un badge.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/94264 Collegamento a IRIS

2012 Discrete Time Variable Structure Control for the dynamic positioning of an offshore supply vessel
1st IFAC Workshop on Automatic Control of Offshore Oil and Gas Production, ACOOG 2012
Autore/i: Benetazzo, Flavia; Ippoliti, Gianluca; Longhi, Sauro; Raspa, Paolo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73559 Collegamento a IRIS

2012 Dynamic positioning of a marine vessel using DTVSC and robust control allocation
2012 20th Mediterranean Conference on Control and Automation, MED 2012
Autore/i: Benetazzo, Flavia; Ippoliti, Gianluca; Longhi, Sauro; Raspa, Paolo; Sørensen, A.J.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/75202 Collegamento a IRIS

2012 A Wireless Sensor Network Architecture for Solid Waste Management
Proceeding of the 9th European Conference on Wireless Sensor Networks, EWSN 2012
Autore/i: S. Longhi; D. Marzioni; E. Alidori; G. Di Buò; M. Prist; M. Grisostomi; M. Pirro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B216
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78173 Collegamento a IRIS

2012 Robust sensorless speed control of permanent magnet synchronous motors: A C2000 based implementation
EDERC 2012 - Proceedings of the 5th European DSP in Education and Research Conference
Autore/i: Coacci, D.; Ippoliti, G.; Longhi, S.; Orlando, G.; Pirro, M.; Squartini, S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/80041 Collegamento a IRIS

2012 Discrete-time sliding mode control for guidance of an unmanned surface vehicle
9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012
Autore/i: Bibuli M.; Bruzzone G.; Caccia M.; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe ; Pelusi G.M.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/82508 Collegamento a IRIS

2012 A Biased Extended Kalman Filter for Indoor Localization of a Mobile Agent using Low-Cost IMU and UWB Wireless Sensor Network
Proc. 10th IFAC Symposium on Robot Control
Autore/i: A. Benini; A. Mancini; A. Marinelli; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74195 Collegamento a IRIS

2012 Solid Waste Management Architecture Using Wireless Sensor Network Technology
Proceedings of the 5th International Conference on New Technologies, Mobility and Security (NTMS), 2012
Autore/i: S. Longhi; D. Marzioni; E. Alidori; G. Di Buo'; M. Prist; M. Grisostomi; M. Pirro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In many application fields such as home, industry, environment and health, different Wireless Sensor Network (WSN) applications have been developed to solve management problems with smart implementations. This approach can be applied in the filed of solid waste management. In this paper a new architecture is proposed with the aim to improve the on-site handling and transfer optimization in the waste management process. The system architecture is based on sensor nodes and makes use of Data Transfer Nodes (DTN) in order to provide to a remote server the retrieved data measurements from the garbage bins filling. A remote monitoring solution has been implemented, providing user the possibility to interact with the system by using a web browser. Several activities with the aim to provide a Decision Support System (DSS) able to find solutions for resources organization problems linked to solid waste management have been started.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73877 Collegamento a IRIS

2012 Minimal resource allocating networks for discrete time sliding mode control of robotic manipulators
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
Autore/i: Corradini, Maria Letizia; Fossi, Valentino; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 1 Contributo su Rivista
Abstract: This paper presents a discrete-time sliding mode control based on neural networks designed for robotic manipulators. Radial basis function neural networks are used to learn about uncertainties affecting the system. The on-line learning algorithm combines the growing criterion and the pruning strategy of the minimal resource allocating network technique with an adaptive extended Kalman filter to update all the parameters of the networks. A method to improve the run-time performance for the real-time implementation of the learning algorithm has been considered. The analysis of the control stability is given and the controller is evaluated on the ERICC robot arm. Experiments show that the proposed controller produces good trajectory tracking performance and it is robust in the presence of model inaccuracies, disturbances and payload perturbations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74820 Collegamento a IRIS

2012 A coordination architecture for UUV fleets
INTELLIGENT SERVICE ROBOTICS
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: This paper presents a modular and expandable architecture, which includes diversified functions and can be applied to heterogeneous fleets of unmanned underwater vehicles (UUVs), to solve the problem of decentralized formation coordination. The architecture is modular and each module is built such that it can solve a precise task using one or more functions. Three functions among them play a key role for the whole architecture: localization, faultless formation control and fault tolerance. The localization function is performed by the use of an adaptive extended Kalman filter (A-EKF) algorithm; the fault-free formation control function is based on a nonlinear decentralized model predictive control (ND-MPC) algorithm; the fault tolerance function is based on a hierarchy graph theory. The novelty of the paper lies in the use of the above mentioned functions as the core of an architecture which is expandable, decentralized and can be applied to a wide range of vehicles.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/66694 Collegamento a IRIS

2012 Analysis of a multi-objective observer for UUVs
IFAC Proceedings Volumes (IFAC-PapersOnline)
Autore/i: Candeloro, Mauro; Dezi, Fabio; Sørensen, Asgeir J.; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237287 Collegamento a IRIS

2012 Solar irradiation forecasting using RBF networks for PV systems with storage
Proceedings 2012 IEEE International Conference on Industrial Technology, ICIT 2012
Autore/i: Ciabattoni, Lucio; Ippoliti, Gianluca; Longhi, Sauro; Cavalletti, Matteo; Rocchetti, Marco
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74063 Collegamento a IRIS

2012 Virtual planning for autonomous inspection of electromechanical products
INTERNATIONAL JOURNAL ON INTERACTIVE DESIGN AND MANUFACTURING
Autore/i: R. Raffaelli; A. Cesetti; G. Angione; L. Lattanzi; S. Longhi
Classificazione: 1 Contributo su Rivista
Abstract: Abstract High quality electromechanical products require sophisticated and costly diagnostic tools to ensure the absence of defects in the final artefacts. The main requirements for reliability tests are flexibility, sensor sharing and early defect detection. The aim is the substitution of the current practice based on manual checking of few samples with standardized and repeatable quality control carried out by autonomous mobile platforms. Virtual planning of the inspection tasks, the simulation of the navigation in a poorly structured environment as well as the interaction with the product, are crucial aspects which have been faced through a dedicated system framework. The paper proposes a solution composed of a software for the virtual planning and simulation of inspection tasks, hardware setup composed of an autonomous platform with sensors and actuators, and a service oriented software infrastructure for navigation and perception. Consistent paths to be followed by the robot are elaborated in a graphical environment on the basis of inspected product locations and measuring tasks. The system has been implemented for household appliance inspection in reliability laboratories where life tests are carried out under real operation conditions. The results in terms of inspection mission planning capabilities and localization performances are presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/67417 Collegamento a IRIS

2012 Neural network-based switching adaptive control for a remotely operated vehicle
Further Advances in Unmanned Marine Vehicles
Autore/i: Cavalletti Matteo; Ippoliti Gianluca; Longhi Sauro
Editore: The Institution of Engineering and Technology
Luogo di pubblicazione: London
Classificazione: 2 Contributo in Volume
Abstract: Underwater vehicles operate in dynamic environments where sudden changes of the working conditions occur from time to time. The need of an effective control action calls for refined techniques with a high degree of robustness with respect to large parametric variations and/or uncertainties. Supervised switching control seems to be theoretical frameworks where appropriate control strategies can be developed. In this chapter, a switching adaptive tracking control based on NNs is proposed and compared with an NN-based switching controller. The form of used nets is the RBFN, which has been used successfully in other control system applications (Antonini et al., 2006) and has favourable characteristics in terms of the best approximation property (Poggio & Girosi, 1990). On the basis of numerical tests, the NNSAC is able to cope with the large transient errors related to the considered mode-switch processes, when knowledge of the different possible vehicle configurations is poor. In fact, if the operative conditions are unknown, an NNSC cannot guarantee good control performance; the pre-computed controllers cannot cope with all environment and load conditions. Therefore, the integration of a switching control strategy with adaptive controllers is particularly well suited to cope with these unknown operative conditions and improve the performance of the overall control system when the different environments where the vehicle operates are not well known. © 2012 The Institution of Engineering and Technology.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74951 Collegamento a IRIS

2012 Discrete time sliding mode control of robotic manipulators: Development and experimental validation
CONTROL ENGINEERING PRACTICE
Autore/i: Corradini, Maria Letizia; Fossi, Valentino; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 1 Contributo su Rivista
Abstract: This paper presents a robust discrete-time sliding mode control coupled with an uncertainty estimator designed for planar robotic manipulators. Experimental evidence shows satisfactory trajectory tracking performances and noticeable robustness in the presence of model inaccuracies, disturbances and payload perturbations. Ultimate boundedness of the tracking errors is proved, as well as boundedness of the estimation error with arbitrary precision. © 2012 Elsevier Ltd.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73463 Collegamento a IRIS

2012 Application of a supervised improved PID for the scheduling of energy feeding in a PV - Battery system
2nd IFAC Conference on Advances in PID Control, PID 2012
Autore/i: Ciabattoni, Lucio; Ippoliti, Gianluca; Cavalletti, Matteo; Rocchetti, Marco; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78172 Collegamento a IRIS

2012 Observers for dynamic positioning of ROVs with experimental results
IFAC Proceedings Volumes (IFAC-PapersOnline)
Autore/i: Candeloro, Mauro; Sørensen, Asgeir J.; Longhi, Sauro; Dukan, Fredrik
Editore: IFAC Secretariat
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes a set of model-based observers included in the DP (Dynamic Positioning) system of the ROV Minerva operated by NTNU. In particular, the observers and the other main components of the DP control system are described. A linear Kalman Filter (LKF), an Extended Kalman Filter (EKF), an adaptive Kalman Filter and a passive nonlinear observer based on the ROV Minerva mathematical models with varying fidelity are proposed. The main aim is to compare different possibilities for the implementation of the observer in a DP control system for ROVs analyzing advantages and drawbacks. Finally, experimental results obtained during DP and tracking operations performed in the Trondheim Fjord are presented. © IFAC.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237288 Collegamento a IRIS

2012 A quasi-sliding mode approach for robust control and speed estimation of PM synchronous motors
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Autore/i: Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 1 Contributo su Rivista
Abstract: This paper presents a discrete-time variable-structure-based control and a speed estimator designed for a permanent-magnet synchronous motor (PMSM). A cascade control scheme is proposed which provides accurate speed tracking performance. In this control scheme the speed estimator is a robust digital differentiator that provides the first derivative of the encoder position measurement. The analysis of the control stability is given and the ultimate boundedness of the speed tracking error is proved. The control scheme is experimentally tested on a commercial PMSM drive. Reported experimental evidence shows that the proposed solution produces good speed trajectory tracking performance and it is robust in the presence of disturbances affecting the system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/63368 Collegamento a IRIS

2012 On line solar irradiation forecasting by minimal resource allocating networks
2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Mainardi, Emanuele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/75214 Collegamento a IRIS

2012 Fault-tolerant variable structure control of an overactuated Dynamic Positioning vessel after thruster failures
9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012
Autore/i: Benetazzo, Flavia; Ippoliti, Gianluca; Longhi, Sauro; Raspa, Paolo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/82512 Collegamento a IRIS

2011 Selection of Lithium Cells for EV Battery Pack Using Self-Organizing Maps
QICHE āNQUAN YU JIE NENG XUE BAO
Autore/i: P. Raspa; L. Frinconi; A. Mancini; M. Cavalletti; S. Longhi; L. Fulimeni; P. Bellesi; R. Isidori
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/61321 Collegamento a IRIS

2011 Hidden markov model for health estimation and prognosis of turbofan engines
Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Autore/i: Giantomassi, Andrea; Ferracuti, Francesco; Benini, Alessandro; Petrucci, A.; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74220 Collegamento a IRIS

2011 Multi-scale PCA based fault diagnosis on a paper mill plant
Proceedings of the 2011 IEEE 16th Conference on Emerging Technologies & Factory Automation (ETFA)
Autore/i: F. Ferracuti; A. Giantomassi; S. Longhi; N. Bergantino
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In paper mill plants, the competition for increasing efficiency and reducing costs is a primary purpose. Fault detection and diagnosis can help by minimize the loss of production. In particular for the stock preparation sub-process a signal based fault detection and isolation procedure is developed. Multi-Scale Principal Component Analysis (MSPCA) is used to monitor some critical variables of the stock preparation of a paper mill plant in order to diagnose faults and malfunctions. MSPCA simultaneously extracts both, cross correlation across the sensors (PCA approach) and auto-correlation within a sensor (Wavelet approach). The advantage of MSPCA is validated on considered paper mill plant where several sensors are installed to control and monitor the automation system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73874 Collegamento a IRIS

2011 Simultaneous roll damping and course keeping via sliding mode control for a marine vessel in seaway
Proceedings of the 18th IFAC World Congress 2011
Autore/i: C. Carletti; A. Gasparri; S. Longhi; G. Ulivi;
Editore: IFAC-Elsevier
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper the simultaneous roll reduction and course keeping problem for a surface vessel by means of active fins and rudder is addressed. This work extends the results proposed in [Carletti et al. (2010)] by considering an alternative nonlinear multivariable ship dynamics where the wave effects are modeled as forces and moments affecting the system dynamics rather than as disturbances affecting the control inputs. A theoretical analysis of the boundedness of the zero dynamics along with the design of a sliding mode control are proposed. Simulations results are provided to corroborate the theoretical analysis.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73875 Collegamento a IRIS

2011 A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles
Proceedings of the 18th IFAC World Congress (IFAC WC)
Autore/i: Freddi, Alessandro; Lanzon, A.; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/66268 Collegamento a IRIS

2011 Adaptive extended kalman filter for robust sensorless control of PMSM drives
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Autore/i: Ciabattoni, Lucio; Corradini, Maria Letizia; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64351 Collegamento a IRIS

2011 Adaptive extended Kalman filter for indoor/outdoor localization using a 802.15.4a wireless network
Proceedings of European Conference on Mobile Robots - ECMR 2011
Autore/i: A. Benini; A. Mancini; E. Frontoni; P. Zingaretti; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: European Conference on Mobile Robots - ECMR 2011 Online Proceedings http://aass.oru.se/Agora/ECMR2011/proceedings.html
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74137 Collegamento a IRIS

2011 Helicopter safe landing using vision and 3D sensing
Proceedings of European Conference on Mobile Robots - ECMR 2011
Autore/i: P. Raspa; E. Frontoni; A. Mancini; P. Zingaretti; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: 5th European Conference on Mobile Robots - ECMR 2011 Online Proceedings http://aass.oru.se/Agora/ECMR2011/proceedings.html
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74149 Collegamento a IRIS

2011 Coalition Formation for Unmanned Quadrotors
2011ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
Autore/i: A. Mancini; A. Benini; E. Frontoni; P. Zingaretti; S. Longhi
Editore: American Society of Mechanical Engineering (ASME)
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: ASME/IEEE MESA 2011
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74119 Collegamento a IRIS

2011 Steady-State Directional Control Test – a comparison between Electric and ICE Quadricycle Vehicles
Proceedings of the (European Automobile Engineers Cooperation) EAEC 2011 Congress
Autore/i: C. Stronati; P. Antonini; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper deals with the comparative analysis of the results of a steady-state directional control test following a constant radius method of a quadricicle with Internal Combustion Engine (ICE) in the standard version and with electric power train in Electric Version (EV).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73876 Collegamento a IRIS

2011 A Modular Framework for Fast Prototyping of Cooperative Unmanned Aerial Vehicle
Proceedings of the ICUAS 2011 : 2011 International Conference on Unmanned Aircraft Systems
Autore/i: A. Benini; A. Mancini; R. Minutolo; S. Longhi; M. Montanari
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Indoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mini UAV based on Ultra-WideBand technology, low cost IMU and vision based sensors. In this work an Extended Kalman Filter (EKF) is introduced as a possible technique to improve the localization. The proposed approach allows to use a low-cost Inertial Measurement Unit (IMU) in the prediction step and the integration of vision-odometry for the detection of markers nearness the touchdown area. The ranging measurements allow to reduce the error of inertial measurement due to the limited performance of accelerometers and gyros. The obtained results show that an accuracy of 10 cm can be achieved.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74272 Collegamento a IRIS

2011 Estimation of rotor position and speed for sensorless DSP-based PMSM drives
2011 19th Mediterranean Conference on Control and Automation, MED 2011
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/11566/63363 Collegamento a IRIS

2011 On-line steam production prediction for a municipal solid waste incinerator by fully tuned minimal RBF neural networks
JOURNAL OF PROCESS CONTROL
Autore/i: Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Bertini, I.; Pizzuti, S.
Classificazione: 1 Contributo su Rivista
Abstract: The paper describes an on-line prediction algorithm able to estimate, over a specified time horizon, the steam production of a municipal solid waste incinerator. The algorithm has to work on-line due to the heavy disturbances acting on the incineration process. The learning algorithm is based on radial basis function networks and combines the growing criterion and the pruning strategy of the minimal resource allocating network technique with an adaptive extended Kalman filter to update all the parameters of the networks.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52554 Collegamento a IRIS

2011 A simulation framework for coalition formation of Unmanned Aerial Vehicles
2011 19th Mediterranean Conference on Control & Automation (MED)
Autore/i: Benini, Alessandro; Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Unmanned Aerial Vehicles (UAVs) and in particular quad-rotors are gaining an increasing interest owing to their flexibility and versatility. Today the challenge is to integrate these versatile platforms in a wide fleet in order to perform cooperative tasks as surveillance, search & rescue, inspection. The coalition formation problem is a pre-condition for cooperative missions. This problem can be solved with different methodologies from biologically-inspired algorithms to parasocial consensus sampling ones. In this paper a new framework for simulation of unmanned vehicles in cooperative scenarios is first presented. Then a novel method that exploits the benefits of Model Predictive Control (MPC) for a coalition formation problem (leader-follower) is introduced. The obtained results evidence the good performance of MPC to solve the problem of coalition formation for unmanned aerial vehicles finding the optimal solution taking into account different kind of constraints. The developed framework allows also to easily change from simulated agent to real one.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/66256 Collegamento a IRIS

2011 Optimised output sensitivity loop shaping controller for ship rudder roll damping
IFAC Proceedings Volumes 18th IFAC World Congress
Autore/i: Raspa, Paolo; Torta, Elena; Ippoliti, Gianluca; Blanke M.; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/63361 Collegamento a IRIS

2011 Report RdS/2011/332 -Progetto per l’integrazione in una rete di illuminazione pubblica avanzata di un sistema per la supervisione remota di una rete di edifici residenziali equipaggiati con una piattaforma di domotica energetica
RICERCA DI SISTEMA ELETTRICO
Autore/i: G.Comodi; A.Giantomassi; S.Longhi; F.Polonara
Editore: ENEA-Ministero dello sviluppo Economico
Classificazione: 3 Libro
Abstract: Executive Summary I temi sviluppati nell’ambito del presente report riguardano la possibilità di sfruttare il sistema della illuminazione pubblica come linea digitale capillare per la raccolta dati e l’invio di informazioni verso una vasta rete di edifici residenziali. L’obiettivo è la costruzione di una “interactive building network”, ossia dello sviluppo di una capacità “urbana” di orientare i cittadini in modo attivo verso il conseguimento di elevati risparmi energetici ed economici nella gestione delle reti energetiche delle proprie abitazioni. Il progetto nasce dalla consapevolezza che l’ottimizzazione dell’efficienza energetica in ambito residenziale sarà funzione sempre meno dell’efficienza del singolo prodotto (che va comunque promossa e perseguita) e sempre più della individuazione di inefficienze (diagnostica) e dell’ottimizzazione dei profili di consumo dell’utenza finale (“load management”). Nella Introduzione si definisce il contesto in cui è inserito il lavoro specificandone gli obiettivi: lo studio di una metodologia per la supervisione remota di una rete di edifici residenziali equipaggiati con una piattaforma di domotica energetica avente lo scopo di ridurre i consumi finali di energia (elettrica e termica) dei consumatori finali domestici attraverso un percorso di crescita di consapevolezza energetica. Nella Introduzione viene anche definita l’idea di uno “smart agent”, una sorta di supervisore dei consumi domestici suddiviso su due livelli. Il primo livello, realizzabile a livello di ogni singola unità abitativa, ha funzioni di diagnostica ed individuazione sia di “comportamenti energeticamente errati” da parte degli utenti, sia di “guasti” di apparecchiature, sensori ed attuatori. Il secondo livello, è pensato come un server centralizzato in cui risiede tutta la potenza di calcolo ed ottimizzazione delle informazioni ricevute dalla supervisione di primo livello. Le informazioni elaborate daranno origine a dei feed-back verso l’utente finale di carattere tecnico, economico, informativo. Per questo, la logica di secondo livello si configura come un vero e proprio “personal energy agent” che fornisce all’utente informazioni che lo aiutino a migliorare la propria consapevolezza di quanto e come consuma energia. Nel secondo capitolo, “Progettazione dell’architettura della Interactive Building Network per il settore residenziale”, viene descritta l’architettura di primo livello. In particolare, vengono individuati i principali eventi da controllare, i sensori installabili e le principali logiche di 6 diagnostica. Infine, vengono fornite indicazioni per l’implementazione sia di una rete domestica per il trattamento delle informazioni provenienti dai sensori installati nell'edificio, sia di una rete di intercative building per il trattamento delle informazioni provenienti dai sensori installati nell'edificio e dirette verso un server remoto (di strada, “smart street”, di quartiere, “smart district”, o di città “smart city”). La piattaforma domotica di interactive building network è caratterizzata da pochi sensori in grado di garantire economicità, robustezza e bassa intrusività, in particolare per quello che riguarda il retrofit sul parco edilizio esistente. Nel capitolo 3, “Sviluppo prototipale delle metodologie per i sistemi intelligenti e la comunicazione” vengono descritte le metodologie di diagnostica che possono essere implementate nel settore domestico. Poiché la ricerca è ancora nella fase di studio e di messa a punto delle metodologie, non esiste ancora una base di dati sperimentali su cui lavorare. Per ovviare a questo inconveniente, è stata simulata una unità abitativa con diversi profili di utenza al proprio interno. La prima parte del capitolo quindi descrive brevemente il sistema di simulazione utilizzato (software “HAMBASE”), l’edificio simulato. Successivamente vengono descritte le caratteristiche dell’utenza simulata; in particolare sono stati studiati: 3 profili di presenza all’interno dell’abitazione; per ciascun profilo di presenza sono stati definiti 3 profili di carico termico ed 1 profilo di carico elettrico giornaliero e settimanale. Inizialmente, sono stati simulati i diversi profili senza errori comportamentali o senza guasti agli apparecchi (profili “faultless”); in una seconda fase sono state inserite alcune delle “anomalie” (errori comportamentali o guasti), così da generare un set di profili con degli errori (profili “fault”) che sono stati poi elaborati con sistemi di diagnostica. Nel capitolo 4, “Analisi tecnico-economica su un caso di riferimento”, vengono presentati i risultati più significativi delle simulazioni, sia dal punto di vista energetico (m3 di metano consumati), che dal punto di vista economico (€ annui risparmiati). Questi risultati consentono di dare una indicazione di massima sia del risparmio annuo ottenibile dall’applicazione di best practices sia del costo finale che dovrebbe avere, per ciascun utente, la piattaforma domotica di interactive building network. Supponendo un tempo di ritorno economico di circa 3 anni il suo costo dovrebbe restare all’interno di un range compreso tra i 600 ed i 750 €. La piattaforma base ipotizzata, realizzata con sensori ed attuatori commerciali può realizzarsi a partire da un costo di circa 700-800 € IVA INCLUSA. Aggiungendo altri sensori ed attuatori (come ad esempio controllo luci, presenza, temporizzatore uscite) si può arrivare anche a 1300-1500 €, IVA INCLUSA.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/83123 Collegamento a IRIS

2011 A Visual Global Positioning System for Unmanned Aerial Vehicles Used in Photogrammetric Applications
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Cesetti, Andrea; Frontoni, Emanuele; Mancini, Adriano; Ascani, Andrea; Zingaretti, Primo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The combination of photogrammetric aerial and terrestrial recording methods can provide new opportunities for photogrammetric applications. A UAV (Unmanned Aerial Vehicle), in our case a helicopter system, can cover both the aerial and quasi-terrestrial image acquisition methods. A UAV can be equipped with an on-board high resolution camera and a priori knowledge of the operating area where to perform photogrammetric tasks. In this general scenario our paper proposes vision-based techniques for localizing a UAV. Only natural landmarks provided by a feature tracking algorithm will be considered, without the help of visual beacons or landmarks with known positions. The novel idea is to perform global localization, position tracking and localization failure recovery (kidnapping) based only on visual matching between current view and available georeferenced satellite images. The matching is based on SIFT features and the system estimates the position of the UAV and its altitude on the base of the reference image. The vision system replaces the GPS signal combining position information from visual odometry and georeferenced imagery. Georeferenced satellite or aerial images must be available on-board beforehand or downloaded during the flight. The growing availability, of high resolution satellite images (e.g., provided by Google Earth or other local information sources) makes this topic very interesting and timely. Experiments with both synthetic (i.e., taken from satellites or datasets and pre elaborated) and real world images have been performed to test the accuracy and the robustness of our method. Results show sufficient performance if compared with common GPS systems and give a good performance also in the altitude estimation, even if in this last case there are only preliminary results.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/31518 Collegamento a IRIS

2011 A comparative study between switching and adaptive controllers for a remotely operated vehicle
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS. PROCEEDINGS PART M, JOURNAL OF ENGINEERING FOR THE MARITIME ENVIRONMENT
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper considers the tracking control problem of an underwater vehicle subject to different load configurations, that result in considerable variations of its mass and inertial parameters. For this class of mode-switch processes, traditional control techniques are not adequate to guarantee the required performance when a change of configuration occurs. Advanced control techniques have been analysed; a switching control and an adaptive control have been developed with the aim to compare the performance of these types of controllers. The stability of the two controllers has been analysed using the Lyapunov theory and their performance has been evaluated by numerical simulations. On the basis of numerical tests, when an adequate a priori knowledge of different vehicle configurations is available, the switching controller is found to be the better control strategy with respect to an adaptive solution because of its significantly reduced transient response.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/63362 Collegamento a IRIS

2011 Cooperative and decentralized navigation of autonomous underwater gliders using predictive control
Proceedings of the 18th IFAC World Congress (IFAC WC'11)
Autore/i: A. Fonti; A. Freddi; S. Longhi; A. Monteriù
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Coordinated fleet of Autonomous Underwater Gliders (AUGs) can provide significant benefit to a number of marine applications including ocean sampling, mapping, surveillance and communication. Traditional techniques for navigating underwater vehicles have been designed for single-vehicle operations and do not scale well to multi-vehicle operations and missions. In this paper a navigation system for a fleet of AUGs is developed based on Networked DecentralizedModel Predictive Control (ND-MPC). The proposed approach coordinates a group of point-mass mobile agents to achieve a desired formation, while avoiding collisions between themselves. In order to obtain collision free paths, the approach integrates the required collision avoidance constraints. The fleet localization is performed by sensor fusion using adaptive extended Kalman filtering. The free collision and convergence properties are verified through simulations results. The proposed approach can be generalized to formation of heterogeneous autonomous agents.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64485 Collegamento a IRIS

2011 A Modular Framework for Fast Prototyping of Cooperative Unmanned Aerial Vehicle
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: A. Benini; A. Mancini; R. Minutolo; S. Longhi; M. Montanari
Classificazione: 1 Contributo su Rivista
Abstract: Disponibile on-line dal 2011
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/61322 Collegamento a IRIS

2011 GIS-based energy-economic model of low temperature geothermal resources: A case study in the Italian Marche region
RENEWABLE ENERGY
Autore/i: Gemelli A.; Mancini A.; Longhi S.
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/58380 Collegamento a IRIS

2011 Discrete time sliding mode control of robotic manipulators: development and experimental validation
2011 IEEE 16th Conference on Emerging Technologies and Factory Automation, ETFA 2011
Autore/i: Fossi, Valentino; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/63359 Collegamento a IRIS

2010 Predictor design for altitude control of a seaweed harvester
8th IFAC Conference on Control Applications in Marine Systems, CAMS2010
Autore/i: Gallieri, M.; Ringwood, J.; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46957 Collegamento a IRIS

2010 Actuator Fault Detection System for a Mini- Quadrotor
Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE'10)
Autore/i: A. Freddi; S. Longhi; A. Monteriù
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64481 Collegamento a IRIS

2010 Intelligent techniques for faults diagnosis and prognosis of CHP plant with gas turbine engine
Proceedings of the 8th ACD 2010 European Workshop on Advanced Control and Diagnosis
Autore/i: L. Miozza; A. Monteriù; A. Freddi; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Abstract: Prognostic and Health Management (PHM) systems are used for the diagnosis and the prognosis of faults that affect the lifetime of dynamic processes. They can detect, identify and isolate fault mechanisms and predict their evolution in order to prevent them from causing system failures. When used in combination with Condition-Based Maintenance (CBM), they not only extend the system reliability, but significantly reduce operating costs and emergency response strategies through intelligent planning of maintenance. In this paper a CBM/PHM system for a cogeneration plant with gas turbine has been developed. Simulation trials have tested the performance and functionality of the system, showing how to produce useful information for health management and intelligent maintenance.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74231 Collegamento a IRIS

2010 A Vision-based guidance system for UAV navigation and safe landing using natural landmarks
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: CESETTI A.; FRONTONI E.; MANCINI A.; ZINGARETTI P.; LONGHI S.
Classificazione: 1 Contributo su Rivista
Abstract: In this paper a vision-based approach for guidance and safe landing of an Unmanned Aerial Vehicle (UAV) is proposed. The UAV is required to navigate from an initial to a final position in a partially known environment. The guidance system allows a remote user to define target areas from a high resolution aerial or satellite image to determine either the waypoints of the navigation trajectory or the landing area. A feature-based image-matching algorithm finds the natural landmarks and gives feedbacks to an onboard, hierarchical, behaviour-based control system for autonomous navigation and landing. Two algorithms for safe landing area detection are also proposed, based on a feature optical flow analysis. The main novelty is in the vision-based architecture, extensively tested on a helicopter, which, in particular, does not require any artificial landmark (e.g., helipad). Results show the appropriateness of the vision-based approach, which is robust to occlusions and light variations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51422 Collegamento a IRIS

2010 Fault detection and prognosis methods for a monitoring system of rotating electrical machines
2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Autore/i: Ciandrini, Chiara; Gallieri, Marco; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50601 Collegamento a IRIS

2010 Service Oriented Soft Real-time implementation of SLAM capability for mobile robots
Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV'10
Autore/i: C.P. Scotti; A. Cesetti; G. di Buò; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper focuses on solving practical challenges inherent from the use of state-of-art mobile robotics techniques in a resource hungry embedded mobile unit without inherent support for hard real-time operation. Such problems include real-time constraints, sensor acquisition independence from robot movement, multi-rate parallel data acquisition and memory limitations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74459 Collegamento a IRIS

2010 A Service Oriented Architecture Supporting an Autonomous Mobile Robot for Industrial Applications
Proceedings 18th IEEE Mediterranean Conference on Control & Automation, MED 2010
Autore/i: A. Cesetti; C. P. Scotti; G. Di Buò; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents the design and implementation of a control system for autonomous navigation based on a Service Oriented Architecture (SOA) supporting a mobile robot suitable for industrial applications. The robot is required to perform generic high-level tasks in indoor structured environments. The control architecture, developed within the Microsoft Robotics Developer Studio (MRDS), allows to encapsulate the controller functionalities as a set of services that interact and exchange data among them. This approach allows to guarantee flexibility, scalability and reliability. The accurate testing, carried out in simulated and real environments, shows good real-time performances.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73879 Collegamento a IRIS

2010 Integration of Smart user interfaces in the Navigation System of Powered Wheelchairs
Proceedings of 3nd International Conference on Biomedical Electronics and Devices, 2010 BIODEVICES
Autore/i: C. Carletti; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a navigation system that extends the use of Electric Powered Wheelchairs (EPWs) to people with upper limbs impairments that prevent them the control of a traditional joystick-driven EPW. To achieve this aim, an Automatic Speech Recognition (ASR) system and a Brain Computer Interface (BCI) have been introduced to enable the user to asynchronously perform and send the control commands to the navigation module, according to her/his limited residual capabilities. Moreover, a shared-control algorithm has been developed to translate the user’s guidance wishes into directions of motion that maximize the security and minimize the physical and cognitive effort for the user. A preliminary analysis of the proposed navigation system showed satisfactory results in terms of security and fulfillment of the user wishes.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73878 Collegamento a IRIS

2010 A Visual Global Positioning System for Unmanned Aerial Vehicles Used in Photogrammetric Applications
Proceedings of the 3rd International Symposium on Unmanned Aerial Vehicles, UAV’10
Autore/i: A. Cesetti; E. Frontoni; A. Mancini; A. Ascani; P. Zingaretti; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74716 Collegamento a IRIS

2010 Development of a Flexible Test Platform for Household Appliance Testing based on Mobile Agents
Proceedings of IEEE Conference on Automation Science and Engineering, CASE 2010
Autore/i: A. Cesetti; C. P. Scotti; G. Di Buò; G. Angione; L. Lattanzi; C. Cristalli; S. Longhi
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper describes an innovative and flexible test platform for the household appliances test based on mobile agents, in order to carry out efficient data collection and analysis and to assist products design by providing defective components identification. The diagnostic system is specifically designed for the life-test laboratories, in which the mobile agent performs several measurements on many products over a long period of time, using different sensors mounted on board of the platform. The architecture and realization of the test platform is illustrated and described in details, focusing on the aspects related with autonomous mobile agent development, such as: navigation and perception in an indoor highly structured environment with unpredictable minor changes, manipulation and physical interaction with the product, image recognition of the environment and of the product. A prototype test platform has been developed and the first results show that it is feasible and effective for the improvement of the level of automation and quality of a life-test laboratory.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74457 Collegamento a IRIS

2010 Fault tolerant decentralized nonlinear MPC for fleets of unmanned marine vehicles
Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems (CAMS'10)
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Vaccarini, Massimo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A fleet of unmanned marine vehicles moving together in a prescribed pattern forms a robotic system for cooperative tasks. The problem is to control several marine vehicles such that, after transients, they form a required formation and move along a desired trajectory. The capability to accomplish the mission even in case of fault, is a fundamental requirement for these kind of vehicles. A completely decentralized nonlinear predictive control integrated with a fault tolerant strategy is here proposed for allowing safe cooperation. Based both on the local information and the acquired one through a LAN, each marine vehicle selects the desired formation to keep and plans its future actions. The proposed solution can be applied to different classes of unmanned marine vehicles.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64483 Collegamento a IRIS

2010 A Racing Car Setup Evaluation Support System Based on Nonlinear Model Predictive Control
Proceedings Of FISITA 2010
Autore/i: P. Antonini; L. Fulimeni; S. Longhi; A. Monteriu'
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper presents a racing car setup evaluation support system that uses nonlinear model predictive control to emulate driver control actions. Simulation plays a crucial role in car competitions for reducing risks and costs of real track tests. Racing teams usually have their own simulation environments and the related technical literature is not of public domain. Commercial solutions are available with the related technical literature.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74248 Collegamento a IRIS

2010 A Framework for Flexible and Autonomous Reliability Tests of Household Appliances Supported by Virtual Planning
Proceedings of Virtual Concept Conference -IDMME 2010
Autore/i: R. Raffaeli; A. Cesetti; G. Angione; L. Lattanzi; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74276 Collegamento a IRIS

2010 Field Robot Supporting the Activities of a Household Appliances Laboratory
Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV'10
Autore/i: A. Cesetti; C.P. Scotti; G. Di Buò; M. Babini; R. Donnini; G. Angione; L. Lattanzi; C. Cristalli; S. Longhi
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The development of a field robot for diagnosis and testing in the production line and laboratories (e.g., life test labs) of household appliances is considered. The proposed system targets the repetitive task of taking numerous measurements on products in order to guarantee a standardized and repeatable quality control. In this solution the diagnosis and testing station is not a fixed system but a flexible one, based on mobile robot with sensory and diagnostic skills. Such system achieves high flexibility own to its mobile nature and cost reduction due to the reduction in the number of measurement devices. The system can be interconnected with surrounding production and test systems to provide relevant feedback information for an integrated production and measurement process. This paper focuses on the aspects related with autonomous mobile platform development. A navigation module has been developed to guarantee the reliable performance in an indoor highly structured environment with position uncertainties of devices to be tested. A localization procedure has been integrated in the navigation module making use of Service Oriented Architecture (SOA). Preliminary tests show the feasibility of the proposed solution for the considered field application.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74458 Collegamento a IRIS

2010 Multi-scale PCA Based Fault Diagnosis for Rotating Electrical Machines
In Proceedings of the 8th ACD 2010 European Workshop on Advanced Control and Diagnosis
Autore/i: Ferracuti F.; Giantomassi A.; Ippoliti G.; Longhi S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74234 Collegamento a IRIS

2010 Experimental validation of a sliding mode controller for permanent-magnet synchronous motors
18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings
Autore/i: Bastiani, P.; Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Vannucci, G.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50877 Collegamento a IRIS

2010 Renovation of historic building for music rooms and recording studio: High acoustic and energetic performances
39th International Congress on Noise Control Engineering 2010, INTER-NOISE 2010
Autore/i: Caniato, M; Bettarello, F; Longhi, Sauro; Sbaizero, O
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259857 Collegamento a IRIS

2010 Discrete time variable structure control of robotic manipulators based on fully tuned RBF neural networks
2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Autore/i: Corradini, Maria Letizia.; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50612 Collegamento a IRIS

2010 Robust speed estimation and control of PM synchronous motors via quasi-sliding modes
Proceedings of the 49th IEEE Conference on Decision and Control, CDC 2010
Autore/i: Ciabattoni, Lucio; Corradini, Maria Letizia; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46292 Collegamento a IRIS

2010 RBF neural networks based quasi sliding mode controller and robust speed estimation for PM synchronous motors
36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Autore/i: Ciabattoni, L.; Corradini, Maria Letizia; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50581 Collegamento a IRIS

2010 A Geometric Approach to Fault Detection and Isolation Problem for Linear Periodic Systems
Proceedings of the 49th IEEE Conference on Decision and Control (CDC'10)
Autore/i: S. Longhi; A. Monteriù
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64484 Collegamento a IRIS

2010 Observer-based Fault Tolerant Sliding Mode Control for Remotely Operated Vehicles
Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems (CAMS'10)
Autore/i: M. L. Corradini; S. Longhi; A. Monteriù; G. Orlando
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes an actuator fault-tolerant control scheme designed for a class of nonlinear systems, and then applied to an underwater Remotely Operated Vehicle (ROV) used for inspection purposes. Fault detection is achieved using a Variable Structure System (VSS) observer, while a sliding-mode based approach has been used both for fault isolation and ROV control, after the application of an input decoupling nonlinear state transformation to the ROV model. Finally, control reconfiguration is performed exploiting the inherent redundancy of actuators. An extensive simulation study has been also performed, supporting the effectiveness of the proposed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64482 Collegamento a IRIS

2010 An observer based quasi sliding mode controller for permanent-magnet synchronous motors
In Proceedings of the SPEEDAM 2010 - International Symposium on Power Electronics, Electrical Drives, Automation and Motion
Autore/i: Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53588 Collegamento a IRIS

2010 Observer-based robust control of PMSM via quasi sliding modes
8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010
Autore/i: Corradini, Maria Letizia; Ippoliti, G.; Longhi, S.; Orlando, G.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53512 Collegamento a IRIS

2010 Selection of Lithium cells for EV battery pack using Self Organizing Maps
Proceedings of The 25th Electric Vehicle Symposium (EVS 25)
Autore/i: P. Raspa; L. Frinconi; A. Mancini; M. Cavalletti; S. Longhi; L. Fulimeni; P. Bellesi; R. Isidori
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74701 Collegamento a IRIS

2010 Roll damping and heading control of a marine vessel by fins-rudder VSC
8th IFAC Conference on Control Applications in Marine Systems, CAMS2010
Autore/i: Carletti, Cristina; Gasparri, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Raspa, Paolo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53673 Collegamento a IRIS

2009 EKF application on estimating missile guidance signals
COMMUNICATIONS TO SIMAI CONGRESS
Autore/i: PIZZINGRILLI E; LIBERATO M; S. LONGHI
Editore: Roma : SIMAI
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32380 Collegamento a IRIS

2009 Fault Detection for Linear Periodic Systems Using a Geometric Approach
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: Using the geometric approach, a solution is given to the problem of detecting faults in linear periodic discrete-time systems. The solution consists on developing an unknown input observer. The existing conditions are provided in terms of new geometric notion of outer observable subspace that is the dual notion of inner reachable subspace. Making use of the new notion, a residual generator is developed, such that the residual is made independent of unknown input disturbance, and its output-free response goes asymptotically to zero.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32378 Collegamento a IRIS

2009 Real-Time Model-Based Fault Detection and Isolation for UGVs
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: A. MONTERIU'; P. ASTHANA; K. P. VALAVANIS; S. LONGHI
Editore: Kluwer Academic Publishers:Journals Department, PO Box 322, 3300 AH Dordrecht Netherlands:011 31 78 6576050, EMAIL: frontoffice@wkap.nl, kluweronline@wkap.nl, INTERNET: http://www.kluwerlaw.com, Fax: 011 31 78 6576254
Classificazione: 1 Contributo su Rivista
Abstract: The paper presents a model-based sensor fault detection and isolation system applied in real-time to unmanned ground vehicles. Structural analysis is applied on the nonlinear model of the vehicle for building the residual generation module, followed by an ad-hoc residual evaluation module for detecting single and multiple sensor faults. The overall proposed diagnosis scheme has been tested in real-time on a real mobile robot in an outdoors environment and for different tasks. The obtained experimental results are satisfactory in terms of diagnosis performance and real-time implementation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32376 Collegamento a IRIS

2009 Unconstrained Networked Decentralized Model Predictive Control
JOURNAL OF PROCESS CONTROL
Autore/i: VACCARINI M; S. LONGHI; KATEBI R
Classificazione: 1 Contributo su Rivista
Abstract: Complex processes are naturally suitable to be controlled in a decentralized framework: centralized con- trol solutions are often unfeasible in dealing with large scale plants and they are computationally prohib- itive when the processes are too fast for the existing computational resources. In these cases, the resulting control problem is usually split into many smaller subproblems and the global requirements are guaranteed by means of a proper coordination. A coordination strategy based on a networked decen- tralized Model Predictive Control is proposed in this paper for improving the global control performances. The innovative solution is based on independent agents and on a local area network used for exchanging a reduced set of information. The proposed architecture guarantees satisfactory performance under strong interactions among subsystems. A stability analysis is presented for the unconstrained decentral- ized case and the provided stability results are employed for tuning the decentralized controller. Numer- ical simulations are given for testing and validating the proposed technique.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32371 Collegamento a IRIS

2009 On-line identification of a municipal solid waste incinerator by fully tuned RBF neural networks
15th IFAC Symposium on System Identification, SYSID 2009
Autore/i: Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Bertini, I.; Pizzuti, S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46771 Collegamento a IRIS


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