135 pubblicazioni classificate nel seguente modo:

A novel LDA-based approach for motor bearing fault detection
Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Ferracuti, Francesco; Freddi, Alessandro; Ippoliti, Gianluca; Monteriu', Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228746

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

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

A smart lighting system for visual comfort and energy savings in industrial and domestic use
ELECTRIC POWER COMPONENTS AND SYSTEMS
Autore/i: Cimini, Gionata; Freddi, Alessandro; Ippoliti, Gianluca; Monteriu', Andrea; Pirro, Matteo
Classificazione: 1 Contributo su Rivista
Abstract: The goal of this work is to develop a smart light-emitting diode lighting system for industrial and domestic use with several advantages over conventional systems, namely energy saving, high reliability, and visual comfort of interior lighting. This is achieved by integrating a smart control module and a fault diagnosis and prognosis module within a conventional lighting system. The first module controls the lighting level in an energy-efficient way, keeping a desired light level where it is needed while regulating it to a minimum where not required; this is achieved by fully exploiting fuzzy logic and proportional-integrative-derivative controllers. The second module performs fault diagnosis on the light-emitting diode system and predicts when light-emitting diode maintenance should be performed; this is achieved by employing both hardware redundancy and signal-based approaches. Interaction between the two modules permits maintenance of a desired level of light even in the case of failures on one or more light-emitting diodes. The overall system has been experimentally validated in three different scenarios. © 2015 Copyright © Taylor & Francis Group, LLC.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228737

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

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

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

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

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

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, Sabrina; Ferracuti, F; Giantomassi, A; Ortenzi, Davide; Freddi, A; Monteriu', Andrea; Capecci, Marianna; Ceravolo, MARIA GABRIELLA; Innocenzi, S; Longhi, Sauro
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

An inertial and QR code landmarks-based navigation system for impaired wheelchair users
Ambient Assisted Living: Italian Forum 2013
Autore/i: Cimini, Gionata; Ferracuti, Francesco; Freddi, Alessandro; Iarlori, Sabrina; Monteriu', Andrea
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Personal mobility is a key factor in independent living for elderly people and people with motor disabilities, thus indoor navigation systems are of utmost concern in Ambient Assisted Living (AAL) applications. Driving an electric powered wheelchair in domestic environments becomes difficult for people with arms or hands impairments. Moreover, people affected by tetraplegia are completely unable to operate a joystick, and must rely on input interfaces, such as eye tracking and “sip and puff”, which require tedious and repetitive tasks to be operated. Smart powered wheelchairs with autonomous navigation intelligence and their integration within AAL homes, may enhance independence and improve both the security and the perceived quality of life. Self-navigating systems combine different measurements provided by both absolute and relative sensors to improve localization accuracy. In this work, a low-cost localization system for autonomous wheelchairs, which takes advantage of Quick Response (QR) code landmarks information, is proposed. QR code is a low-cost pattern with fast readability and large storage capacity with respect to other landmarks solutions. The proposed wheelchair is equipped with an Inertial Measurement Unit (IMU) and a video camera: the inertial information, provided by the IMU, is fused with that provided by QR code recognition, thus reducing the error propagation caused by a Dead Reckoning (DR) approach. Autonomy and intelligence of the wheelchair is drastically increased by integrating within its navigation system both the knowledge about self localization and the environment (e.g. room identification). QR code landmarks are a suitable solution to store this information. This approach has been implemented and experimentally tested in an indoor scenario, demonstrating its feasibility and its good and reliable long-term performances.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234055

Autonomous assistive robot for respiratory rate detection and tracking
Ambient Assisted Living: Italian Forum 2013
Autore/i: Benetazzo, Flavia; Freddi, Alessandro; Monteriu', 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

Autonomous assistive robot for respiratory rate detection and tracking.
Ambient Assisted Living - Italian Forum 2013
Autore/i: Benetazzo, Flavia; Freddi, Alessandro; Monteriu', Andrea; V., Harmo; P., Kyrki; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204122

Actuator fault detection and isolation system for an hexacopter
Proceedings Conference on Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Prist, Mariorosario
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

Flight Control of a Quadrotor Vehicle Subsequent to a Rotor Failure
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
Autore/i: Alexander, Lanzon; Freddi, Alessandro; Longhi, Sauro
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

Slam-based autonomous wheelchair navigation system for AAL scenarios
Proceedings of the Mechatronic and Embedded Systems and Applications (MESA), 2014
Autore/i: Cavanini, Luca; Benetazzo, Flavia; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
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

Development of a smart LED lighting system: Rapid prototyping scenario
2014 IEEE 11th International Multi-Conference on Systems, Signals and Devices, SSD 2014
Autore/i: Calisse, Giovanni; Cimini, Gionata; Colombo, Luigi; Freddi, Alessandro; Ippoliti, Gianluca; Monteriu', Andrea; Pirro, Matteo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/150103

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

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

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

A smart lighting system for industrial and domestic use
2013 IEEE International Conference on Mechatronics, ICM 2013
Autore/i: Ciabattoni, Lucio; Freddi, Alessandro; Ippoliti, Gianluca; Marcantonio, Maurizio; Marchei, Davide; Monteriu', Andrea; Pirro, Matteo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/88272

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

A fault diagnosis and prognosis LED lighting system for increasing reliability in energy efficient buildings
IET Conference on Control and Automation 2013
Autore/i: Freddi, Alessandro; Ippoliti, Gianluca; Marcantonio, Maurizio; Marchei, Davide; Monteriu', Andrea; Pirro, Matteo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/102862

Actuator fault detection system for a remotely operated vehicle
Control Applications in Marine Systems, Volume# 9 | Part# 1
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
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

Model-based diagnosis and control of unmanned aerial vehicles: application to the quadrotor system
Autore/i: Freddi, Alessandro
Editore: Università Politecnica delle Marche
Classificazione: 8 Tesi di dottorato
Abstract: I quadrirotori sono piccoli velivoli sospinti da quattro rotori e tipicamente progettati per essere usati come velivoli autonomi, ovvero velivoli che possono compiere una missione senza l’aiuto diretto dell’uomo. Per poter volare autonomamente devono fare affidamento su: sensori che forniscono l’informazione riguardo l’ambiente circostante o gli stati interni del sistema, attuatori che realizzano fisicamente il moto e controllore che pilota gli attuatori in base alle misure e alla missione che deve essere portata a termine. Sia i sensori sia gli attuatori, tuttavia, possono essere soggetti a guasti ed `e importante che il velivolo possa essere controllato anche quando essi si verificano. La presente tesi cerca di risolvere due problemi inerenti la capacit`a del quadrirotore di gestire i guasti: individuazione di guasti sui sensori o sugli attuatori e sviluppo di una legge di controllo stabilizzante che permetta al velivolo di rimanere in volo anche in caso di perdita di un attuatore. L’individuazione dei guasti su sensori o attuatori `e implementata mediante lo sviluppo di un modulo diagnostico basato su un generatore di residui e un blocco di logica decisionale. Il generatore di residui si fonda su un osservatore non lineare (osservatore di Thau) che confronta i segnali da esso generati con quelli provenienti dai sensori. I segnali risultanti sono valutati dalla logica decisionale, che integra al suo interno una politica di soglie adattative. Grazie al modo in cui `e costruito, il modulo pu`o essere applicato ad un’ampia classe di veicoli autonomi e non solo al velivolo quadrirotore. La legge di controllo in caso di perdita di un attuatore `e sviluppata secondo un’architettura a doppio loop. Il controllore interno (basato su feedback linearization) stabilizza il moto di rollio e beccheggio e regola l’altezza ad un valore desiderato. Il controllore esterno manipola i valori desiderati degli angoli di rollio e beccheggio per poter controllare il posizionamento lungo il piano orizzontale. Ci`o pu`o essere fatto solo sacrificando la controllabilit`a dell’angolo di imbardata, che non compromette la sicurezza del velivolo, ma ne limita la capacit`a di puntare un sensore di visione nella direzione desiderata.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/242054

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

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; Monteriu', 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

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

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; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
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

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

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; Monteriu', Andrea; Freddi, Alessandro; Longhi, Sauro
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

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

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

A Model-Based Fault Diagnosis System for Unmanned Aerial Vehicles
Proceedings of the 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS'09)
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper addresses the problem of fault detection and isolation for helicopters used as Unmanned Aerial Vehicles. First a model for a reduced-scale helicopter is presented, then this model is linearized and used to design unknown input observers for fault diagnosis. The developed system is tested and analyzed. The results prove that it represents an effective solution to fault diagnosis problems in Unmanned Aerial Vehicles.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64480

A Model-Based Fault Diagnosis System for a Mini-Quadrotor
Proceedings of 7th Workshop on Advanced Control and Diagnosis
Autore/i: Freddi, Alessandro; Monteriu', Andrea; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B175 http://www.issi.uz.zgora.pl/ACD_2009/
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78170