Andrea BONCI

Pubblicazioni

Andrea BONCI

 

89 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
57 4 Contributo in Atti di Convegno (Proceeding)
26 1 Contributo su Rivista
4 2 Contributo in Volume
1 5 Altro
1 6 Brevetti
Anno
Risorse
2022
The Overall Labour Effectiveness to Improve Competitiveness and Productivity in Human-Centered Manufacturing
Lecture Notes in Mechanical Engineering
Autore/i: Bonci, A.; Stadnicka, D.; Longhi, S.
Editore: Springer Science and Business Media Deutschland GmbH
Luogo di pubblicazione: Gewerbestrasse 11, 6330 Cham, Switzerland
Classificazione: 2 Contributo in Volume
Abstract: The assessment of labour efficiency is important for manufacturing companies. Even though employees are a very important resource of the organization, at the same time they constitute a cost for the company. So, it is vital to make the most of their operational readiness. In this study, the possibilities of using the overall labour effectiveness indicator at the level of the entire enterprise are analysed. The revised OLE (ROLE) indicator is also discussed along with its use in the evaluation of overall production effectiveness (OTE) to address the monitoring and diagnosis of factory-level performance also considering workforce issues. It was also proposed to introduce a new LEAN-ROLE indicator, which not only assesses the effectiveness of human resources, but also identifies the percentage of work done by employees that creates value for the customer. By introducing digitization in enterprises and registering the work performed by employees in databases as well as the duration of these works, it is possible to measure the effectiveness of employees’ work on an ongoing basis. This will allow to identify weaknesses in a system. Then, after identifying the causes of decreased efficiency, appropriate actions can be introduced to improve employee involvement in value creation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/300791 Collegamento a IRIS

2022
METODO E SISTEMA PER DIAGNOSI DI GUASTI IN UN MACCHINARIO AZIONATO DA UN MOTORE ELETTRICO
Autore/i: Bonci, A.; Nabissi, G.
Classificazione: 6 Brevetti
Abstract: IT - La presente invenzione si riferisce ad un metodo e sistema per diagnosi di guasti in un macchinario azionato da un motore elettrico, in particolare per tipologie di guasti legati ad un sistema di trasmissione collegato ad un rotore del motore elettrico e anche per tipologie di guasti legati al circuito di potenza (inverter) del motore o al motore stesso. Metodo di diagnostica del guasto per una macchina azionata da un motore elettrico (1) comprendente le seguenti fasi: rilevare un segnale di corrente (s(t)) della corrente assorbita dal motore elettrico (1), filtrare il segnale di corrente (s(t)) mediante un filtro di inviluppo, decomposizione del segnale di corrente filtrato (S(t)) mediante una decomposizione wavelet (6), elaborazione di coefficienti del vettore di coefficienti (C) in modo da ottenere un indice (WX) confrontato con almeno un valore di soglia (WXT) identificato dai valori di riferimento (WXR) dell’indice calcolato sperimentalmente ed attivazione di un allarme (9) se il valore dell’indice (WX) calcolato con continuità è maggiore o uguale al valore di soglia (WXT).
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276857 Collegamento a IRIS

2022
Towards a formal model of computation for RMAS
Procedia Computer Science
Autore/i: Pirani, M.; Bonci, A.; Longhi, S.
Editore: Elsevier B.V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: RMAS is a multi-agent system architecture and associated model of computation that has been recently proposed as promising framework for autonomic computation and as viable implementation means for industrial agents. RMAS is proposed as an effective tool in the realization of the full-fledged concept of cyber-physical systems of systems, in agreement with new visions of the digital future and prominent standardization efforts like the IEC 61499. Currently, there is the need to establish a solid formalism for the model of computation of RMAS in order to harness and fully express its possibilities. In particular, this model should bridge the disciplines of control and systems engineering and computer science, whilst concerning artificial intelligence. This work proposes a first operational step in this direction. A formalism of the RMAS model of computation is established for the first time, and a complete definition of hierarchical nested levels of RMAS units is proposed. This work constitutes the ground for industry-ready technological instances of the RMAS architecture.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/300687 Collegamento a IRIS

2021
An Introductory Tutorial on Brain–Computer Interfaces and Their Applications
ELECTRONICS
Autore/i: Bonci, Andrea; Fiori, Simone; Higashi, Hiroshi; Tanaka, Toshihisa; Verdini, Federica
Classificazione: 1 Contributo su Rivista
Abstract: The prospect and potentiality of interfacing minds with machines has long captured human imagination. Recent advances in biomedical engineering, computer science, and neuroscience are making brain–computer interfaces a reality, paving the way to restoring and potentially augmenting human physical and mental capabilities. Applications of brain–computer interfaces are being explored in applications as diverse as security, lie detection, alertness monitoring, gaming, education, art, and human cognition augmentation. The present tutorial aims to survey the principal features and challenges of brain–computer interfaces (such as reliable acquisition of brain signals, filtering and processing of the acquired brainwaves, ethical and legal issues related to brain–computer interface (BCI), data privacy, and performance assessment) with special emphasis to biomedical engineering and automation engineering applications. The content of this paper is aimed at students, researchers, and practitioners to glimpse the multifaceted world of brain–computer interfacing.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/288220 Collegamento a IRIS

2021
Fault Diagnosis in a belt-drive system under non-stationary conditions. An industrial case study
Proceedings - 2021 IEEE Workshop on Electrical Machines Design, Control and Diagnosis, WEMDCD 2021
Autore/i: Bonci, A.; Longhi, S.; Nabissi, G.
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Fault Diagnosis (FD) is a fundamental step to estimate the Remaining Useful Life (RUL) of a component and then achieve a reliable Predictive Maintenance (PdM) system. The signal-based diagnosis methods received wide research attention since their implementation relies basically on the processing of signals. This is an interesting feature but at the same time it has some limitations. Indeed, the signal-based methodology are usually developed "ad hoc"for the particular application and do not show the same validity under different assumptions. In particular most of the applications deal with systems working in steady-state. Differently, in this paper, is proposed a solution to overcome limitations related to non-stationary conditions. The proposed approach is theoretically evaluated and then tested in an industrial packaging machinery. The results evidence the validity of the strategy to deal with signals acquired in systems which run continuously in non-stationary conditions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/300788 Collegamento a IRIS

2021
Motor Torque Analysis for diagnosis in PMSMs under non-stationary conditions
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Bonci, A.; Kermenov, R.; Longhi, S.; Nabissi, G.
Editore: IEEE - Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The field of Permanent Magnet Synchronous Motors (PMSMs) diagnosis is of research interest because widely used both in the Industrial environment and in electric vehicles. Amongst various Fault Detection (FD) techniques, the Motor Current Signature Analysis (MCSA) received lots of attention because some defecting frequencies may be monitored through the motor currents in case of steady-state functioning. This latter assumption is not always fulfilled, such e.g. in robotic systems driven by PMSMs, where constant speed assumption is unrealistic in most of the cases. Furthermore, MCSA in not suitable for systems working under non-stationary conditions without using advanced processing techniques. This work investigates the use of load torque information for motor diagnostic purposes under not constant speed assumption. Simulations and experimental results are presented regarding the use of the proposed Motor Torque Analysis (MTA) to overcome these limits.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/300790 Collegamento a IRIS

2021
Comparison of PMSMS Motor Current Signature Analysis and Motor Torque Analysis under Transient Conditions
IEEE International Conference on Industrial Informatics (INDIN)
Autore/i: Bonci, A.; Indri, M.; Kermenov, R.; Longhi, S.; Nabissi, G.
Editore: IEEE - Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: PMSMs are widely used in applications on electric vehicles, robotics and mechatronic systems of industrial machinery. Thus it becomes increasingly interesting to prevent their fault or malfunctioning with Predictive Maintenance (PdM). However, reaching this outcome could be difficult, especially if the stationary condition is not achieved and without additional sensors. This paper examines the use of a load torque observer based on Extended Kalman Filter for the diagnosis of electric drives working under non-stationary conditions. The proposed Motor Torque Analysis (MTA) is compared with the Motor Current Signature Analysis by evaluating their diagnostic capabilities under the assumed conditions. Finally, the results of bearing failure detection under non-stationary conditions are presented, highlighting the superior diagnostic capabilities of the MTA under such conditions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/300789 Collegamento a IRIS

2021
On the Synthesis of Holonic Management Trees
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Pirani, M.; Bonci, A.; Cervellieri, A.; Longhi, S.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents current research on automated synthesis in the context of the Holonic Management Tree (HMT) technique. HMT has been currently challenged in robotics, manufacturing, construction, but in general this technique concerns the management of complexity that emerges in cyber-physical systems context. Although effective, the technique lacks a systematic and possibly automatic process of construction of the HMT, which impinges with artificial and extended intelligence concerns. A methodological work-in-progress position for the automation of HMT synthesis is proposed for the first time, and as a first step for an enduring but disruptive research effort.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/300693 Collegamento a IRIS

2021
Human-Robot Perception in Industrial Environments: A Survey
SENSORS
Autore/i: Bonci, Andrea; Cen Cheng, Pangcheng David; Indri, Marina; Nabissi, Giacomo; Sibona, Fiorella
Classificazione: 1 Contributo su Rivista
Abstract: Perception capability assumes significant importance for human–robot interaction. The forthcoming industrial environments will require a high level of automation to be flexible and adaptive enough to comply with the increasingly faster and low-cost market demands. Autonomous and collaborative robots able to adapt to varying and dynamic conditions of the environment, including the presence of human beings, will have an ever-greater role in this context. However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues. This paper presents a survey on sensory equipment useful for human detection and action recognition in industrial environments. An overview of different sensors and perception techniques is presented. Various types of robotic systems commonly used in industry, such as fixed-base manipulators, collaborative robots, mobile robots and mobile manipulators, are considered, analyzing the most useful sensors and methods to perceive and react to the presence of human operators in industrial cooperative and collaborative applications. The paper also introduces two proofs of concept, developed by the authors for future collaborative robotic applications that benefit from enhanced capabilities of human perception and interaction. The first one concerns fixed-base collaborative robots, and proposes a solution for human safety in tasks requiring human collision avoidance or moving obstacles detection. The second one proposes a collaborative behavior implementable upon autonomous mobile robots, pursuing assigned tasks within an industrial space shared with human operators.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/288219 Collegamento a IRIS

2021
Innovative Approach in cyber physical system for smart building efficiency monitoring
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Bonci, A.; Cervellieri, A.; Longhi, S.; Pirani, M.
Editore: IEEE - Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Innovative technologies and comfort-energy efficiency measures are nowadays well known and widely spread, and the main issue is to identify those that will be proven to be the more effective and reliable in the long term. With such a variety of proposed measures, the decision-maker has to compensate environmental, energy, financial and social factors to reach the best possible solution that will ensure the maximization of the comfort and energy efficiency of smart buildings satisfying at the same time the building's final user/occupant/owner needs. A work-in-progress methodological position investigates the feasibility of applying new techniques to improve the comfort and energy efficiency in smart buildings so that the maximum possible number of alternative solutions and energy efficiency measures may be considered. A simple example is used to identify the potential strengths and weaknesses of the proposed approach and highlight potential problems that may arise.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/300692 Collegamento a IRIS

2020
IEC 61499 Device Management Model through the lenses of RMAS
Proceedings of the International Conference on Industry 4.0 and Smart Manufacturing (ISM)
Autore/i: Bonci, Andrea; Longhi, Sauro; Pirani, Massimiliano
Editore: Elsevier
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The RMAS (relational-model multi-agent-system) architecture has been proven as promising multi-agent architecture towards the introduction of autonomic intelligence for industrial agents. In particular, it has been proven also suitable for the enforcement of some parts of the reference model in the IEC 61499 standard for distributed adaptive automation and control systems, namely the Resource model and the Function Block model. In this paper the focus is extended to the Device Management model of the standard, in order to highlight how RMAS can express the essential self-* capabilities of autonomic industrial agents also in the context of this standard’s reference model. This step is considered major for the factual introduction of AI in industrial playground, with keen attention to a technology that guarantees the explainability, and so controllability and quality of the intelligent automation solutions for industry.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/286399 Collegamento a IRIS

2020
Dynamical obstacle avoidance in human-robot collaboration
I-RIM 2020
Autore/i: Callegari, Massimo; Palmieri, Giacomo; Palpacelli, Matteo Claudio; Bonci, Andrea; Cristina, Cristalli
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The trend toward collaborative robotics portends to a workshop layout where robots and humans share the workspace and collaborate in many operations, in a dynamical and unforeseeable scenario. In addition to dedicated hardware and design principles, collaborative robotics implies specific control strategies to ensure safety. In this sense, collision avoidance control techniques represent a powerful means of improving the safety and flexibility of robots. The paper presents a framework for motion planning and control of manipulators aimed at collision avoidance of static and dynamic obstacles. Algorithms are tested in simulation for a redundant collaborative robot (KUKA LBR iiwa)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/300759 Collegamento a IRIS

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

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

2020
Hard Real Time embedded solution for Execution Time analysis of non-linear control laws
25th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2020
Autore/i: Bonci, Andrea; Nabissi, Giacomo; Scala, GIUSEPPE ANTONIO
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In Soft Real-Time (SRT) or Hard Real-Time (HRT) applications, the behaviour of the computing system must be predictable at design phase because it impacts on the design itself. Nowadays, hardware architectures are able to provide higher performance and guarantee temporal determinism but few works investigate the computational effort required by control algorithms implementation. This preliminary work aims to be a first step towards a novel analysis of performances and Worst-Case Execution Time (WCET) which can be useful to compare different control techniques and for evaluating also the complexity of the algorithms. To this purpose, a mobile robot consisting of motorized cart-pendulum has been built and it has been equipped with an HRT hardware platform where a nonlinear State Dependent Riccati Equation (SDRE) technique has been implemented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/284700 Collegamento a IRIS

2020
System Thinking Approach for Digital Twin Analysis
2020 IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC)
Autore/i: Bianconi, Carlo; Bonci, Andrea; Monteriu', Andrea; Pirani, Massimiliano; Prist, Mariorosario; Taccari, Leonardo
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The importance of Digital Twins in research and industry is continuously increasing. Their applications, studied and implemented to date, confirm that they are a valuable tool in the evolution process from the traditional factory towards the Smart Factory, in the direction promoted by Industry 4.0. Different definitions of Digital Twin have been proposed by the scientific community with the aim of providing the one that could uniquely and consistently describe all the applications already featured. Such effort to create a unique definition of Digital Twin is very important since it may allow researchers to have guidelines for better understanding the different aspects of its main concepts. The present paper reports a systematic research on the state of the art, especially from recent literature, to show the main issues that could not allow univocal definition of Digital Twin. The aim of this work is to apply the principles of System Thinking to the definitions of Digital Twins already presented in literature. The result of this approach has made possible to represent the well-known concepts in a completely new conceptual framework allowing a potential strengthening of both the theoretical foundations and the tools with the aim to support the development of Digital Twins.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/284697 Collegamento a IRIS

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

2020
Symbiotic cyber-physical Kanban 4.0: an Approach for SMEs
2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
Autore/i: Stadnicka, Dorota; Bonci, Andrea; Lorenzoni, Emanuele; Dec, Grzegorz; Pirani, Massimiliano
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper discusses the problems of material and information flow in a complex product manufacturing process. It presents an ICT solution that augments Kanbans in order to enable flexible and pervasive control on state and delivery of material on workstations. The paper deliberates methods and tools that can be possibly applied in such production systems. The best-practices and modern technologies are taken into consideration in the context of small-medium enterprises (SMEs). It is assumed that important factors and constraints are: low costs, low instrumentations, and high flexibility. The complexity of products and the manufacturing systems makes the management and control process even more difficult. The deployment of distributed intelligence and decision support systems can facilitate the compliance with industrial standards and the migration towards the automation levels required by industry 4.0 also in SMEs.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/284698 Collegamento a IRIS

2020
Execution time of optimal controls in hard real time, a minimal execution time solution for nonlinear SDRE
IEEE ACCESS
Autore/i: Bonci, A.; Longhi, S.; Nabissi, G.; Scala, G. A.
Classificazione: 1 Contributo su Rivista
Abstract: Many engineering fields, such as automotive, aerospace, and the emerging challenges towards industry 4.0, have to deal with Real-Time (RT) or Hard Real Time (HRT) systems, where temporal constraints must be fulfilled, to avoid critical behaviours or unacceptable system failures. For this reason, estimation of code's Worst-Case Execution Time (WCET) has received lots attention because in RT systems a fundamental requirement is to guarantee at least a temporal upper bound of the code execution for avoiding any drawbacks. However, until now there is no approved method to compute extremely tight WCET. Nowadays, indeed, HRT requirements are solved via hardware, using multi-cores embedded boards that allow the computation of the deterministic Execution Time (ET). The availability of these embedded architectures has encouraged the designers to look towards more computationally demanding optimal control techniques for RT scenarios, and to compare and analyze performances also evaluating a tight WCET. However, this area still lacks deep investigations. This paper has the intent of analysing results regarding the choice between three of the most established optimal controls (LQR, MPC, SDRE), providing the first link between WCET analysis and control algorithms performances. Moreover, this work shows how it is also possible to obtain a minimal ET solution for the nonlinear SDRE controller. The results might be useful for future implementations and for coping with Industry 4.0 emerging challenges. Furthermore, this approach can be useful in control system engineering field, especially in the design stage for RT or HRT systems, where temporal bounds have to be fulfilled jointly with all the other application's specifications.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/284704 Collegamento a IRIS

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

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

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

2019
Holonic System for Real-Time Emergency Management in Buildings
Proceedings of 36th International Symposium on Automation and Robotics in Construction
Autore/i: Naticchia, B.; Messi, L.; Pirani, M.; Bonci, A.; Carbonari, A.; Tolve, L. C.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Emergency management can benefit from advanced information and communication technology (ICT), since it can support officers in charge of emergency management to deal with urgent decision within a really short deadline. Further enhancement can derive from the application of holonic systems, which typically deal with the unexpected. In fact, unexpected events may prevent the application of emergency plans, e. g. evacuation of people outside of a building in fire through a network of pre-determined paths. The holonic emergency management system, proposed in this paper, guarantees the shift to a contingent approach, leveraging the flexibility and adaptability to changing scenarios deriving from the holonic theory. Last but not least, the BIM integration provides all the building’s topological information. Such a technology can exploit general data to automatically detect unconventional ways out and arrange rescue operations in real-time. The developed system has been applied to the fire safety management of a large building in a university campus. The BIM model of the case study has been imported in a game environment where an unconventional pathfinding has been experienced.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/271350 Collegamento a IRIS

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

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

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

2019
A cyber-physical system approach for building efficiency monitoring
AUTOMATION IN CONSTRUCTION
Autore/i: Bonci, Andrea; Carbonari, Alessandro; Cucchiarelli, Alessandro; Messi, Leonardo; Pirani, Massimiliano; Vaccarini, Massimo
Classificazione: 1 Contributo su Rivista
Abstract: Digitalised models can play a key role in the management of building life-cycle. This paper focuses on the challenges connected to the operation phase of buildings, when the adoption of BIM can make information retrieval and management easier and more efficient. More specifically, a BIM-based cyber-physical system for the automated monitoring of buildings during their regular operation is proposed and tested by means of a customised simulator. The system automatically works out key performance indicators based on the overall throughput effectiveness (OTE) metric, assessing both the overall efficiency and the efficiency of every sub-system integrated in the building. Thus, assessments of the contribution of every sub-system to the operation of the building are performed in real-time. In addition, the metric proposed can help manage multi-objective real-time control. The system is self-reconfigurable thanks to the self-similarity assumption of the computational structure that is designed as a holarchy of holonic systems. The first application reported in this paper shows that when intelligence is embedded at both lower and higher levels, it is possible to generate information that is then used to update the digital model, developed as a BIM. As a result, the digital model becomes the mirror of the physical system and stores the actual performances recorded by the building to support facility managers in making decisions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263580 Collegamento a IRIS

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

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

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

2018
Collaborative intelligence cyber-physical system for the valorization and re-use of cultural heritage
JOURNAL OF INFORMATION TECHNOLOGY IN CONSTRUCTION
Autore/i: Bonci, Andrea; Clini, Paolo; Martin, Rafael; Pirani, Massimiliano; Quattrini, Ramona; Raikov, Alexander
Classificazione: 1 Contributo su Rivista
Abstract: This paper is a proposition of methodological and technological approaches that try to constitute a framework that introduces modern artificial intelligence (AI) technologies for decision-making in the adaptive reuse of cultural heritage (CH) processes. The research aims to accelerate and improve the quality of adaptive CH re-use. The complexity of the problem derives from some causes of different nature: lack of attention to this problem from the public administration and private investors; decision-making processes complicated by the need to connect with experts, located in different countries. Most professionals, related to the CH management, cannot access detailed data about already existing successful initiatives. The specific objective and goal of the research is the creation of an AI framework and eco-system for supporting the development and implementation of innovative business and governance models to fill up the investment gap in the adaptive re-use practices. The paper shortly describes the first steps for creating a platform designed and developed to assist and advice public entities, networked experts, private entrepreneurs and citizens in actions aiming at the valorisation of the historic and CH asset and its integration in different groups of countries to boost growth, job opportunities and social benefits, under overall sustainability constraints. The technical solutions here adopted are based on convergent methodology and networked expertise (e-expertise) technology, open data models and active knowledge extraction and processing, machine learning, collective intelligence, recommendation systems and predictive analytics, CH adaptive re-use, innovation business, and models and case-based reasoning methods. Examples of case studies giving the inception for the project components are given.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263725 Collegamento a IRIS

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

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

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

2018
Holonic Management Systems for Resilient Operation of Buildings
35th International Symposium on Automation and Robotics in Construction
Autore/i: Pirani, Massimiliano; Messi, Leonardo; Carbonari, Alessandro; Bonci, Andrea; Vaccarini, Massimo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Building management systems monitor and control building performances in real-time. Most control systems, which have been developed in the last decade, achieve the required performances relying on a centralised and hierarchical framework. In the regular operation phase, these systems are usually able to efficiently reach their goals, whereas they often fail to stick to pre-determined targets in the presence of unforeseen disturbances. As a matter of fact, traditional control systems suffer complex unforeseen scenarios that cannot be modelled by the analytics and knowledge integrated in these systems, because hierarchical systems strive to keep full control at any level. As an alternative, holonic management systems, which have been successfully applied in the manufacturing field, can tackle this type of drawbacks. The flexibility of their elementary units, the holons, makes it possible to avoid the rigid structure of hierarchical systems so as to respond quickly to disturbances and dynamically re-arrange their structure. In this paper, a first holonic computing structure is developed for indoor comfort management in an office room. The structure developed can drive both the operation management phase and the medium- and long-term measurement of performances. The former is implemented by means of a sequence of specific minimum cost actions which is based on the overall throughput effectiveness (OTE) metrics. The latter exploits the same OTE metrics to suggest corrective and improvement actions. Finally, OTE diagnoses are re-directed to a BIM model to support decision making for long-term improvement actions on the building facility.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263450 Collegamento a IRIS

2018
Mixed Reality Approach for the Management of Building Maintenance and Operation
35th International Symposium on Automation and Robotics in Construction
Autore/i: Naticchia, Berardo; Corneli, Alessandra; Carbonari, Alessandro; Bonci, Andrea; Pirani, Massimiliano
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Building Information Modelling (BIM) has been indicated as the right tool to provide the construction industry with the productivity boost that has been lacking in the last 40 years. This momentum finds its highest fulfilment in the support provided by BIM models to knowledge management and the automation of process. However, the management of information flow is still far from its automation breakthrough and, as far as operation and maintenance are concerned, knowledge about procedures is often incomplete. Moreover, processes are often do not undergo optimisation and the individual steps to be performed are not communicated, but in facility management (FM) the transmission of know-how is fundamental particularly because some operations are dangerous or risky. In this framework, Mixed Reality (MR) represents a powerful means to communicate the correct data concerning both geometric features to be considered and the standard procedure to be followed. The aim of this paper is to investigate the possibility of exploiting the benefits provided by these technologies to achieve automation in the transmission of information and optimisation of procedures, improving efficiency and productivity thanks to a better understanding of the operations to be carried out and the reduction of errors. With the support of a head-mounted display (HDM) device with a see-through screen capable of presenting 3D virtual objects, this research tries to combine information from a BIM model with reality to study the benefits for maintenance personnel.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263452 Collegamento a IRIS

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

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

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

2018
Integration of a Production Efficiency Tool with a General Robot Task Modeling Approach
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Indri, Marina; Trapani, Stefano; Bonci, Andrea; Pirani, Massimiliano
Editore: IEEE Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Although an industrial robot represents a higher class of machine, it is a part of a production system. The robot, regardless of its own complexity, can be represented by a set of actions that leads itself towards the achievement of production goals. In the present paper the robot actions will be modeled as a production system in order to manage and monitoring its actions toward a production target. This will allow an easier integration of the robot within the production process, as required by the new paradigms for the factories of the future.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263562 Collegamento a IRIS

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

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

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

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

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

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

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

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

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

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

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

2017
A Boat-Based Flying Drone to Monitor Coastlines and Render them in Augmented Reality
IEEE 59th International Symposium ELMAR-2017
Autore/i: Manzoli, Lorenzo; Dragoni, Aldo Franco; Bonci, Andrea; Sernani, Paolo; Pirani, Massimiliano; Falcionelli, Nicola
Editore: IEEE, Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This system adopts spherical photographs to map coastal areas and port entrances. It is an augmented reality (AR) application to be regarded as an aid in navigation during the night and/or in foggy weather conditions. Also, the system offers unique multimedia content which will be applied in other areas, such as monitoring illegal constructions along the coasts.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/248423 Collegamento a IRIS

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

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

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

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

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

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

2016
A database-centric approach for the modeling, simulation and control of cyberphysical systems in the factory of the future
IFAC-PAPERSONLINE
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The path towards Industrie 4.0, requires that factory automation problems cope with the cyber-physical system complexity and its challenges. Some practical experiences and literature in the field testify that the role of the database management systems is becoming central for control and automation technology in the new industrial scenario. This article proposes database-centric technology and architectures that seamlessly integrate networking, artificial intelligence and real-time control issues into a unified model of computing. The proposed methodology is also viable for the development of simulation and rapid prototyping tools for smart and advanced industrial automation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247024 Collegamento a IRIS

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

2016
In-Lab Drone’s Attitude Maneuvering Fluency Evaluation by a Gyroscopic Lurch Index
Recent Advances in Circuits, Systems, Signal Processing and Communications
Autore/i: Fiori, Simone; Sabino, Nicola; Bonci, Andrea
Editore: WSEAS Press
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The present paper reports on the current progress about the laboratory-based assessment of the fluency of attitude maneuvering of a quadcopter. The manuscript illustrates a laboratory-based data-acquisition setup and a mathematical data-processing algorithm to test a novel attitude maneuvering fluency estimation index termed geometric lurch. The geometric lurch index is defined in terms of angular variables’ values as returned by gyroscopic sensors that a quadcopter vehicle is equipped with. The results of several numerical tests, conducted on both synthetic and real-world gyroscopic signals, show that the geometric lurch index is fairly sensitive to the fluency of attitude maneuvering.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247023 Collegamento a IRIS

2016
New dynamic model for a Ballbot system
MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings
Autore/i: Bonci, Andrea
Editore: IEEE, Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A Ballbot is a self-balanced mobile robot designed for omnidirectional mobility. The structure self-balanced on a ball giving to the system only one contact point with the ground. In this paper the dynamical model of a Ballbot system is investigated in order to find a linearized model which is able to describe the three-dimensional dynamics of the mechatronic system by a simpler set of equations. Due to the system’s complexity, the equations of motion are often obtained by the energy method of Lagrange, they consist of a vast nonlinear ordinary differential equations (ODE), which are often numerically linearized for small perturbations. The present paper proposes to model the whole 3D dynamics of the Ballbot with the Newton-Euler formalism and Tait-Bryan angles in order to describe the model in terms of the system’s physical parameters without resorting to numeric solution. This physical modelling is introduced to allow the simplification of the dynamic motion control of the ballbot.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247030 Collegamento a IRIS

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

2015
Embedded system for a Ballbot robot
12th International Conference on Mechatronic and Embedded Systems and Applications
Autore/i: Bonci, Andrea; Pirani, Massimiliano; Rossi, Massimiliano; Gabbanini, Enrico Maria
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents an embedded system for a ballbot robotic platform, which is a balanced omnidirectional mobile robot that moves on a sphere. It provides a higher degree of maneuverability compared to the wheeled mobile robots. The robot balances it on a ball and gives to the system only one contact point with the ground. This allows to reduce the friction and the space needed by the system to turn around a point. This is a major feature for a mobile vehicle, considering that most of them rotate their whole body to obtain a change in direction. The proposed platform is self-contained with on-board sensing and computation, it uses only off-the-shelf components and is designed to perform maneuvers when operating in tight spaces as in the human environments. The proposed embedded system is based on a general pourpose embedded board equipped with a 32bit microcontroller which is able to manage all the basic tasks of this robotic platform: sensing, actuation, control and communication. The proposed system is described and initial experimental results are introduced, furthermore the challenges faced are presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229822 Collegamento a IRIS

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

2015
Nonlinear Second-Order Dynamical Systems on Riemannian Manifolds
International Conference on Modeling, Simulation and Visualization Methods
Autore/i: Fiori, Simone; Bonci, Andrea
Editore: CSREA Press
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Linear as well as non-linear mathematical systems that exhibit an oscillatory behavior are ubiquitous in sciences and engineering. Such mathematical systems have been used to model the behavior of biological structures, such as the pulsating contraction of cardiac cells, as well as the behavior of electrical and mechanical components. Chaotic oscillators are currently being used in the secure transmission of information. The state of such classical dynamical systems evolve in the Euclidean space R^n (typically, n=1,2,3). The current paper aims at proposing a principled mathematical technique to design second-order nonlinear dynamical systems over curved Riemannian manifolds and to discuss a numerical simulation framework that is compatible with the structure of such spaces.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/227816 Collegamento a IRIS

2014
Rapid prototyping of open source ordinary differential equations solver in distributed embedded control application
2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)
Autore/i: Bonci, Andrea; Simone, Imbrescia; Pirani, Massimiliano; Paolo, Ratini
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)
Abstract: This paper proposes a rapid prototyping framework based on open source tools for real-time solution of Ordinary Differential Equations (ODE) problems on embedded microcontrollers. A plug-in software for the deployment of ODE solvers, in C language, on embedded industrial environment is proposed. By means of C portability across different microcontrollers architectures, there is the possibility to give a considerable boost in rapid prototyping of mechatronics and complex embedded system applications. Some commercial softwares feature toolsets for the autogeneration of open C code, but they do not provide the translation of the ODE solvers’ routines for embedded systems. A key for open source software integration has been the adoption of an infrastructure based on a Database Management System (DBMS) on board of the embedded system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/205826 Collegamento a IRIS

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

2014
Modelling simulation and control of dynamic platform with several degree of freedom
2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)
Autore/i: Bonci, Andrea; DE AMICIS, Riccardo
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)
Abstract: This paper presents a dynamic platform instrument with a virtual reality simulator used for multi-discipline educational purposes. In control system theory there are a number of generic systems and methods which are used in all areas of industry and technology for educational purposes. This paper aims to explain these important systems application and methods in straightforward terms. The paper describes what makes a particular type of system/ method important, how it works and then how to control it. The control are performed using models of real and unstable systems. This includes the state of the art, a description of the proposed platform, the simulation tools and the results.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/205825 Collegamento a IRIS

2010
The Non Interacting Control Problem for Linear Parameter Varying Systems
4th IFAC Symposium on System Structure and Control SSC 2010
Autore/i: Perdon, ANNA MARIA; Bonci, Andrea
Luogo di pubblicazione: ANCONA
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47890 Collegamento a IRIS

2009
Video data validation by sonar measures for robot localization and environment feature estimation
ROBOTICA
Autore/i: Bonci, Andrea; Ippoliti, Gianluca; La Manna, Alessia; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, the robust robot localization problem with respect to uncertainties on environment features is formulated in a stochastic setting, and an extended Kalman filtering approach is proposed for the integration of odometric, video camera, and sonar measures. The environment is supposed to be only partially known, and a probabilistic method for sensor data fusion aimed at increasing the environment knowledge is considered.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50487 Collegamento a IRIS

2007
Unknown Inputs, Robust State Observation for Linear Parameter Varying Systems
European Control Conference
Autore/i: Conte, Giuseppe; Perdon, ANNA MARIA; Bonci, Andrea
Editore: ieee
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The problem of estimating the largest possible component of the state of a parameter dependent linear system in presence of unknown inputs is considered. Using a geometric approach and suitable defined invariant subspaces, that capture the concept of robustness with respect to parameter variation, a procedure for detecting the largest component of the state that may possibly be estimated together with a construction of the observer system and a technique for analyzing its asymptotic behavior is provided.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/44518 Collegamento a IRIS

2005
A numerical algorithm for carrying out "Whole building hourly analyses" on PCM containing buildings
Proceedings of XXXIII IAHS "Transforming Housing Environments Through Design"
Autore/i: Carbonari, Alessandro; DE GRASSI, Mario; Giretti, Alberto; Bonci, Andrea
Editore: Edited by: Andre de Villiers, Oktay Ural, Amira Osman
Luogo di pubblicazione: Pretoria
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52311 Collegamento a IRIS

2005
Sonar and video data fusion for robot localization and environment feature estimation
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Autore/i: Bonci, Andrea; Ippoliti, Gianluca; La Manna, Alessia; Longhi, Sauro; Sartini, Loris
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51455 Collegamento a IRIS

2005
Navigation system for a smart wheelchair
JOURNAL OF ZHEJIANG UNIVERSITY. SCIENCE A
Autore/i: Bonci, Andrea; Longhi, Sauro; Monteriu', Andrea; Vaccarini, Massimo
Classificazione: 1 Contributo su Rivista
Abstract: Recent results on the development of a navigation system for a smart wheelchair are presented in this paper. In order to reduce the development cost, a modular solution is designed by using commercial and low cost devices. The functionalities of the tracking control system are described. Experimental results of the proposed assistive system are also presented and discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/36584 Collegamento a IRIS

2005
A Bayesian Approach to the Hough Transform for Line Detection
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS
Autore/i: Bonci, Andrea; Leo, Tommaso; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper explains how to associate a rigorous probability value to the main straight line features extracted from a digital image. A Bayesian approach to the Hough Transform (HT)is considered. Under general conditions, it is shown that a probability measure is associated to each line extracted from the HT. The proposed method increments the HT accumulator in a probabilistic way: first calculating the uncertainty of each edge point in the image and then using a Bayesian probabilistic scheme for fusing the probability of each edge point and calculating the line feature probability.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53110 Collegamento a IRIS

2004
Motion Control of a Smart Mobile Manipulator
Proceedings of the IEEE International Conference on Intelligent Manipulation and Grasping (IMG'04))
Autore/i: Bonci, Andrea; Longhi, Sauro; Monteriu', Andrea; Vaccarini, Massimo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64470 Collegamento a IRIS

2004
Methods and Algorithms for Sensor Data Fusion Aimed at Improving the Autonomy of a Mobile Robot
Advances in Control of Articulated and Mobile Robots
Autore/i: Bonci, Andrea; Ippoliti, Gianluca; Ietto, Leopoldo; Leo, Tommaso; Longhi, Sauro
Editore: Springer-Verlag
Luogo di pubblicazione: BERLIN
Classificazione: 2 Contributo in Volume
Abstract: A basic requirement for an autonomous mobile robot is to localize itself with repect to a given coordinate system. In this regard two different operating conditions exist: structured and unstructured environment. The relative method and algorithms are strongly influenced by the a priori knowledge on the environment where the robot operates. If the environment is known, a proper multisensor system endowed with an efficient data fusion algorithm may provide a very accurate localization. In this chapter the localization problem is formulated in a stochastic setting and a Kalman filtering approach is proposed for the integration of odometric, gyrocope, sonar and video camera measures. If the environment is only partially known the localization algorithm need preliminary definition of suitable environment map. Different probabilistic methods for sensory data fusion aimed at increasing the environment knowledge are proposed and discussed.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51659 Collegamento a IRIS

2003
Sensor fusion in mobile robot: a Bayesian approach with real-time multiprocessor architecture
Proceedings of the European Conference on Mobile Robotis, Adam Borkowski (Ed)
Autore/i: Bonci, Andrea; Leo, Tommaso; Longhi, Sauro
Editore: ZTUREK Research-Scientific Inst.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B106
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65431 Collegamento a IRIS

2002
Ultrasonic and video data fusion for mobile robot navigation
Proceedings of the 10th IEEE Mediterranean Conference on Control and Automation - MED2002
Autore/i: Bonci, Andrea; Leo, Tommaso; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B100
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65415 Collegamento a IRIS

2002
A Bayesian approach to the Hough Transform for Video and Ultrasonic Data Fusion in Mobile Robot Navigation
Proceedings of the 2002 IEEE international Conference on Systems, Man and Cybernetics
Autore/i: Bonci, Andrea; G., Di Francesco; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B101
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65429 Collegamento a IRIS

2001
Un sistema di navigazione per carrozzine motorizzate: specifiche funzionali ed implementazione
Automazione 2001
Autore/i: Bonci, Andrea; Fioretti, Sandro; Leo, Tommaso; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/58326 Collegamento a IRIS

2001
Assistive robots: a model of dependable robots in human environments
Proceedings on 1st Joint Workshop on Technical Challenge for Dependable Robots in Human Environments, (IARP/IEEE-RAS 2001)
Autore/i: Bonci, Andrea; Fioretti, Sandro; Leo, Tommaso; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The current works on the area of assistive robots are presented in this paper. Assistive Technology is an emerging area where some robotic devices can be used to strengthen the residual abilities of individuals with motor disabilities or to substitute their missing function thus helping them to gain a level of independence at least in the activities of daily living. The design criteria and the results on the developed intelligent navigation systems for commercial wheelchairs are recalled. The aspects of security and operating robustness , which depend on the accurancy of environment knowledge, are also discussed. A methodology for improving on the accuracy of environment knowledge is introduced and analyzed. The proposed methodology is based on the multisensor fusion at medium level of information representation for ultrasonic range data and monocular visual data.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47887 Collegamento a IRIS

2001
Objectives for continuous education and lessons learnt by a pilot study
Autore/i: Leo, Tommaso; Fioretti, Sandro; Maurizi, M.; Bonci, Andrea; Verdini, Federica
Classificazione: 5 Altro
Abstract: Abstract
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/63595 Collegamento a IRIS

2000
Data fusion for visual and ultrasonic map-building
Proceedings of the 6th IFAC Symposium on Robot Control (SYROCO 2000)
Autore/i: Bonci, Andrea; Leo, Tommaso; Longhi, Sauro
Editore: Pergamon Press
Luogo di pubblicazione: Oxford
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B86
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65410 Collegamento a IRIS

1999
Real-time map building for mobile robots: experiments with sonar sensors
Robotics in Alpe-Adria-Danube region
Autore/i: Bonci, Andrea; Longhi, Sauro; F., Moscioni
Editore: Inst. of Automatic Control Enginneering, TUM
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B79
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65369 Collegamento a IRIS

1999
About visual and ultrasonic data fusion for real time map-building of mobile vehicles
Robotics in Alpe-Adria-Danube region
Autore/i: Bonci, Andrea; Leo, Tommaso; Longhi, Sauro
Luogo di pubblicazione: Inst. of Automatic Control Enginneering, TUM
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B78
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65368 Collegamento a IRIS

1999
Analisi dei risultati di uno studio multicentrico italiano su efficacia e tollerabilità di fluconazolo 100/mg die nel trattamento delle micosi cutanee.
GIORNALE ITALIANO DI DERMATOLOGIA E VENEREOLOGIA
Autore/i: Bossi, Guido; Cecchini, F; Bonci, Andrea; LICASTRO CICERO, R; Cainelli, T; Rozzoni, M; Cervetti, O; Forte, M; MARCHI R, De; Bossi, Guido; Offidani, Annamaria; Cellini, A; Simonetti, Oriana; Rebora, A; Guarrera, M; RON GIOLETTI, F; Santoianni, P; Scalvenzi, M; Califano, A; Virgili, Amedeo
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/34597 Collegamento a IRIS

1998
A MIMO discrete time observer for unicycle mobile vehicles
IFAC International Conference on Motion Control
Autore/i: Bonci, Andrea; Corradini, MARIA LETIZIA; Leo, Tommaso
Editore: IFAC Internationa Federation of Automatic Control
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: An asymptotic discrete-time, time-varying state observer for the dynamic model of a unicycle mobile vehicle is proposed. The observer is composed of two blocks, addressing separately the two subsystems constituting the vehicle. Such subsystems are: i) orientation subsystem; ii) position subsystem. This is allowed by a structural characteristic of the vehicle model. By imposing the dead-beat requirement to the orientation observer, whose evolution is independent of the other, convergence is ensured. Therefore the position observer can use exact orientation measurements after a short transient. The asymptotic stability of the two observers is proved.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47127 Collegamento a IRIS




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