580 pubblicazioni classificate nel seguente modo:

Special issue on advancements in ambient assisted living: integrating technology and human-centered design for enhancing user well-being and care
JOURNAL OF AMBIENT INTELLIGENCE AND HUMANIZED COMPUTING
Autore/i: Monteriu', A.; Freddi, A.; Longhi, S.
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/328853

Fault Tolerant Control for Tilted Hexarotors Under a Rotor Failure
IFAC-PapersOnLine
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu', A.
Editore: Elsevier B.V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper addresses the active fault tolerant control problem for a tilted hexarotor under both actuator faults and failures, modelled respectively as partial or total losses of effectiveness. A disturbance observer based control approach is adopted in order to estimate faults and failures, and cope with them at the control level. An inner-outer loop tracking control law is then designed which, thanks to the actuation properties of the hexarotor, does not require any reconfiguration neither in response to a fault nor failure. The control scheme is tested in simulation, with parameters of a real hexarotor and realistic sensor noise.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/326991

ROS 2 for enhancing perception and recognition in collaborative robots performing flexible tasks
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Bonci, A.; Di Biase, A.; Giannini, M. C.; Gaudeni, F.; Longhi, S.; Prist, M.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The advent of increasingly flexible and adaptive production processes will require equally flexible robotic collaboration. The forthcoming robotic applications must be able to self-adapt to different applications and scenarios and to handle frequent interaction with humans and dynamic environments. Environment perception, object recognition, and trajectory re-planning in a dynamic and changing environment, even with possible human interaction, are features that are not yet all simultaneously available in collaborative robots, and certainly not in industrial robots. This paper proposes some initial results of the authors' ongoing research on the development of a ROS2-based framework for industrial applications due to which a robotic manipulator equipped with a depth camera is able to have simultaneously perception, recognition and re-planning capabilities in a dynamic and changing environment. This framework is potentially applicable to various industrial robots and depth cameras; here, the first results of the experimental implementation on an Omron TM5-900 collaborative robot equipped with a fixed depth camera will be shown.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/326313

Data-Driven Adaptive Torque Allocation for Electric Vehicles
9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023
Autore/i: Cavanini, L.; Ferracuti, F.; Longhi, S.; Monteriu, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a preliminary study considering the design of an adaptive torque allocation policy for electric vehicles combining optimal control with data-driven techniques. The vehicle is equipped with four independent actuated wheels driven by electric motors. The policy aims to control the vehicle powertrain by allocating available power among motors to satisfy the driver control torque request and adjust torque allocated to different motors according to estimated wheels slip ratio change due to terrain varying conditions. A constrained optimal torque allocation algorithm is designed to distribute available power among wheels. In order to adjust the power allocation result, a data-driven adaptive policy is designed to adjust the control allocation parameters and the torque distribution reflecting wheel's operating conditions. The combination of torque allocation and data-driven adaptation policies permits the adjustment of the allocated power according to the wheel/road contact conditions. The algorithm has been tested and validated in simulation, showing the improvement given by the proposed approach compared with respect to the control system neglecting the data-driven adaptation of the torque allocation policy.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/325415

Robot Operating System 2 (ROS2)-Based Frameworks for Increasing Robot Autonomy: A Survey
APPLIED SCIENCES
Autore/i: Bonci, Andrea; Gaudeni, Francesco; Giannini, Maria Cristina; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: Future challenges in manufacturing will require automation systems with robots that are increasingly autonomous, flexible, and hopefully equipped with learning capabilities. The flexibility of production processes can be increased by using a combination of a flexible human worker and intelligent automation systems. The adoption of middleware software such as ROS2, the second generation of the Robot Operating System, can enable robots, automation systems, and humans to work together on tasks that require greater autonomy and flexibility. This paper has a twofold objective. Firstly, it provides an extensive review of existing literature on the features and tools currently provided by ROS2 and its main fields of application, in order to highlight the enabling aspects for the implementation of modular architectures to increase autonomy in industrial operations. Secondly, it shows how this is currently potentially feasible in ROS2 by proposing a possible high-level and modular architecture to increase autonomy in industrial operations. A proof of concept is also provided, where the ROS2-based framework is used to enable a cobot equipped with an external depth camera to perform a flexible pick-and-place task.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/327624

A Concept of an SME Focused Edge Computing Self-managing Cyber-physical System
MANAGEMENT AND PRODUCTION ENGINEERING REVIEW
Autore/i: Stadnicka, D.; Bonci, A.; Longhi, S.; Pirani, M.; Dec, G.
Classificazione: 1 Contributo su Rivista
Abstract: The dynamically changing environment forces companies to introduce changes in production processes and the need for employees to adapt quickly to new tasks. Therefore, it is expected to implement solutions to support employees. The system that will manage the work on a manufacturing line should work in real time to support the ongoing activities and, to be implemented in SMEs, must not be expensive. The authors identified important system components and expected functionalities. The methodology of the work is based on human-centered design. A concept of a cyber-physical system is proposed. The aim of the proposed edge computing-based system is to manage the work on the manufacturing line in which certain elements communicate with each other to achieve common goals. The paper presents what the system can consist of, how information and knowledge are managed in the system, and what can be the benefits for enterprises from its implementation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/326311

Redundancy Resolution Scheme for Manipulators Subject to Inequality Constraints
INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION, AND SYSTEMS
Autore/i: Pagnotta, D. P.; Monteriu', A.; Freddi, A.; Longhi, S.; Maciejewski, A.
Classificazione: 1 Contributo su Rivista
Abstract: The aim of this paper is the development of a redundancy resolution scheme for manipulators able to cope with kinematic constraints. In detail, the structure of the controller is of weighted least norm (WLN) type. The constraints are modeled as unilateral inequalities and can be general scalar functions (linear or nonlinear) of both the joint position and the joint velocity variables. In this work, a general procedure is proposed in order to include constraints of different types, namely functions of joint position or velocity only, functions of both joint position and velocity with a time dependent or time independent threshold. Simulations are performed in Matlab-Simulink environment and two tests are performed: the first employs a single 7-DOF arm, while in the second a dual-arm system composed of two 7-DOF manipulators is used. Results show that the proposed redundancy resolution scheme is capable of satisfying complex inequality constraints where other known methods fail.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/314012

Yaw rate-based PID control for lateral dynamics of autonomous vehicles, design and implementation
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Bonci, A.; Di Biase, A.; Giannini, M. C.; Longhi, S.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The desired path following for an autonomous vehicle can be achieved by ensuring the desired yaw rate response. In conventional methods the control of lateral vehicle dynamics by means of yaw rate-based PID controller has sometimes been investigated but rarely implemented. An autonomous driving system can therefore be achieved by designing a reliable yaw rate controller for the vehicle. In this paper, an autonomous vehicle control architecture and a steering angle PID controller based on the vehicle's yaw rate measured by a gyroscope is proposed and designed to handle most of the manoeuvres of an autonomous vehicle. It does not require measurements of lateral acceleration and lateral speed. The yaw rate reference is provided as an output by a higher-level system and used in the lower-level control loop. The validity of the proposed approach was tested experimentally on a 1:10 scale autonomous vehicle.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/326314

Anomaly Detection and Concept Drift Adaptation for Dynamic Systems: A General Method with Practical Implementation Using an Industrial Collaborative Robot
SENSORS
Autore/i: Kermenov, R.; Nabissi, G.; Longhi, S.; Bonci, A.
Classificazione: 1 Contributo su Rivista
Abstract: Industrial collaborative robots (cobots) are known for their ability to operate in dynamic environments to perform many different tasks (since they can be easily reprogrammed). Due to their features, they are largely used in flexible manufacturing processes. Since fault diagnosis methods are generally applied to systems where the working conditions are bounded, problems arise when defining condition monitoring architecture, in terms of setting absolute criteria for fault analysis and interpreting the meanings of detected values since working conditions may vary. The same cobot can be easily programmed to accomplish more than three or four tasks in a single working day. The extreme versatility of their use complicates the definition of strategies for detecting abnormal behavior. This is because any variation in working conditions can result in a different distribution of the acquired data stream. This phenomenon can be viewed as concept drift (CD). CD is defined as the change in data distribution that occurs in dynamically changing and nonstationary systems. Therefore, in this work, we propose an unsupervised anomaly detection (UAD) method that is capable of operating under CD. This solution aims to identify data changes coming from different working conditions (the concept drift) or a system degradation (failure) and, at the same time, can distinguish between the two cases. Additionally, once a concept drift is detected, the model can be adapted to the new conditions, thereby avoiding misinterpretation of the data. This paper concludes with a proof of concept (POC) that tests the proposed method on an industrial collaborative robot.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/315214

Robot Perception through Wearable Sensors: Decoding Grasping for Human-Robot Hand-Over
2022 I-RIM Conference
Autore/i: Bonci, Andrea; Burattini, Laura; Fioretti, Sandro; Giannini, MARIA CRISTINA; Longhi, Sauro; Mengarelli, Alessandro; Tigrini, Andrea; Verdini, Federica
Editore: I-RIM
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Human-robot interaction represents the cornerstone for the full development of Industry 4.0 and 5.0 paradigms, that rely on this cooperation in order to develop more efficient and flexible production lines. In this context, the human-robot handover plays a crucial role and many approaches were introduced to plan and control this task, including the less investigated decoding of human muscles activity. Hence, the design of reliable myoelectric human-robot interfaces is a point of primary interest. This paper investigates the use of a wearable device, i.e. an armband, for achieving a robust detection of several human grasping gestures. An evaluation of the most useful features, belonging to three different computational domains, is also proposed. Outcomes showed that high recognition performance can be achieved with limited computational burden, which is crucial when dealing with real-time demands in collaborative task.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/315772

Fault Tolerant Control of a Variable Pitch Quadrotor
15th European Workshop on Advanced Control and Diagnosis (ACD 2019)
Autore/i: Felicetti, Riccardo; Baldini, Alessandro; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Editore: Springer
Classificazione: 2 Contributo in Volume
Abstract: In this paper, we solve the fault tolerant tracking problem for a variable pitch quadrotor. Following the Disturbance Observer Based Control design paradigm, we face the observation problem for the blade pitch, and consequently the related fault and failure diagnosis problems. The control allocation algorithm solves the optimal redistribution problem of the control effort among the propellers in case of actuation failure. The optimization problem takes into account the energy consumption, the health condition of the actuators and the presence of input constraints, such as saturation and rate of change limits. In particular, we face the specific problem of lock-in-place servo failures, which reduce the number of the control actions in the system. Indeed, together with a fault detection and isolation module, lock-in-place servo failures can be managed in the control allocation algorithm while keeping the tracking capabilities. The proposed optimal fault tolerant accommodation algorithm can be coupled with most of the nonlinear control laws commonly applied to conventional multirotor systems. Numerical simulations with noise and constraints show the capability of the scheme to handle this class of failures.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/306214

Predictive Maintenance of Industrial Equipment using Deep Learning: from sensory data to remaining useful life estimation
2022 IEEE International Conference on Metrology for Extended Reality, Artificial Intelligence and Neural Engineering (MetroXRAINE)
Autore/i: Nchekwube, David.; Ferracuti, Francesco; Freddi, Alessandro; Iarlori, Sabrina; Longhi, Sauro; Monteriu, Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/309936

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

Fault Tolerant Control for Remotely Operated Vehicles with Thruster Faults using Nonlinear Disturbance Observers
IFAC-PapersOnLine
Autore/i: Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper, a disturbance observer based control strategy is developed to provide fault tolerance to thruster faults for a remotely operated vehicle. The scheme relies on the vehicle’s position, orientation and velocity information only, without the need for additional measurements from the thrusters such as voltage, current, and rotation speed. Because the system is over-actuated, a bank of observers is designed for purposes of fault detection and isolation. A nonlinear disturbance observer is designed to restructure itself, according to the fault isolation outcome, to estimate the fault magnitude. The fault estimation is finally exploited by the control law using an active fault tolerant control strategy. The solution is designed for the cases where at most one faulty thruster is expected. The fault tolerant control strategy is tested in simulation, where a severe thruster fault is injected.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/309954

Actuator fault tolerant control via active fault diagnosis for a remotely operated vehicle
IFAC-PapersOnLine - Part of special issue: 11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2022
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu', A.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/306217

ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots
APPLIED SCIENCES
Autore/i: Nabissi, G.; Longhi, S.; Bonci, A.
Classificazione: 1 Contributo su Rivista
Abstract: Featured Application: This work aimed to enhance the current state of the art regarding the Condition Monitoring of industrial collaborative manipulators providing a general architecture which can be used in many different industrial scenarios. This solution is helpful in overcoming current limits regarding the definition of algorithms for the automatic detection of failures in collaborative robots working on flexible manufacturing. The Condition Monitoring (CM) of industrial collaborative robots (cobots) has the potential to decrease downtimes in highly automated production systems. However, in such complex systems, defining a strategy for effective CM and automatically detecting failures is not straightforward. In this paper, common issues related to the application of CM to collaborative manipulators are first introduced, discussed, and then, a solution based on the Robot Operating System (ROS) is proposed. The content of this document is highly oriented towards applied research and the novelty of this work mainly lies in the proposed CM architecture, while the methodology chosen to assess the manipulator’s health is based on previous research content. The CM architecture developed and the relative strategy used to process data are useful for the definition of algorithms for the automatic detection of failures. The approach is based on data labeling and indexing and aims to extract comparable data units to easily detect possible failure. The end of this paper is provided with a proof of concept (PoC) applied to an industrial collaborative manipulator where the proposed CM strategy has been implemented and tested in a real application scenario. Finally, it is shown how the proposed methodology enables the possibility of defining standard Health Indicators (HIs) to detect joint anomalies using torque information even under a highly dynamic and non-stationary environmental conditions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/315213

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

Hexarotor Fault Tolerant Control Using a Bank of Disturbance Observers
2022 International Conference on Unmanned Aircraft Systems (ICUAS)
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu', A.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes the design of an actuator fault tolerant control scheme for a hexagon shaped multirotor. The approach relies on the so called disturbance observer based control. First, a fault isolation module, based on a bank of observers, is designed in order to locate a fault in the over actuated multirotor system. Then, a set of disturbance observers provides the fault estimation, leading to an autoconfigurable switching scheme. Finally, the fault estimation is used at the control level to mitigate the effects of the fault. The design is discussed for up two possible simultaneous faults, and simulation results confirm that the designed scheme can provide fault tolerant capabilities to a hexarotor system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/306215

Neuromuscular Control Modelling of Human Perturbed Posture Through Piecewise Affine Autoregressive With Exogenous Input Models
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
Autore/i: Tigrini, A.; Verdini, F.; Maiolatesi, M.; Monteriu', A.; Ferracuti, F.; Fioretti, S.; Longhi, S.; Mengarelli, A.
Classificazione: 1 Contributo su Rivista
Abstract: In this study, the neuromuscular control modeling of the perturbed human upright stance is assessed through piecewise affine autoregressive with exogenous input (PWARX) models. Ten healthy subjects underwent an experimental protocol where visual deprivation and cognitive load are applied to evaluate whether PWARX can be used for modeling the role of the central nervous system (CNS) in balance maintenance in different conditions. Balance maintenance is modeled as a single-link inverted pendulum; and kinematic, dynamic, and electromyography (EMG) data are used to fit the PWARX models of the CNS activity. Models are trained on 70% and tested on the 30% of unseen data belonging to the remaining dataset. The models are able to capture which factors the CNS is subjected to, showing a fitting accuracy higher than 90% for each experimental condition. The models present a switch between two different control dynamics, coherent with the physiological response to a sudden balance perturbation and mirrored by the data-driven lag selection for data time series. The outcomes of this study indicate that hybrid postural control policies, yet investigated for unperturbed stance, could be an appropriate motor control paradigm when balance maintenance undergoes external disruption.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/295424

Modeling and Control of a Telescopic Quadrotor Using Disturbance Observer Based Control
2022 30th Mediterranean Conference on Control and Automation (MED)
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu', A.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Morphing multirotors are characterized by the capability to modify their shape during the flight, in order to negotiate narrow gaps without the need for miniaturization, thus preserving flight time and payload. In this paper, we propose a mathematical model for a morphing quadrotor characterized by telescopic arms: as extendable arms move, the center of mass position changes, as well as the inertia of the vehicle. Then, we address the tracking control problem of the telescopic quadrotor under external additive disturbances (e.g., wind), following the disturbance observer based control approach. The control scheme consists in an inner/outer loop structure, where both loops interact with a nonlinear disturbance observer. Closed loop performances are analyzed and the control scheme is validated through a realistic numerical simulation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/306216

Machine learning for monitoring and predictive maintenance of cutting tool wear for clean-cut machining machines
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Autore/i: Bonci, A.; Di Biase, A.; Dragoni, Aldo Franco; Longhi, S.; Sernani, P.; Zega, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper focuses on the study and development of learning algorithms oriented to wear classification and predictive maintenance (PdM) of the cutting tool (CT) of a clamping machine for producing structural steel bars. While several works dedicated to CTs for turning and milling operations, or in general for metal removal operations, also known as subtractive manufacturing processes, can be found in the literature, the phenomena related to cutting with a cutting knife have not been widely treated in the literature. This article intends to focus on the analysis of the latter problem. The objective is to estimate the wear of the CT, a critical component of the steel bar cutting machine. The SVM classifiers were therefore used to classify the wear. For the predictive maintenance purpose, two algorithms were implemented for the prediction of the remaining service life, based on the Degradation Model and the Similarity Model respectively; in the first method, a prediction and state update function were used, while in the second method, a Long Short-Term Memory (LSTM) Neural Network (NN) was used.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/315210

Optimal Fault Tolerant Error Governor for PID Controllers
INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION, AND SYSTEMS
Autore/i: Cavanini, L.; Ferracuti, F.; Longhi, S.; Monteriu', A.
Classificazione: 1 Contributo su Rivista
Abstract: The Error Governor (EG) paradigm considers the issue of dynamically changing the error which drives a feedback controller featured by bounded control action magnitude to prevent the actuators’ saturation and to avoid the slow wind-up effects due to integrator or slow dynamics. Fault Tolerant (FT) policies are control methods permitting to mitigate the effect of faults occurring on driven actuators by modifying the structure of the controller which provides the reference signal for such actuators. In this paper, a FT policy based on an optimal EG approach is proposed. The policy, termed Fault-Tolerant Error Governor (FT-EG), permits to introduce a FT action in a closed-loop system driven by PID controllers neglecting changes in the controller structure and, further, the wind-up issue given by nominal actuator saturation. The FT-EG is based on the solution of a constrained optimization problem and a computationally efficient version of the algorithm is presented. An analysis of control performance and the computational burden is provided, comparing in simulation studies the optimal FT-EG scheme performance with respect to control results provided by the baseline EG policy and saturated PID controller in the fault-free and the faulty scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/301175

Ambient Assisted Living: Italian Forum 2019
LECTURE NOTES IN ELECTRICAL ENGINEERING
Autore/i: Monteriu', Andrea; Freddi, Alessandro; Longhi, Sauro
Editore: Springer International Publishing
Classificazione: 3 Libro
Abstract: This book documents the state of the art in the field of ambient assisted living (AAL), highlighting technologies and services which aim to improve health and quality of life, while promoting active aging. The coverage is wide ranging, with topical sections devoted to human monitoring, smart living services, biomedical and robotic solutions, including different case studies and real-world examples where assistive technologies are successfully applied. The book comprises a selection of the best, refereed papers presented at the 10th Italian Forum on Ambient Assisted Living (ForItAAL), held in Ancona, Italy, in June 2019, which represents the annual event that involves the Ambient Assisted Living Italian Association and brought together researchers, technology teams, policy makers, and stake-holders. Readers will find that the expert contributions offer clear insights into the ways in which the most recent exciting advances may be expected to assist in addressing the needs of the elderly and those with chronic conditions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/289262

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

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

Towards Sustainable Models of Computation for Artificial Intelligence in Cyber-Physical Systems
IECON Proceedings (Industrial Electronics Conference)
Autore/i: Pirani, M.; Dragoni, A. F.; Longhi, S.
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper confronts with a reflection about a deep problem in computational models for cyber-physical systems (CPS). The problem arises in the contact between digital computing and the physical realm, and affects heavily the design, modeling, and implementation of CPS. Problems are exacerbated by the introduction of artificial intelligence and autonomy in industrial applications that have to meet sustainability of solutions, both in technical and societal sense. After a brief review, a new perspective and position on the future of sustainable CPS is addressed, and a pragmatic research path is presented. The RMAS (Relational-model Multi-Agent System) architecture is proposed as a test framework for the deep integration of real-world semantics into the advancements brought about by the digital transformation wave.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/293463

Disturbance Observer Based Fault Tolerant Control for Tilted Hexarotors
2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu', A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Tilted multirotors have superior redundancy and tracking capabilities over conventional multirotors with coplanar and collinear rotors. As such, they can potentially cope with actuator faults while still achieving tracking in both position and attitude. In this paper, the tracking fault tolerant control problem for a tilted hexarotor is addressed. Actuator partial loss of effectiveness is treated as a multiplicative fault, and the design approach is that of the disturbance observer based control. A feedback linearization based composite controller is then proposed for the faults accommodation. Simulation results show that the proposed active fault tolerant control scheme is able to cope with actuator faults.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/291647

Preface
Lecture Notes in Electrical Engineering, Ambient Assisted Living: Italian Forum 2019
Autore/i: Monteriu', A.; Freddi, A.; Longhi, S.
Editore: Springer Science and Business Media Deutschland GmbH
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/289264

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

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

Human-in-the-Loop Approach to Safe Navigation of a Smart Wheelchair via Brain Computer Interface
Lecture Notes in Electrical Engineering
Autore/i: Ciabattoni, L.; Ferracuti, F.; Freddi, A.; Iarlori, S.; Longhi, S.; Monteriu', A.
Editore: Springer Science and Business Media Deutschland GmbH
Classificazione: 2 Contributo in Volume
Abstract: Assistive robots operate in complex environments and in presence of human beings, as such they are influenced by several factors which may lead to undesired outcomes: wrong sensor readings, unexpected environmental conditions or algorithmic errors represent just few examples. When the safety of the user must be guaranteed, a possible solution is to rely on a human-in-the-loop approach, e.g. to monitor if the robot performs a wrong action or environmental conditions affect safety during the interaction, and provide a feedback accordingly. The proposed work presents a human supervised smart wheelchair, i.e. an electric powered wheelchair with semiautonomous navigation capabilities of elaborating a path planning, whose user is equipped with a Brain Computer Interface (BCI) to provide safety feedbacks. During the wheelchair navigation towards a desired destination in an indoor scenario, possible problems (e.g. obstacles) along the trajectory cause the generation of error-related potentials signals (ErrPs) when noticed by the user. These signals are captured by the interface and are used to provide a feedback to the navigation task, in order to preserve safety and avoiding possible navigation issues modifying the trajectory planning.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/289263

Augmenting robot intelligence via EEG signals to avoid trajectory planning mistakes of a smart wheelchair
JOURNAL OF AMBIENT INTELLIGENCE AND HUMANIZED COMPUTING
Autore/i: Ferracuti, F.; Freddi, A.; Iarlori, S.; Longhi, S.; Monteriu', A.; Porcaro, C.
Classificazione: 1 Contributo su Rivista
Abstract: Assistive robots operate in complex environments and in presence of human beings, but the interaction between them can be affected by several factors, which may lead to undesired outcomes: wrong sensor readings, unexpected environmental conditions, or algorithmic errors represent just a few examples of the possible scenarios. When the safety of the user is not only an option but must be guaranteed, a feasible solution is to rely on a human-in-the-loop approach, e.g., to monitor if the robot performs a wrong action during a task execution or environmental conditions affect safety during the human-robot interaction, and provide a feedback accordingly. The present paper proposes a human-in-the-loop framework to enable safe autonomous navigation of an electric powered and sensorized (smart) wheelchair. During the wheelchair navigation towards a desired destination in an indoor scenario, possible problems (e.g. obstacles) along the trajectory cause the generation of electroencephalography (EEG) potentials when noticed by the user. These potentials can be used as additional inputs to the navigation algorithm in order to modify the trajectory planning and preserve safety. The framework has been preliminarily tested by using a wheelchair simulator implemented in ROS and Gazebo environments: EEG signals from a benchmark known in the literature were classified, passed to a custom simulation node, and made available to the navigation stack to perform obstacle avoidance.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/290315

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

Assistive Robot for Mobility Enhancement of Impaired Students for Barrier-Free Education: A Proof of Concept
Lecture Notes in Networks and Systems
Autore/i: Freddi, A.; Giaconi, C.; Iarlori, S.; Longhi, S.; Monteriu', A.; Proietti Pagnotta, D.
Editore: Springer Science and Business Media Deutschland GmbH
Classificazione: 2 Contributo in Volume
Abstract: Smart wheelchairs are in the category of assistive robots, which interact physically and/or non-physically with people with physical disabilities to extend their autonomy. Smart wheelchairs are assistive robots that enhance mobility, and can be especially useful for improving access to university premises. This paper proposes a smart wheelchair that can be integrated with an academic management system to enable students who have serious leg problems and cannot walk on their own to reach any academic building or room on a university campus autonomously. The proposed smart wheelchair receives information from the academic management system about the spaces on campus, the lesson schedule, the office hours of lecturers, and so on. Students can select the desired task from the user interface. The smart wheelchair can then guide the student autonomously to the desired point of interest, while planning the best barrier-free route inside the campus/building and, simultaneously, avoiding fixed and moving obstacles. The assistive robot has localization and navigation capabilities, which allow students to move about campus freely and autonomously, and benefit from a barrier-free education.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/294635

Actuator Fault Tolerant Control of Variable Pitch Quadrotor Vehicles
21th IFAC World Congress
Autore/i: Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Variable pitch quadrotors can experience actuation faults and failures of two main types: one type related to the rotor system and the other one related to the blade pitch servo. In this paper, we face the fault tolerant attitude tracking problem for a variable pitch quadrotor, in case of partial loss of effectiveness of the rotor system or lock-in-place of the blade pitch servo. The proposed solution is based on the combination of the Disturbance Observer Based Control design paradigm together with that of Active Fault Diagnosis. In detail, an observer is designed for estimating the thrust produced by each rotor. An active diagnosis scheme is adopted to discriminate which fault/failure is affecting the system. Finally, a control allocation algorithm solves the optimal redistribution problem of the control effort among the rotors, subject to different constraints. The proposed overall optimal fault tolerant control scheme can be coupled with most of the nonlinear control laws commonly applied to conventional, fixed pitch, quadrotor systems. Numerical simulations show the capability of the proposed scheme to handle both loss of effectiveness of the rotor system or lock-in-place of the blade pitch servo.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/289741

Development and experimental validation of algorithms for human–robot interaction in simulated and real scenarios
JOURNAL OF AMBIENT INTELLIGENCE AND HUMANIZED COMPUTING
Autore/i: Freddi, A.; Iarlori, S.; Longhi, S.; Monteriù, A.
Classificazione: 1 Contributo su Rivista
Abstract: The development of robots, which can safely and effectively interact with people and assist them in structured environments, is an open research problem whose importance has been growing rapidly in the last years. Indeed working in shared environments with human beings, these robots require new ways to achieve human–robot interaction and cooperation. This work presents an approach for performing human–robot interaction by means of robotic manipulators. The interaction is composed by three main steps, namely the selection, the recognition and the grasping of an object. The object selection is recorded on the base of a gesture execution, realized by the user in front of a RGB-D camera and associated to each particular object. The object recognition is achieved by means of the RGB cameras mounted on the two manipulator arms, which send the workspace information to a specific classifier. With the aim of realizing the grasping step, the object position and orientation are extracted in order to correctly rotate the gripper according to the object on the desk in front of the robot. The final goal is to release the grasped object on the hand of the user standing in front of the desk. This system could support people with limited motor skills who are not able to get an object on their own, playing an important role in structured assistive and smart environments, thus promoting the human–robot interaction in activity of daily living.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/272954

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

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

Cyber-physical manufacturing systems: An architecture for sensor integration, production line simulation and cloud services
ACTA IMEKO
Autore/i: Prist, Mariorosario; Monteriu', Andrea; Pallotta, Emanuele; Cicconi, Paolo; Freddi, Alessandro; Giuggioloni, Federico; Caizer, Eduard; Verdini, Carlo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The pillars of Industry 4.0 require the integration of a modern smart factory, data storage in the Cloud, access to the Cloud for data analytics, and information sharing at the software level for simulation and hardware-in-the-loop (HIL) capabilities. The resulting cyber-physical system (CPS) is often termed the cyber-physical manufacturing system, and it has become crucial to cope with this increased system complexity and to attain the desired performances. However, since a great number of old production systems are based on monolithic architectures with limited external communication ports and reduced local computational capabilities, it is difficult to ensure such production lines are compliant with the Industry 4.0 pillars. A wireless sensor network is one solution for the smart connection of a production line to a CPS elaborating data through cloud computing. The scope of this research work lies in developing a modular software architecture based on the open service gateway initiative framework, which is able to seamlessly integrate both hardware and software wireless sensors, send data into the Cloud for further data analysis and enable both HIL and cloud computing capabilities. The CPS architecture was initially tested using HIL tools before it was deployed within a real manufacturing line for data collection and analysis over a period of two months.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/286215

Preface
The First Outstanding 50 Years of "Universita Politecnica delle Marche": Research Achievements in Life Sciences
Autore/i: Longhi, S.; Monteriu', A.; Freddi, A.; Aquilanti, L.; Ceravolo, M. G.; Carnevali, O.; Giordano, M.; Moroncini, G.
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283639

Foreword
Fault Diagnosis and Fault-tolerant Control of Robotic and Autonomous Systems
Autore/i: Monteriu', Andrea; Freddi, Alessandro; Longhi, Sauro
Editore: The Institution of Engineering and Technology (IET)
Luogo di pubblicazione: London
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/288315

Actuator Fault-Tolerant Control Architecture for Multirotor Vehicles in Presence of Disturbances
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.
Classificazione: 1 Contributo su Rivista
Abstract: In this article we present an actuator fault-tolerant control architecture for the attitude and altitude tracking problem of multirotor aircrafts, under the effects of unknown drag coefficients and external wind. The tracking problem is faced by splitting it into two sub-problems, namely control law and control allocation. The control law is designed in terms of desired forces and moments which should act on the system, it does permit to exploit possible estimations of the disturbances acting on the vehicle and does not depend on the multirotor configuration. The control allocation, instead, optimally solves the redistribution of the control efforts among the motors according to the specific multirotor configuration, moreover it can actively cope with actuator faults whenever their estimations are available. Numerical simulations based on realistic scenarios confirm that the control architecture permits to solve the attitude and altitude tracking problem, despite the effects of faults and disturbances on the system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/275398

Fault Diagnosis and Fault-tolerant Control of Robotic and Autonomous Systems
Control, Robotics and Sensors
Autore/i: Monteriu', Andrea; Freddi, Alessandro; Longhi, Sauro
Editore: The Institution of Engineering and Technology (IET)
Luogo di pubblicazione: London
Classificazione: 3 Libro
Abstract: Robotic systems have experienced exponential growth thanks to their incredible adaptability. Modern robots require an increasing level of autonomy, safety and reliability. This book addresses the challenges of increasing and ensuring reliability and safety of modern robotic and autonomous systems. The book provides an overview of research in this field to-date, and addresses advanced topics including fault diagnosis and fault-tolerant control, and the challenging technologies and applications in industrial robotics, robotic manipulators, mobile robots, and autonomous and semi-autonomous vehicles. Chapters cover the following topics: fault diagnosis and fault-tolerant control of unmanned aerial vehicles; control techniques to deal with the damage of a quadrotor propeller; observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault; an unknown input observer based framework for fault and icing detection and accommodations in overactuated unmanned aerial vehicles; actuator fault tolerance for a WAM-V catamaran with azimuth thrusters; fault-tolerant control of a service robot; distributed fault detection and isolation strategy for a team of cooperative mobile manipulators; nonlinear optimal control for aerial robotic manipulators; fault diagnosis and fault-tolerant control techniques for aircraft Systems; fault-tolerant trajectory tracking control of in-wheel motor vehicles with energy efficient steering and torque distribution; nullspace-based input reconfiguration architecture for over-actuated aerial vehicles; data-driven approaches to fault-tolerant control of industrial robotic systems.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/288304

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

LS-SVM for LPV-ARX Identification: Efficient Online Update by Low-Rank Matrix Approximation
2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Autore/i: Cavanini, L.; Ferracuti, F.; Longhi, S.; Monteriu', A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Least-Squares Support Vector Machine (LS-SVM) is a promising approach to data-driven identification of Linear Parameter-Varying (LPV) models. As for other data-driven methods, the performance of the LS-SVM model identification method is strictly related to data available off-line for training the algorithm. Further, this method does not consider the possibility to learn from on-line data, or at least this is not possible in a computationally efficient way. These aspects limit the possibility to exploit the features of the algorithm in real-world applications. This paper presents an online updating procedure of LPV-ARX (AutoRegressive with eXogenous input) model based on the Low-Rank (LR) matrix approximation aided to overcome these limits. The proposed method permits to improve the base of knowledge of the provided LS-SVM by introducing the possibility to learn from on-line data, neglecting to perform the time-expensive training phase, such that the proposed approach is suitable for on-line execution. In order to further limit the computational cost and the storage memory related to the on-line learning feature, the proposed approach permits to maintain the original algorithm requirements by introducing a forgetting method able to neglect less important data. The performance of the proposed solution has been evaluate considering as case study a Spark-Ignited (SI) aircraft engine system identification.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/287284

Online Fault Detection: A Smart Approach for Industry 4.0
2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Proceedings
Autore/i: Prist, Mariorosario; Monteriù, Andrea; Freddi, Alessandro; Cicconi, Paolo; Giuggioloni, Federico; Caizer, Eduard; Verdini, Carlo; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The fourth industrial age takes the manufacturing factory to a new level by introducing smart, extendible, flexible, modular and customized mass production technologies. Production lines or machines need to be integrated at the management level to be industry 4.0 compliant: in this way they can create and optimize a customer-oriented production, while constantly maintaining good performance conditions. In this context, one of the main challenges is the possibility to detect faults as fast as possible, to accurately diagnose those faults which can negatively affect the overall production cycle, and finally address them before it is too late. Due to the great importance that electric motors play in this context, an online smart algorithm for fault detection in electric motors is proposed in this paper. The effectiveness of the proposed method has been validated by applying it on an experimental benchmark, where the results show that the method is accurate and fast in detection of faults.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283503

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

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

The first outstanding 50 years of “Università Politecnica delle Marche”: Research achievements in life sciences
Autore/i: Longhi, S.; Monteriu', A.; Freddi, A.; Aquilanti, L.; Ceravolo, M. G.; Carnevali, O.; Giordano, M.; Moroncini, G.
Editore: Springer International Publishing
Classificazione: 7 Curatele
Abstract: Introduction The book describes the significant multidisciplinary research findings at the Università Politecnica delle Marche and the expected future advances. It addresses some of the most dramatic challenges posed by today’s fast-growing, global society and the changes it has caused. It also discusses solutions to improve the wellbeing of human beings. The book covers the main research achievements in the various disciplines of the life sciences, and includes chapters that highlight mechanisms relevant to all aspects of human diseases, the molecular, cellular, and functional basis of therapy, and its translation into the management of people’s health needs. It also describes research on traditional and innovative foods to enhance quality, safety and functionality, and to develop bioactive/nutraceutical compounds. Further chapters address conservation and management of various environments, from the forests to the oceans, describing the studies on countermeasures against climate changes and terrestrial/aquatic pollutants, and on terrestrial/marine biodiversity, ecosystems and landscapes, erosion of genetic biodiversity, innovative aquaculture feed, sustainable crop production and management of forests. Lastly, the book reports the findings of research work on different classes of biomolecules, and on the molecular basis of antibiotic resistances and their diffusion.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283638

Machine learning-as-a-service for consumer electronics fault diagnosis: A comparison between matlab and azure ML
Digest of Technical Papers - IEEE International Conference on Consumer Electronics
Autore/i: Prist, M.; Longhi, S.; Monteriu, A.; Freddi, A.; Pallotta, E.; Ciabattoni, L.; Cicconi, P.; Giuggioloni, F.; Caizer, E.; Verdini, C.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Today, the improvement of the product value in consumer goods, such as new services to increase the positive customer experience, is the subject of many research activities. In a context where the product complexity becomes ever greater and the product life-cycle is always shorter, the use of intelligent tools for supporting all phases of the product life-cycle is very important. One of the aspects that is taking interest is to support the consumer in fault management. This analysis are well-known practices in the industrial, automotive fields, etc. but less used for consumer electronics. This paper analizes a Cloud service based on a Machine Learning (ML) approach used to provide fault detection capabilities to household appliances equipped with electric motors and compare the results with on premise ML algorithms provided research tools. The purpose of this paper is to perform a preliminary comparison of ML algorithm performances provided by two software, namely Microsoft Azure (cloud solution) and MATLAB (on premise solution), on a study case. In detail, the vibration data of an asynchronous motor installed in an oven extractor hood for commercial restaurant kitchen have been analyzed. To this end, two classification algorithms have been selected to implement fault diagnosis techniques.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/276300

Sparse Approximation of LS-SVM for LPV-ARX Model Identification: Application to a Powertrain Subsystem
2020 AEIT International Conference of Electrical and Electronic Technologies for Automotive, AEIT AUTOMOTIVE 2020
Autore/i: Cavanini, L.; Ferracuti, F.; Longhi, S.; Marchegiani, E.; Monteriu', A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Least Squares Support Vector Machine (LS-SVM) has been recently applied to non-parametric identification of Linear Parameter Varying (LPV) systems, described by the AutoRegressive with eXogenous input (ARX). However, the online application of LPV-ARX system in the LS-SVM setting requires high computational time, related to the number of training data used to compute the coefficients of the identified model, limiting the possibility to use the method to real-time applications. In this paper, the authors propose the Low-Rank (LR) matrix approximation and a pruning based approach to compute a sparse solution. In particular, the pruning algorithm is considered to compute off-line a sparse solution of Lagrangian multipliers and then speed up the testing stage, whereas the LR matrix approximation allows to speed up the training stage. The proposed approach has been tested by identifying a subsystem of a vehicle powertrain model by the input/output data collected from the simulation model. The proposed approach has been compared with respect to the standard approach based on LS-SVM. The methods are tested on the considered real-world problem and the proposed approach permits to reduce the execution time of about 77% on average in the considered identification problem, corresponding to a degradation of the identification result less than 0.2% with respect to the standard solution.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/287414

Constrained control allocation for a remotely operated vehicle with collective azimuth thrusters
28th Mediterranean Conference on Control and Automation, MED 2020
Autore/i: Baldini, A.; Felicetti, R.; Ferracuti, F.; Freddi, A.; Longhi, S.; Monteriu', A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Remotely operated vehicles commonly have propellers with fixed position and orientation. In this paper, we highlight the advantages of equipping remotely operated vehicles with azimuth thrusters. In particular, both energy saving and increased trajectory tracking performances can be achieved with respect to the fixed orientation case. On the other hand, managing thrusters' orientation represents a further computational burden: the constraints are characterized by the presence of trigonometric functions, thus they require, in general, the use of onerous nonlinear solvers. Our proposal is to steer collectively the thrusters, in order to simplify both the optimization algorithm and the mechanical structure of the ROV. The proposed control allocation algorithm calculates, at first, the orientation of the propeller to minimize the energy consumption while taking into account saturation and rate limits. Then, single thrusts are calculated using a quadratic programming framework. Simulation results show the relevance of energy savings and tracking improvements.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/284405

Conclusions
Fault Diagnosis and Fault-Tolerant Control of Robotic and Autonomous Systems
Autore/i: Monteriù, Andrea; Freddi, Alessandro; Longhi, Sauro
Editore: The Institution of Engineering and Technology (IET)
Luogo di pubblicazione: London
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/288316

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

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

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

I saperi e l'istruzione nella Costituzione
70 anni di Costituzione
Autore/i: Longhi, Sauro
Editore: Consiglio Regionale delle Marche
Luogo di pubblicazione: Ancona
Classificazione: 2 Contributo in Volume
Abstract: La Costituzione della Repubblica Italiana, con i suoi principi fondamentali di democrazia e uguaglianza, continua ad ispirare le nostre azioni di crescita e sviluppo. Principi di democrazia e partecipazione che contribuiscono all’arricchimento del sistema dell’istruzione per garantire la stessa qualità e la stessa efficienza in tutto il Paese a difesa del “valore legale” del titolo di studio. Tanti ne sono gli esempi. Tra questi l’Università Politecnica delle Marche, di poco più giovane della Costituzione, che nei suoi cinquant’anni di vita ha reso reali i dettati dell’art.34, permettendo ai capaci e meritevoli, anche se privi di mezzi, di raggiungere i gradi più alti degli studi. Partendo da questa constatazione vengono evidenziati i valori della Costituzione che trovano spazio nelle Università.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/295517

Cyber-Physical Manufacturing Systems for Industry 4.0: Architectural Approach and Pilot Case
2019 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2019 - Proceedings
Autore/i: Prist, M.; Monteriu, A.; Freddi, A.; Pallotta, E.; Cicconi, P.; Giuggioloni, F.; Caizer, E.; Verdini, C.; Longhi, S.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The pillars of Industry 4.0 require a modern smart factory to be integrated, store data into the Cloud, access the Cloud for data analytics and share information at software level for simulation and Hardware-In-the-Loop capabilities. The resulting Cyber-Physical System is often called Cyber-Physical Manufacturing System, and it becomes fundamental to cope with the increased system complexity and the desired performances. However, since a lot of old production systems are based on monolitic architectures, with limited external communication ports and reduced local computational capabilities, it is very difficult to make such production lines compliant to Industry 4.0 pillars. Wireless Sensor Network is a solution for the smart connection of a production line to a Cyber-Physical System architecture, data processing through Cloud Computing. The scope of this research work is to propose an intermediate layer within the architecture that allows each device, production line and machine to be independently connected despite the adopted protocol. The solution is based on OSGi Framework, which is able to seamlessly integrate both hardware and software wireless sensors, send data into the Cloud for further data analysis, and grant both Hardware-In-the-Loop and Cloud Computing capabilities. A general description of the architecture is here proposed, together with preliminary results on a real manufacturing line for data collection and analysis over a period of two months.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/270113

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

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

Recurrence Quantification Analysis of Stator-Current Measurements for Electric Motor Fault Classification
IECON Proceedings (Industrial Electronics Conference)
Autore/i: Ferracuti, F; Freddi, A; Longhi, S; Monteriu, A
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Recurrence quantification analysis (RQA) allows to quantify the periodic behavior using recurrence plots instead of deriving information purely from visual analysis. The current study presents a preliminary analysis of stator-current measurements for electric motor fault detection and classification by means of the recurrence quantification theory. Firstly, a preliminary visual inspection of the recurrence plots of stator-current measurements for healthy and faulty electric motors is presented. Thereafter, the following RQ metrics are analyzed: the recurrence rate, the determinism, the divergence, the Shannon entropy, the laminarity and the trapping time. Then, the RQ metrics are used as predictors for fault detection and classification. The classification results (100% fault classification accuracy), which are presented using the linear support vector machine classifier, show that the RQA can be considered as a tool for motor current signature analysis.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/278775

Architecture for Cooperative Interacting Robotic Systems Towards Assisted Living: A Preliminary Study
Lecture Notes in Electrical Engineering
Autore/i: Ciuccarelli, L.; Freddi, A.; Iarlori, S.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Proietti Pagnotta, D.
Classificazione: 2 Contributo in Volume
Abstract: The present study aims at providing a robotic architecture system composed by a semi-autonomous mobile robot and a manipulator robot. The user, on a smart wheelchair, is able to move in an indoor environment, by selecting, through a user-interface, the room where he/she wants to move and the object he/she would like to get. In case an object is selected, the user is automatically driven in front of a robotic workstation, where the desired object is picked and placed by a robotic arm in front of the user. The system has been tested on a simulator, and preliminary experimental results show the feasibility of the proposed architecture.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263384

Preface
The First Outstanding 50 Years of “Università Politecnica delle Marche” Research Achievements in Social Sciences and Humanities
Autore/i: Longhi, Sauro; Monteriù, Andrea; Freddi, Alessandro; Bettin, Giulia; Cardinali, Silvio; Chiucchi, Maria Serena; Gallegati, Marco
Editore: Springer Nature
Classificazione: 2 Contributo in Volume
Abstract: The book describes significant multidisciplinary research findings at the Università Politecnica delle Marche and the expected future advances. It addresses some of the most dramatic challenges posed by today’s fast-growing, global society and the changes it has caused, while also discussing solutions to improve the wellbeing of human beings. The book covers the main research achievements made in the social sciences and humanities, and includes chapters that focus on understanding mechanisms that are relevant to all aspects of economic and social interactions among individuals. In line with Giorgio Fuà’s contribution, the interdisciplinary research being pursued at the Faculty of Economics of Università Politecnica delle Marche is aimed at interpreting the process of economic development in all of its facets, both at the national and local level, with a particular focus on profit and non-profit organizations. Various disciplines are covered, from economics to sociology, history, statistics, mathematics, law, accounting, finance and management.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283201

Psychophysiological Stress Control via Heart Rate Entrainment
2019 Zooming Innovation in Consumer Technologies Conference, ZINC 2019
Autore/i: Cuijpers, R. H.; Van Dijk, E. T. K.; Longhi, S.; Marchegiani, Enrico; Monteriù, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The aim of this work is to develop a real-time system able to classify and passively reduce stress. Heart Rate (HR) and Skin Conductance Response (SCR) are used for stress classification. Entrainment phenomenon is exploited as a possible way to reduce stress via an auditory stimulus. A Support Vector Machine (SVM) produces 84% of stress classification accuracy and a slight effect is obtained for stress reduction.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/271322

The First Outstanding 50 Years of “Università Politecnica delle Marche”: Research Achievements in Social Sciences and Humanities
Autore/i: Longhi, Sauro; Monteriu', Andrea; Freddi, Alessandro; Bettin, Giulia; Cardinali, Silvio; Chiucchi, Maria Serena; Gallegati, Marco
Editore: Springer International Publishing
Classificazione: 7 Curatele
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/288188

Octarotor fault tolerant control via dynamic surface control
2019 18th European Control Conference, ECC 2019
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we present a Disturbance Observer Based Control for an octarotor unmanned aerial vehicle, taking into account the actuator dynamics. The scheme is robust to the uncertainties of the model dynamics, the actuator dynamics and it can also manage the presence of actuator faults and failures. The control law is based on a combination of Back-stepping and Dynamic Surface Control, where the feedback linearisation change of coordinates is applied to part of the state space dynamics in order to avoid the explosion of terms. The distribution of the control efforts among the actuators is optimally provided by an allocation algorithm which minimizes the energy consumption even in presence of uncertainties.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/270111

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

Smart Monitoring of User and Home Environment: The Health@Home Acquisition Framework
Lecture Notes in Electrical Engineering
Autore/i: Pietroni, Filippo; Casaccia, Sara; Revel, Gian Marco; Prist, Mariorosario; Monteriù, Andrea; Longhi, Sauro; Scalise, Lorenzo
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/265760

A model-based approach to support the design of mold heating for composites
Lecture Notes in Mechanical Engineering
Autore/i: Cicconi, P.; Pallotta, E.; Russo, A. C.; Raffaeli, R.; Prist, M.; Monteriù, A.; Longhi, S.; Germani, M.
Editore: Pleiades Publishing
Classificazione: 2 Contributo in Volume
Abstract: Molding is one of the most widely used processing technologies in manufacturing. Among typical molding parameters, the mold temperature is a critical one for the quality of the molding process. A solution to this issue can be the employment of induction heating which, through a high-frequency electromagnetic field, produces eddy currents and a consequent rapid heating of the material into the cavity of the mold. The necessity to maintain the mold walls at the operative temperature makes the induction heating to be one of the most efficient non-contact means of heating. In fact, induction heating is characterized by quickness, efficiency, and energy saving; however, the design and the sizing of an induction heating system is complex due to different parameters involved in the electromagnetic and thermal phenomena. In this context, the paper aims to define a methodology to support engineers in the design and sizing of an induction heating system for molds, taking as case study a mold for composite parts. A model-based approach is proposed to analyze and simulate the mold heating, considering three different levels of modelling: Analytical (0D), Finite-Difference Methods (2D) and Finite Element Methods (3D). The Analytical approach investigates the solution of the physical equations applied to the volume of the material involved. Instead, the Finite-Difference approach (2D) solves the heat transfer problem by discretizing the domain and by solving for temperature at discrete points. Finally, the Finite Element method (3D) solves partial differential equations on a 3D discretized domain.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/271325

Special issue on “Smart Homes”: Editors’ notes
SENSORS
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Classificazione: 1 Contributo su Rivista
Abstract: In this editorial, we provide an overview of the content of the Special Issue on “Smart Homes”. The aim of this Special Issue is to provide a comprehensive collection of some of the current state-of-the-art technologies in the context of smart homes, together with new advanced theoretical and technological solutions that enable smart technology diffusion into homes.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/264813

The First Outstanding 50 Years of “Università Politecnica delle Marche”: Research achievements in Physical Sciences and Engineering
Autore/i: Longhi, S.; Monteriu, A.; Freddi, A.; Frontoni, E.; Germani, M.; Revel, G. M.
Editore: Springer International Publishing
Classificazione: 3 Libro
Abstract: The book describes the significant multidisciplinary research findings at the Università Politecnica delle Marche and the expected future advances. It addresses some of the most dramatic challenges posed by today’s fast-growing, global society and the changes it has caused. It also discusses solutions to improve the wellbeing of human beings. The book covers the main research achievements in the different disciplines of the physical sciences and engineering, as well as several research lines developed at the university’s Faculty of Engineering in the fields of electronic and information engineering, telecommunications, biomedical engineering, mechanical engineering, manufacturing technologies, energy, advanced materials, chemistry, physics of matter, mathematical sciences, geotechnical engineering, circular economy, urban planning, construction engineering, infrastructures and environment protection, technologies and digitization of the built environment and cultural heritage. It highlights the international relevance and multidisciplinarity of research at the university as well as the planned research lines for the next years.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/281290

Human-Robot Cooperation via Brain Computer Interface in Assistive Scenario
ser. Lecture Notes in Electrical Engineering, Am- bient Assisted Living: Italian Forum 2017
Autore/i: Foresi, G.; Freddi, A.; Iarlori, S.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Proietti Pagnotta, D.
Classificazione: 2 Contributo in Volume
Abstract: In the last years, the development of robots for assisting and collaborating with people has experienced a large growth. Applications for assistive robots include hospital service robots, factory intelligent assistants and personal homecare robots. Working in shared environments with human beings, these robots require effective ways to achieve an increasing human-robot cooperation. This work presents a possible approach for performing human-robot cooperation, namely recognition of a user selected object by means of Brain Computer Interface (BCI), followed by pick and place via a robotic arm. The object selection is achieved introducing a BCI that allows the user, after a training phase, to choose one among six different objects of common diffusion. The selection is achieved by interpreting the P300 signals generated in the brain, when the image of the object, desidered by the user, appears on a computer screen as a visual stimulus. The robot then recognizes, through a classifier, the selected object among others within its workspace, and inscribes it in a rectangle shape. Finally, the robot arm is moved in correspondence to the object position, the gripper is rotated according to the object orientation and the object grasped and moved into a different position on a desk in front of the robot. This system could support people with limited motor skills or paralysis, playing an important role in structured assistive environments in a near future.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/263385

Dual-arm manipulators kinematic control under multiple constraints via virtual joints approach
Proceedings of the ASME Design Engineering Technical Conference
Autore/i: Proietti Pagnotta, D.; Freddi, A.; Longhi, S.; Monteriu, A.
Editore: American Society of Mechanical Engineers (ASME)
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A kinematic controller for a dual-arm system able to cope with kinematic constraints is presented in this paper. The kinematic controller is designed according to the Relative Jacobian method to achieve cooperation of a couple of 7 DOF robotic arms. The kinematic redundancy obtained from cooperation is exploited to execute other subtasks along the main task. The concept of virtual joint space proposed in the General Weighted Least Norm (GWLN) method is employed in order to include the constraints in the problem. Firstly, the GWLN is reformulated for a dual-arm system, including only the joint limit avoidance subtask. Then, the obstacle avoidance subtask is also considered and a new version of the kinematic controller is derived when the number of constraints is larger than the number of joints. Simulation are performed on the model of the Baxter Robot, in the Matlab-Simulink environment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/272748

Direct position control of an octarotor unmanned vehicle under wind gust disturbance
2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we present the design of a direct position control law of an octarotor under the presence of wind gust. The nominal control law is designed on a Newton-Euler model using a feedback linearisation technique, where a double integral control law is chosen in order to decouple the controlled variables' dynamics. Then, the wind gust effect is attenuated through an additive correction term, which is based on disturbance observer. An exogenous system is considered in order to estimate the wind gust derivatives, and the overall closed loop boundedness is discussed. Numerical simulations are then reported in order to show the effectiveness of the control scheme, where the observer based technique is compared with the nominal one.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/270112

Preface
The First Outstanding 50 Years of “Università Politecnica delle Marche”: Research Achievements in Physical Sciences and Engineering
Autore/i: Longhi, S.; Monteriu, A.; Freddi, A.; Frontoni, E.; Germani, M.; Revel, G. M.
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: Preface of the Book entitled << The First Outstanding 50 Years of “Università Politecnica delle Marche”: Research Achievements in Physical Sciences and Engineering >>
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/281313

ErrP Signals Detection for Safe Navigation of a Smart Wheelchair
2019 IEEE 23rd International Symposium on Consumer Technologies, ISCT 2019
Autore/i: Ciabattoni, L.; Ferracuti, F.; Freddi, A.; Iarlori, S.; Longhi, S.; Monteriu, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Assistive robots operate in complex environments and in presence of human beings, as such they are influenced by several factors which may lead to undesired outcomes: wrong sensor readings, unexpected environmental conditions or algorithmic errors represent just few examples. When the safety of the user must be guaranteed, a possible solution is to rely on a human-supervised approach. The proposed work presents a smart wheelchair, i.e. an electric powered wheelchair with semiautonomous navigation capabilities, whose user is equipped with a Brain Computer Interface. During the wheelchair navigation, possible problems (e.g. obstacles) along the trajectory cause the generation of error-related potentials signals when noticed by the user. These signals are captured by the interface and are used to provide a feedback to the navigation task, in order to preserve safety and avoiding possible navigation issues.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/272749

Actuator Fault Tolerant Position Control of a Quadrotor Unmanned Aerial Vehicle
Conference on Control and Fault-Tolerant Systems, SysTol
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.; Rigatos, G.
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we design a fault tolerant single-loop position control of a quadrotor unmanned aerial vehicle. We design a nominal control law by using a feedback linearisation approach. The controlled variables are decoupled using higher order derivatives of the model. We propose an active fault tolerant controller to cope with multiplicative faults affecting the actuators: a nonlinear diagnostic observer is adopted to estimate the fault magnitude, while a control allocation algorithm is used to compensate for the presence of actuator faults. Numerical simulations show the increased tracking capabilities of the proposed scheme with respect to the non tolerant one.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/275077

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

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

Quegli artisti che chiamiamo insegnanti
INNOVATIO EDUCATIVA
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: In una società che incontenibilmente si trasforma, la conoscenza, la ricerca e la sua valorizzazione, possono aiutarci sia a decifrare che a scoprire ciò che ci circonda. In tutto questo l’insegnante ha un ruolo fondamentale, da riscoprire e riabilitare. L’insegnante è come un artista a cui è affidato il compito di lasciare un segno e di leggere la complessità degli eventi, oggi più che mai. È lui che potrà accompagnarci verso la conoscenza e traghettarci verso il futuro.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254564

La formazione come strumento anticorruzione
Anticorruzione nella sanità. Reazioni e azioni
Autore/i: Longhi, Sauro
Editore: Aracne editrice
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259224

Il capitale umano nel paradigma dell'Industria 4.0
Le competenze per costruire il futuro: '50 ISTAO
Autore/i: Longhi, Sauro; Monteriu', Andrea
Editore: Comunità Editrice
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Abstract: Il nuovo paradigma Industria 4.0, ovvero della quarta rivoluzione industriale, mira ad una produzione del tutto automatizzata ed interconnessa presentando, in apparenza, rischi di riduzione degli occupati nei processi produttivi, ma di fatto, capace di produrre notevoli opportunità di sviluppo. Industria 4.0 porta con sé nuove sfide e notevoli cambiamenti all’intero ciclo di vita del processo produttivo, tale da non poter prescindere da una profonda evoluzione in termini di conoscenze e competenze da parte della classe imprenditoriale ma anche da parte dell’intero capitale umano su cui il sistema industriale può contare. Le linee guida sviluppate dal Ministero dello Sviluppo Economico nel Piano nazionale Industria 4.0 si basano su nuovi modelli di governance e su modelli organizzativi ed innovativi, che mirano alla costituzione di un sistema culturale nuovo, attraverso il rafforzamento delle competenze digitali esistenti e introducendo direttrici tecnologiche completamente innovative. Il contributo mira a fornire una panoramica delle opportunità che questo scenario può offrire in termini delle conoscenze e competenze utili ad accrescere il valore del capitale mano nei diversi settori produttivi.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259225

A Preliminary Study of a Cyber Physical System for Industry 4.0: Modelling and Co-Simulation of an AGV for Smart Factories
2018 Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2018 - Proceedings
Autore/i: Cavanini, L.; Cicconi, P.; Freddi, A.; Germani, M.; Longhi, Sauro; Monteriu, A.; Pallotta, E.; Prist, M.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259877

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

A Smart Sensing Architecture for Domestic Monitoring: Methodological Approach and Experimental Validation
SENSORS
Autore/i: Monteriù, Andrea; Prist, Mario; Frontoni, Emanuele; Longhi, Sauro; Pietroni, Filippo; Casaccia, Sara; Scalise, Lorenzo; Cenci, Annalisa; Romeo, Luca; Berta, Riccardo; Pescosolido, Loreto; Orlandi, Gianni; Revel, Gian
Classificazione: 1 Contributo su Rivista
Abstract: Smart homes play a strategic role for improving life quality of people, enabling to monitor people at home with numerous intelligent devices. Sensors can be installed to provide a continuous assistance without limiting the resident’s daily routine, giving her/him greater comfort, well-being and safety. This paper is based on the development of domestic technological solutions to improve the life quality of citizens and monitor the users and the domestic environment, based on features extracted from the collected data. The proposed smart sensing architecture is based on an integrated sensor network to monitor the user and the environment to derive information about the user’s behavior and her/his health status. The proposed platform includes biomedical, wearable, and unobtrusive sensors for monitoring user’s physiological parameters and home automation sensors to obtain information about her/his environment. The sensor network stores the heterogeneous data both locally and remotely in Cloud, where machine learning algorithms and data mining strategies are used for user behavior identification, classification of user health conditions, classification of the smart home profile, and data analytics to implement services for the community. The proposed solution has been experimentally tested in a pilot study based on the development of both sensors and services for elderly users at home.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259196

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

Fault Detection, Diagnosis and Fault Tolerant Output Control for a Remotely Operated Vehicle
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
Autore/i: Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu, A.; Fasano, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: An active fault tolerant control scheme for an underwater remotely operated vehicle is proposed in this work when only position and heading measurements are available. The diagnosis technique is based on a second order sliding mode observer, allowing to estimate both the unmeasured system state, namely linear and angular speeds, and the fault extent. The fault estimation is fed to a thrust allocation algorithm which achieves fault tolerant capabilities independently of the controller, attaining robustness with respect to actuator faults with any suitable control law. The overall fault diagnosis and fault tolerant scheme has been tested in simulation scenario using four different controllers and using the real world parameters of the SNAMprogetti remotely operated vehicle, thus validating the effectiveness of the proposed solution.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262307

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

Energy Saving in Industrial Wireless Power Recharge System: Simulation of a PI-Sliding Mode Control for a Non-Inverting Buck-Boost Converter
2018 IEEE PELS Workshop on Emerging Technologies: Wireless Power Transfer, Wow 2018
Autore/i: Prist, M.; Pallotta, E.; Cicconi, P.; Venturini, P.; Monteriu, A.; Germani, M.; Longhi, S.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this work, a PI-Sliding mode controller is developed in feedback loop from a non-inverting buck boost converter, in order to control the recharge of a Li-Ion battery of a Laser Guided Vehicle (LGV), which is the last stage of an industrial wireless recharge power station. In detail, the industrial case study regards the wireless recharge of a LGV employed to transport molds used for footwear soles production. The proposed solution has been modelled and developed in the MATLAB/Simulink® framework, and the performances of this controller are compared with the classical PID industrial controller. The obtained results depend only from the developed recharge system and can be applied in other industrial cases (e.g., car battery recharge). In particular, the numerical simulations show that the proposed solution has an important impact on the energy consumptions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262306

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

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

Cooperative Robots Architecture for an Assistive Scenario
2018 Zooming Innovation in Consumer Technologies Conference, ZINC 2018
Autore/i: Ciuccarelli, L.; Freddi, A.; Longhi, S.; Monteriu, A.; Ortenzi, D.; Pagnotta, D. Proietti
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes an assistive robotic solution for elderly people and/or people suffering from lower limbs problem. The proposed architecture consists of a Smart Wheelchair (SWC) and a Robotic Workstation (RW) which cooperate in order to perform an autonomous navigation and manipulation task. The system allows the user to choose a point on the map to move to and/or an object to manipulate. The SWC is able to autonomously navigate to the desired RW, while the localization is performed via an Unscented Kalman Filter (UKF). Moreover, QR codes have been used as landmarks to compensate the pose estimation error. The system was tested both in simulation and in a real scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262309

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

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

Induction Mold Heating: Modelling and Hardware-in-the-Loop Simulation for Temperature Control
2018 IEEE International Conference on Environment and Electrical Engineering and 2018 IEEE Industrial and Commercial Power Systems Europe (EEEIC / I&CPS Europe)
Autore/i: Prist, M.; Pallotta, E.; Cicconi, P.; Monteriu, A.; Germani, M.; Longhi, S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Mold heating is an important key factor for themold cycle which affects the quality of the molded product. Theinvolved molding processes regards polymers foaming, plastics in-jection, or resin-curing with composites. While the manufacturingcycle of plastics injection molding requires a heating/cooling sys-tem, other processes do not require the cooling phase. Polymersfoaming and resin-curing require specific values of temperatureto provide full chemical reactions and a good product qualityon the surface. Induction heating systems are suitable for suchapplications; however, many industrial cases require customizedsolutions to support the molding cycle of different parts. Atemperature control is always mandatory to reduce the energycost and increase the heating efficiency. This paper studies amolds temperature control applied in the polyurethane foamingof footwear soles. The proposed induction heating system andits control have been studied using the Hardware-In-the-Loopsimulations. Due to a high mold thermal inertia, which increasesthe mold temperature even if the control system turns offthe thermal power, tailored controllers have been analyzed toachieve the desired temperature set-point. The thermal model ofthe foaming mold and the induction heating system have beenmodelled and developed in the MATLAB/Simulink® framework.An ATMEGA processor was used to implement and test a discretePID controller while Simulink induction-heating system modelwas running, creating an Hardware-In-The-loop platform.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262303

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

Fault-Tolerant Disturbance Observer Based Control for Altitude and Attitude Tracking of a Quadrotor
MED 2018 - 26th Mediterranean Conference on Control and Automation
Autore/i: Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriu, Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents an attitude and altitude fault-tolerant tracking control for a quadrotor using the Disturbance Observer Based Control (DOBC). A Newton-Euler model of the quadrotor is described and the fault-tolerant control problem is treated for small angles. An appropriate estimation gain is proposed for the considered system, which allows to impose desired closed loop performances. These closed loop performances are analysed, showing the boundedness properties, and highlighting the trade off between fault estimation and control effort. Numerical simulations are provided for testing the effectiveness of the proposed DOBC solution, which is compared with the classical backstepping controller in case of multiple actuation faults.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262312

Dynamic Surface Control for Multirotor Vehicles
2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
Autore/i: Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriu, Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper we present the design of Dynamic Surface Control (DSC) law for multirotor vehicles. We first propose a mathematical model which can be used for a wide class of multirotor vehicles. Then, we extend the classical DSC such that it can be applied to the proposed model for tracking pitch, roll, yaw and altitude. The DSC performances are compared with other nonlinear algorithms known in the literature, namely backstepping and sliding mode, as well as PID controller, where all the control laws were tuned via the same heuristic random search algorithm in order to ensure a fair comparison.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262305

A Model-based Active Fault Tolerant Control Scheme for a Remotely Operated Vehicle
10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018
Autore/i: Baldini, Alessandro; Fasano, Antonio; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: An active failure and fault tolerant control scheme for an underwater remotely operated vehicle is proposed in this work. The proposed solution is based on a fault tolerant allocation, which takes into account an estimate of the faults on the vehicle’s thrusters for an accurate redistribution of the control effort. The diagnosis is based on a sliding mode observer, which generates three residuals and allows to evaluate the health condition of each actuator of the vehicle. The scheme can be adapted to any control law for the vehicle dynamics, and has been tested in simulation using a backstepping controller for the dynamics and with real world parameters, demonstrating the effectiveness of the proposed active fault tolerant control scheme.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262314

An Automatic Temperature Control for Induction Cooktops to Reduce Energy Consumption
36th IEEE International Conference on Consumer Electronics (ICCE)
Autore/i: Prist, M.; Pallotta, Emanuele; Cicconi, P.; Russo, ANNA COSTANZA; Monteriù, A.; Germani, M.; Longhi, S.
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Induction cooktops are very used as an efficient alternative to traditional cooking systems such as gas hobs. Even if the energy efficiency of induction cooktops is twice as much as the traditional gas burners, the differences in terms of energy price can limit the diffusion and marketing of induction cooktops. Recent eco-normative are regulating the energy consumption of this kind of household appliances sold in different countries. This paper proposes an automatic temperature control to reduce the energy consumption for induction cooktops. The water boiling test was used as case study to simulate and validate the proposed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/255087