581 pubblicazioni classificate nel seguente modo:

An instrumental approach for monitoring physical exercises in a visual markerless scenario: A proof of concept
JOURNAL OF BIOMECHANICS
Autore/i: Capecci, Marianna; Ceravolo, Maria Gabriella; Ferracuti, Francesco; Grugnetti, Martina; Iarlori, Sabrina; Longhi, Sauro; Romeo, Luca; Verdini, Federica
Classificazione: 1 Contributo su Rivista
Abstract: This work proposes a real-time monitoring tool aimed to support clinicians for remote assessing exercise performances during home-based rehabilitation. The study relies on clinician indications to define kinematic features, that describe five motor tasks (i.e., the lateral tilt of the trunk, lifting of the arms, trunk rotation, pelvis rotation, squatting) usually adopted in the rehabilitation program for axial disorders. These features are extracted by the Kinect v2 skeleton tracking system and elaborated to return disaggregated scores, representing a measure of subjects performance. A bell-shaped function is used to rank the patient performances and to provide the scores. The proposed rehabilitation tool has been tested on 28 healthy subjects and on 29 patients suffering from different neurological and orthopedic diseases. The reliability of the study has been performed through a cross-sectional controlled design methodology, comparing algorithm scores with respect to blinded judgment provided by clinicians through filling a specific questionnaire. The use of task-specific features and the comparison between the clinical evaluation and the score provided by the instrumental approach constitute the novelty of the study. The proposed methodology is reliable for measuring subject's performance and able to discriminate between the pathological and healthy condition.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/253076

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

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 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

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

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

Fault Tolerant Control Scheme for Robotic Manipulators Affected by Torque Faults
10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018
Autore/i: Freddi, A.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Proietti Pagnotta, D.
Editore: Elsevier B.V.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A Fault Tolerant Control (FTC) scheme for robotic manipulators affected by actuator faults is proposed in this paper. The actuator fault consists in an unknown partial joint torque reduction, which causes a loss of the desired end-effector motion. The FTC scheme includes a Fault Detection and Diagnosis (FDD) system based on a first-order sliding mode observer, in order to detect and estimate the joint torque fault. The estimated fault is mapped into a kinematic deviation of the motion of the end effector from the desired one, and compensated at the level of the kinematic controller. Simulation results demonstrate the effectiveness of the proposed scheme for a planar manipulator affected by two types of actuator faults, namely bias fault and partial torque fault.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262318

A Gestures Recognition Based Approach for Human-Robot-Interaction
2018 Zooming Innovation in Consumer Technologies Conference, ZINC 2018
Autore/i: Freddi, A.; Goffi, M.; 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 work proposes a robotic manipulator assistant for disabled users and/or for elderly people with limited motor skills. In detail, the interaction among the robot and the user is based on the user gestures recognition. The user chooses an object among those available by moving his/her arm in a specific pose, which is recognized by using an external camera. Then, images of the objects accessible to the robot are acquired via the robot camera, located at the end of the robot arm, and are analyzed by a Support Vector Machine classifier in order to recognize the user selected object. Finally, the manipulator picks the object and places it on the user's hand, whose location in the Cartesian space is determined via the external camera and updated online.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262308

Human-Robot Cooperation via Brain ComputerInterface in Assistive Scenario
7th Italian Forum on Ambient Assisted Living, ForitAAL 2017
Autore/i: Foresi, Gabriele; Freddi, Alessandro; Iarlori, Sabrina; Longhi, Sauro; Monteriu', Andrea; Ortenzi, Davide; Proietti Pagnotta, Daniele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years, the development of robots for assisting and collaborating with peo-ple has experienced a large growth. Applications for assistive robots include hospitalservice robots, factory intelligent assistants and personal homecare robots. Workingin shared environments with human beings, these robots have frequent need of aneffective human-robot cooperation. This work introduces a possible approach forperforming human-robot cooperation, namely recognition of a user selected objectby means of Brain Computer Interface (BCI), followed by pick and place of thesame object via a robotic arm. The object selection is achieved using a BCI thatallows to choose one among different objects of common use, by interpreting theP300 signals generated in the brain when the image of the object desidered by theuser appears on a computer screen. Then, the robot recognizes through a classifierif the selected object is within its workspace, grasps the object and moves it intoa different position. This system could support people with limited motor skills orparalysis, playing an important role in structured assistive environments in a near future.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250030

Lo sviluppo intelligente nei comuni delle Marche: i risultati dell’indagine Smart Cities e Communities
ECONOMIA MARCHE
Autore/i: Compagnucci, Fabiano; Longhi, Sauro; Revel, Gian Marco
Classificazione: 1 Contributo su Rivista
Abstract: Questo lavoro nasce dall'esigenza di comprendere come i comuni marchigiani stiano affrontando la sfida della crescita intelligente, ossia un modello di sviluppo caratterizzato da un maggior livello di sostenibilità economica, sociale ed ambientale rispetto a quello attuale. La valutazione delle performance dei comuni delle Marche rispetto a questo tipo di sviluppo si articola in due fasi: in primo luogo verrà fornita una panoramica delle politiche implementate nella nostra regione rispetto ad una serie di indicatori comunemente utilizzati per connotare la strategia Smart Cities e Communities; nella seconda fase, tali evidenze verranno confrontate con i risultati di un questionario somministrato ai comuni marchigiani, volto a reperire informazioni su alcune condizioni abilitanti rispetto alla formulazione di politiche intelligenti, e sulle caratteristiche di queste ultime. Lo scopo ultimo dell'articolo è quello di dimostrare che la strategia Smart Cities e Communities, nonostante venga generalmente declinata alla scala dei sistemi urbani e metropolitani, debba essere considerata anche rispetto a contesti meno spiccatamente urbani, come quello marchigiano, fornendo, in tal senso, specifici suggerimenti di policy.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258457

Smart cities and communities in the marche region
TERRITORIO
Autore/i: Compagnucci, Fabiano; Longhi, Sauro; Revel, Gian Marco
Classificazione: 1 Contributo su Rivista
Abstract: Starting from a neo-institutional and a neo-evolutionary approach to the concept of Smart Cities and Communities, the goal of this paper is threefold. First, it aims at investigating the meaning of smartness for a small-sized, polycentric and manufacturing-oriented region such as the Marche Region. Secondly, it aims at assessing its performances in terms of “smart development” by means of specific development policies indicators and a questionnaire submitted to its municipalities in 2015. Results show that some of the structural problems affecting the region have only partially been addressed by public policies. On this basis, regional and sub-regional policy implications are framed disentangling between prerequisites for a smart development and smart policies stricto sensu.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/258455

An adaptive VSS control for remotely operated vehicles
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
Autore/i: Dyda, Alexander A; Oskin, Dmitry A.; Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: The paper is devoted to a new adaptive variable-structure system (VSS) control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of sliding mode parameter (SMP) in order to have adaptation in VSS. It is demonstrated that the extreme values of SMPs are directly associated with high efficiency of transient processes in VSS. The essence of the presented adaptation algorithm consists on the adjustment of switching surface parameters such that the SMPs move from the assigned desirable value to the extreme values, with the overall effect to accelerate transients. The effectiveness of the derived approach is proven by applying it for controlling a real remotely operated vehicle. Copyright © 2015 John Wiley & Sons, Ltd.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229820

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

Human indoor localization for AAL applications: An RSSI based approach
Ambient Assisted Living: Italian Forum 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Freddi, Alessandro; Ippoliti, Gianluca; Longhi, Sauro; Monteriu', Andrea; Pepa, Lucia
Editore: Filippo Cavallo, Vincenzo Marletta, Andrea Monteriù, Pietro Siciliano
Classificazione: 2 Contributo in Volume
Abstract: Ambient intelligence technologies have the objective to improve the quality of life of people in daily living, by providing user-oriented services and functionalities. Many of the services and functionalities provided in Ambient Assisted Living (AAL) require the user position and identity to be known, and thus user localization and identification are two prerequisites of utmost importance. In this work we focus our attention on human indoor localization. Our aim is to investigate how Received Signal Strength (RSS) based localization can be performed in an easy way by exploiting common Internet of Things (IoT) communication networks, which could easily integrate with custom networks for AAL purposes. We thus propose a plug and play solution where the Beacon Nodes (BNs) are represented by smart objects located in the house, while the Unknown Node (UN) can be any smart object held by the user. By using real data from different environments (i.e., with different disturbances), we provide a one-slope model and test localization performances of three different algorithms. © Springer International Publishing AG 2017.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/241029

A Variable Structure System Control and its Application in Underwater Vehicles
IFAC PAPERSONLINE
Autore/i: Alexander, Dyda; Oskin, Dmitry; Longhi, Sauro; Monteriu', Andrea
Editore: IFAC
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper proposes a new Variable Structure System (VSS) control algorithm and its application in underwater robotics. The main features of the proposed approach consist on the usage of coupled switching surfaces, and on the usage of an adaptive adjustment method for their parameters in order to accelerate the transient processes. The adaptive algorithm of linear and nonlinear switching surfaces coefficients, is based on the stabilization of the sliding mode parameter close to the reference value. In this paper, it is shown how the proposed approach improves the system transient processes and the energy efficiency in comparison with conventional VSS, neutralizing also some drawbacks. The proposed adaptive VSS algorithm is applied to control a Remotely Operated Vehicle (ROV), and simulation results confirm the advantages to apply it.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250441

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

Smart Cities e Smart Communities: i risultati di un questionario ai comuni della Regione Marche
EYESREG
Autore/i: Compagnucci, Fabiano; Longhi, Sauro; Revel, Gian Marco
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250071

Smart monitoring of user and home environment: the Health@Home acquisition framework
7th Italian Forum on Ambient Assisted Living, ForitAAL 2017
Autore/i: Pietroni, Filippo; Casaccia, Sara; Revel, GIAN MARCO; Prist, Mariorosario; Monteriu', Andrea; Longhi, Sauro; Scalise, Lorenzo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work has been developed within the framework of the Italian smart city project “Health@Home (H@H)”. The main goal is the development of a joint network (heterogeneous devices, both biomedical and home automation) to monitor the user’s health conditions within the home environment, together with dedicated services from the measured quantities. In particular, H@H follows the context of the Active and Assisted Living environment to improve the well-being of elderly giving support to the users at home. In this paper, the authors describe the implemented final prototype software architecture implemented, the measuring protocol used in resting conditions and the implementation of three user services, providing real-time feedback about the user health status.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/250025

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

Real-time mental stress detection based on smartwatch
2017 IEEE International Conference on Consumer Electronics, ICCE 2017
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Longhi, Sauro; Pepa, Lucia; Romeo, Luca; Verdini, Federica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259872

Personal monitoring and health data acquisition in smart homes
Human Monitoring, Smart Health and Assisted Living: Techniques and technologies
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea
Editore: IET The Institution of Engineering and Technology
Luogo di pubblicazione: London
Classificazione: 2 Contributo in Volume
Abstract: The use of ambient assisted living technology, namely technology to improve the quality of life of people at home, is becoming a common trait of modern society. This technology, however, is difficult to be completely defined and classified, since it addresses many different human needs ranging from the physiological sphere to the psychological and social ones. In this chapter we focus on personal monitoring and data acquisition in smart homes, and propose the results of our research activities in the form of the description of three functional prototypes, each one addressing a specific need: an environmental monitoring system to measure the respiratory rate, a domotic architecture for both comfort assessment and user indoor localization, and a device for supporting mobility indoors. Each prototype description is followed by an experimental analysis and, finally, by considerations suggesting possible future developments in the very near future.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249842

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

Modelling and hardware-in-the-loop simulation for energy management in induction cooktops
IEEE 7th International Conference on Consumer Electronics - Berlin (ICCE-Berlin)
Autore/i: Prist, Mariorosario; Pallotta, Emanuele; Monteriu, Andrea; Longhi, Sauro; Cicconi, Paolo; Russo, Anna Costanza; Germani, Michele
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Induction cooktops are very efficient systems, but, their energy consumption should be reduced using a temperature controller for optimizing the electrical power. Such controllers are already widely spread in several applications (air conditioning, ovens, etc.). Induction cooktops work with discrete levels of power, and, therefore, the user can select and modify the requested power level during the cooking. This paper presents the Hardware-In-the-Loop simulation to develop an active temperature controller, which optimizes the energy management of the water boiling using an induction cooktop. A thermal and induction model has been developed in MATLAB/Simulink® framework, while a discrete PID controller has been implemented inside a physical ATMEGA processor and tested within the Hardware-In-the-Loop platform.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/252390

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

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

Fault Detection and Isolation of Linear Discrete-Time Periodic Systems Using the Geometric Approach
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: This paper solves the problem to detect and isolate faults in linear periodic discrete-time systems. A residual generator is designed through a suitable unknown input observer with the requirement that each residual should be sensitive only to one fault and, simultaneously, insensitive to the other faults that can affect the system, and with the additional requirement of -detectability, that is the transition matrix of its relative error system has all eigenvalues smaller than , in modulus, for a given positive 1. The solution is based on geometric tools, and it makes use of the outer observable subspace notion.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235992

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

A unified observer for robust sensorless control of DC–DC converters
CONTROL ENGINEERING PRACTICE
Autore/i: Cimini, Gionata; Ippoliti, Gianluca; Orlando, Giuseppe; Longhi, Sauro; Miceli, Rosario
Classificazione: 1 Contributo su Rivista
Abstract: Due to the large variety of converters' configurations, many different sensorless controllers are available in the literature, each one suited for a particular converter. The need for different configurations, especially on the same power supply, make it clear the advantage of having a shared control algorithm. This paper presents a unified nonlinear robust current observer for buck, boost and buck–boost converters in synchronous and asynchronous configurations. The unified observer speeds up the design, tuning and the implementation, and requires a memory cheaper code, easier to certify. Simulation and experimental results are presented to validate the approach in different scenarios. © 2017 Elsevier Ltd
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247736

Microgrid sizing via profit maximization: A population based optimization approach
IEEE International Conference on Industrial Informatics (INDIN)
Autore/i: Cavanini, Luca; Ciabattoni, Lucio; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247738

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

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

Human Monitoring, Smart Health and Assisted Living: Techniques and technologies
Healthcare Technologies, IET Digital Library
Autore/i: Longhi, Sauro; Monteriù, Andrea; Freddi, Alessandro
Editore: Institution of Engineering and Technology
Luogo di pubblicazione: London
Classificazione: 3 Libro
Abstract: Interest in Information and Communication Technologies for human monitoring, smart health and assisted living is growing due to the significant impact that these technologies are expected to have on improving the quality of life of ageing populations around the world. This book brings together chapters written by a range of researchers working in these topics, providing an overview of the areas and covering current research, developments and applications for a readership of researchers and research-led engineering practitioners. It discusses the promises and the possible advantages of these technologies, and also indicates the challenges for the future. Topics covered include: personal monitoring and health data acquisition in smart homes; contactless monitoring of respiratory activity; technology-based assistance of people with dementia; wearable sensors for gesture analysis; design and prototyping of home automation systems for the monitoring of elderly people; multi-sensor platform for circadian rhythm analysis; smart multi-sensor solutions for activity detection; human monitoring based on heterogeneous sensor networks; mobile health for vital signs and gait monitoring systems; and smartphone-based blood pressure monitoring for falls risk assessment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249837

Multimedia experience enhancement through affective computing
2017 IEEE International Conference on Consumer Electronics, ICCE 2017
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Longhi, Sauro; Pepa, Lucia; Romeo, Luca; Verdini, Federica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259871

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

Temperature Control Of An Innovative Aluminium-Steel Molds Induction Preheat Process Placed On Automated Laser Guided Vehicles
IEEE EEEIC 17th International Conference on Environment and Electrical Engineering
Autore/i: Prist, Mariorosario; Cicconi, Paolo; Ferracuti, Francesco; Russo, Anna Costanza; Monteriù, Andrea; Pallotta, Emanuele; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the production of plastic components based on injection molding, like shoe sole manufacturing, the temperature control and the on-line process optimization are important issues in order to preserve the quality of the plastic components and improve the time performance, while maintaining high product quality. This research proposes an induction preheating control technique based on Model Predictive Controller (MPC) for a steel-aluminium mold for production of soles, performed on an automated Laser Guided Vehicle (LGV) with an innovative induction heating functionality. A thermal model has been studied using a finite-difference approach to describe the mold heating system. The resulting system has been simulated using Simulink/MATLAB. Then, three types of controllers have been modelled in the proposed simulation workflow, in order to compare the different behavior of the system. Due to the high mold thermal inertia, which increases the mold temperature even if the control system turns off the thermal power, innovative controllers are needed in order to track the desired temperature setpoint. The comparison with standard industrial controllers, based on PI and PID controllers, shows the effectiveness of proposed solution.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249900

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

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

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

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

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

SMART CITIES E SMART COMMUNITIES NELLE MARCHE
ATTI della XXXVII CONFERENZA ITALIANA DI SCIENZE REGIONALI
Autore/i: Compagnucci, Fabiano; Longhi, Sauro; Revel, Gian Marco
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249465

Artificial bee colonies based optimal sizing of microgrid components: A profit maximization approach
2016 IEEE Congress on Evolutionary Computation, CEC 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247752

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

Preliminary study of a novel shelving system for nutrition habits measuring
Lecture Notes in Electrical Engineering
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Ortenzi, Davide; Prist, Mariorosario
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237066

A novel RSSI based approach for human indoor localization: The Fuzzy Discrete Multilateration
IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Autore/i: Baldini, A.; Ciabattoni, Lucio; Felicetti, R.; Ferracuti, Francesco; Longhi, Sauro; Monteriu', Andrea; Freddi, Alessandro
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a new algorithm for indoor localization, namely Fuzzy Discrete Multilateration (FDM), is proposed. As the name suggests, it elaborates data from any number of transmitters (anchor nodes), and returns the estimated position of an unknown receiver. Furthermore, two cascade fuzzy inference systems are employed to evaluate the reliability of the data gathered from each beacon. The algorithm has been tested in different real world environments, where the anchor nodes are smart objects and the unknown node is any smart object held by the user to be localized. The performances of our algorithm has been compared with those of three well known localization algorithms (with a beacon density ranging from 0.03 to 0.1 beacon/m2) and results are shown. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240569

Accuracy evaluation of the Kinect v2 sensor during dynamic movements in a rehabilitation scenario
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Autore/i: Capecci, Marianna; Ceravolo, Maria Gabriella; Ferracuti, Francesco; Iarlori, Sabrina; Longhi, Sauro; Romeo, Luca; Russi, NICOLA SEVERINO; Verdini, Federica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259866

Variable structure sensorless control of PMSM drives
Advances and Applications in Nonlinear Control Systems
Autore/i: Ciabattoni, Lucio; Corradini, Maria Letizia; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: In this chapter has been proposed a robust sensorless cascade control scheme for a Permanent Magnet Synchronous Motor (PMSM)drive.ADiscreteTime Variable Structure Control (DTVSC) is considered and the rotor position and speed are obtained through an Adaptive Extended Kalman Filter (AEKF). The performance of the filter is improved by an on line adjustment of the input and measurement noise covariances obtained by a suitably defined estimation algorithm. The proposed solution is experimentally tested on a commercial PMSM drive equipped with a control system based on a floating point Digital Signal Processor (DSP). © Springer International Publishing Switzerland 2016.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237325

A kinematic joint fault tolerant control based on relative jacobian method for dual arm manipulation systems
3rd Conference on Control and Fault-Tolerant Systems (SysTol)
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Ortenzi, Davide
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The present paper presents a fault tolerant control for dual arm manipulation systems affected by joint faults. The fault is modelled like a reduction of the maximum joint velocity due to partial torque loss of a servomotor. The system is made locally fault tolerant by exploiting its redundancy degrees via two different methods. The first method permits to reduce the manipulators' manipulability loss in case of fault occurrence, by imposing an optimal fault tolerant configuration to both manipulators; this is directly obtained from the knowledge of the Jacobian null space. The second method permits to compensate the loss of the end effectors motion using the saturation null space approach. In order to handle the dual arm system as a unique equivalent manipulator, both methods are formulated according to the relative Jacobian method. The efficiency of the proposed joint fault tolerant control is shown in a case study, where joint faults occur at different time instants.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/241026

Fire exit signs: The use of neurological activity analysis for quantitative evaluations on their perceptiveness in a virtual environment
FIRE SAFETY JOURNAL
Autore/i: Occhialini, Martina; Bernardini, Gabriele; Ferracuti, Francesco; Iarlori, Sabrina; D'Orazio, Marco; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: Emergency signs represent the easiest way to assist a person during an emergency building evacuation, such as in a fire. However, previous studies show that signs can also not be correctly perceived (because of: smoke/lighting conditions, sign positions in relation to individual's position, pictograms dimensions), consequently becoming useless. This study focuses on the effectiveness of exit signs, in terms of type and position. The related numerical quantification is founded on an objective experimental neurological method. A neurological stimulus (P300) is generated when the individual understands the meaning of the sign. It is so possible to objectively evaluate by using a neuro-headset the performance of each subject in terms of perceptual attention. The use of similar direct data overlooks errors connected to conscious or unconscious individual mediation in answers. Evacuation motion simulations are performed using a virtual reality environment because of limits in the neuro-headset use when walking. Two types of exit signs (reflective and photoluminescent) are tested considering different positions and environmental conditions (illuminated and not). The sign identification distance is retrieved and compared to results of real-world experiments. Finally, the sign effectiveness is also inquired in terms of statistical P300 presence on the analysed sample. © 2016 Elsevier Ltd. All rights reserved.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237317

Room occupancy detection: Combining RSS analysis and fuzzy logic
IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Autore/i: Baldini, A.; Ciabattoni, Lucio; Felicetti, R.; Ferracuti, Francesco; Longhi, Sauro; Monteriu', Andrea; Freddi, Alessandro
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: n this paper we focus our attention on the world of Internet of Things (IoT) objects and their potential for human indoor localization. Our aim is to investigate how Received Signal Strength (RSS) can be effectively used for identifying the position of a person at home, by exploiting common IoT communication networks. We propose a plug and play solution where the Anchor Nodes (ANs) are represented by smart objects located in the house, while the Unknown Node (UN) can be any smart object held by the user. The proposed solution automatically identifies the rooms where the smart objects are placed, by comparing a fuzzy weighted distance matrix derived from the anchor signals, with a threshold weighted distance matrix derived from the distances between rooms. The information can be easily integrated in any IoT environment to provide the estimation of the user position, without requiring the a priori knowledge of the positions of the anchor nodes. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240570

Visual based landing for an unmanned quadrotor
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Cocchioni, Francesco; Frontoni, Emanuele; Ippoliti, Gianluca; Longhi, Sauro; Mancini, Adriano; Zingaretti, Primo
Classificazione: 1 Contributo su Rivista
Abstract: One of the main challenges for Unmanned Aerial Systems (UAVs) is to extend the endurance of small vehicles such as multi-rotors. Actually, Li-po batteries that guarantee a flight of about 20 min power this type of vehicles. The endurance can be extended by enabling vehicles to look for recharging station(s). In this paper, we propose a vision system able to detect and track a given pattern hosted on the target-landing platform. The pattern is also useful to estimate the UAV position while approaching the target or during the hovering close to the target. The paper focuses on an optimized adaptive thresholding technique that manages critical situations as changes in the scene’s illumination / shadows. The developed system runs at 90 Hz for processing a 752×480 grayscale image. Preliminary results on an NVidia Tegra Jetson K1 platform are also presented to distribute the computation between CPU and GPU.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228731

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

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

Indoor thermal comfort control based on fuzzy logic
Advances in Chaos Theory and Intelligent Control
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro; Azar, Ahmad Taher
Editore: Springer Verlag
Classificazione: 2 Contributo in Volume
Abstract: Control and monitoring of indoor thermal conditions represent crucial tasks for people’s satisfaction in working and living spaces. In the first part of the chapter we address thermal comfort issues in a working office scenario. Among all standards released, predicted mean vote (PMV) is the international index adopted to define users thermal comfort conditions in moderate environments. In order to optimize PMV index we designed a novel fuzzy controller suitable for commercial Heating, Ventilating and Air Conditioning (HVAC) systems. However in a residential scenario it would be extremely expensive to gather real time measures for PMV computation. Indeed in the second part of the chapter we introduce a novel approach for residential multi room comfort control based on humidex index. A fuzzy logic controller is introduced to reach and maintain comfort conditions in a living environment. Both control systems have been experimentally tested in the central east coast of Italy. Temperature regulation performances of both approaches have been compared with those of a classical PID based thermostat. © 2016, Springer International Publishing Switzerland 2016.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237319

Physical rehabilitation exercises assessment based on Hidden Semi-Markov Model by Kinect v2
3rd IEEE EMBS International Conference on Biomedical and Health Informatics, BHI 2016
Autore/i: Capecci, Marianna; Ceravolo, MARIA GABRIELLA; Ferracuti, Francesco; Iarlori, Sabrina; Kyrki, V.; Longhi, Sauro; Romeo, Luca; Verdini, Federica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work investigates how Hidden Semi-Markov Model (HSMM) can be used to monitor and evaluate physical rehabilitation exercises by Kinect v2 to support medical personnel and patients during rehabilitation at home. Authors developed an exercises assessment method based on the extraction of motion features determined by clinicians. Five different rehabilitation exercises are modeled using a HSMM to provide an assessment score. The scores are compared with those obtained using the Dynamic Time Warping to discriminate which, between these two methods, best correlates doctors and physiotherapists' evaluation. Results show that HSMM can be used to evaluate exercise performances and give a feedback to physiotherapists and patients about exercise execution. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237322

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

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

A Nonlinear System with Coupled Switching Surfaces for Remotely Operated Vehicle Control
10th IFAC Conference on Control Applications in Marine Systems
Autore/i: Dyda, A. A.; Oskin, D.; Longhi, Sauro; Monteriu', Andrea
Editore: IFAC
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived approach is proven by applying it for controlling a remotely operated vehicle with parameters from a real ROV. Simulation results show the effectiveness of the proposed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/239063

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

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

Fault detection of nonlinear processes based on switching linear regression models
42nd Conference of the Industrial Electronics Society, IECON 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Freddi, Alessandro; Ippoliti, Gianluca; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/244862

A novel computer vision based e-rehabilitation system: From gaming to therapy support
2016 IEEE International Conference on Consumer Electronics, ICCE 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Iarlori, Sabrina; Longhi, Sauro; Romeo, Luca
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: We propose a novel e-rehabilitation system based on a commercial RGB-D device. Differently from exergaming approaches, clinical objectives scores of each specific body part involved in the exercise are computed. Subjects performances are sent to the physiotherapists in order to support and improve decisions and therapies. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237316

Real time step length estimation on smartphone
2016 IEEE International Conference on Consumer Electronics, ICCE 2016
Autore/i: Pepa, Lucia; Marangoni, Giacomo; DI NICOLA, Matteo; Ciabattoni, Lucio; Verdini, Federica; Spalazzi, Luca; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Smartphones are particularly suitable for health related applications during daily living, given their diffusion into society and computational capabilities. We proposed a smartphone application for real-time step length estimation, using inverted pendulum model. We tested the proposed solution on 5 healthy subjects, comparing the smartphone estimation with a stereophotogrammetric system. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237323

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

A goal-oriented, ontology-based methodology to support the design of AAL environments
EXPERT SYSTEMS WITH APPLICATIONS
Autore/i: Diamantini, Claudia; Freddi, Alessandro; Longhi, Sauro; Potena, Domenico; Storti, Emanuele
Classificazione: 1 Contributo su Rivista
Abstract: One of the most critical issues in Ambient Assisted Living (AAL) is the design of systems that can evolve to meet the requirements of individuals as their needs and health conditions change. Although much work has been done on home and building automation systems for AAL, often referred to as assistive domotics, there is in fact still a substantial lack of solutions capable to support system designers in the early stage of development of such assistive systems. To this aim, the work contributes to the research on design of assistive domotic systems by presenting an ontology-driven methodology aimed to guide the development process. The novel contributions of the paper include the goal-oriented approach of the methodology, which involves the elicitation and analysis of AAL requirements and their formal representation in an ontology, where high-level goals are described in terms of subgoals and tasks, that are then linked to corresponding measures and devices. Moreover, logic-based reasoning enables more advanced functionalities useful at design time. We present a validation of the methodology showing typical use cases both related to the development from scratch of a domotic system with assistive capabilities starting from a set of high-level user requirements and the redesign of existing implementations according to changed requirements.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/236317

IoT based indoor personal comfort levels monitoring
2016 IEEE International Conference on Consumer Electronics, ICCE 2016
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro; Turri, Giacomo
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237320

A thruster failure tolerant control scheme for underwater vehicles
MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings
Autore/i: Ciabattoni, L.; Fasano, A.; Ferracuti, F.; Freddi, A.; Longhi, S.; Monteriù, A.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper extends our previous work [1] on the design of a thruster failure tolerant control scheme for underwater vehicles. The proposed control scheme is based on the use of a suitable thruster allocation algorithm, which consists on a modified version of the Moore-Penrose pseudo inverse. In this work, each thruster of the underwater vehicle can rotate, offering a significant advantage to optimize its control. When a thruster experiences a failure, the resulting thrust force, which should be allocated to the failed actuator, is reallocated to the still faultless thrusters. Moreover, the angle of each thrusters is set to minimize the control effort. A bank of controllers is built so that each controller is designed to control the considered underwater vehicle under a specific actuator failure scenario. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240565

Implementation of an 'at-home' e-Health system using heterogeneous devices
IEEE 2nd International Smart Cities Conference: Improving the Citizens Quality of Life, ISC2 2016 - Proceedings
Autore/i: Scalise, Lorenzo; Pietroni, Filippo; Casaccia, Sara; Revel, Gian Marco; Monteriu', Andrea; Prist, Mariorosario; Longhi, Sauro; Pescosolido, Loreto
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Systems enabling long-term monitoring of physiological data and everyday activities has been the subject of considerable research efforts in the last years, in order to improve the quality of life of patients, elderly people and common citizens at home, out of the hospitalization. With the availability of inexpensive, low power, wireless and integrated devices, current smart homes are typically equipped with a large amount of sensors, which collaboratively process and make deductions from the acquired data on the state of the home, as well as the activities and behaviors of its residents. According to the field of application and the end-users involved (healthy people, elderly, people with disabilities), the definition of the parameters (e.g. heart rate, blood pressure, activity, body mass, etc.) and the appropriate sensors (electrocardiogram, sphygmomanometer, glucometer, etc.) for their acquisition assume a fundamental role. One of the goals of the Italian project Health@Home is to create a network of health sensors and home automation devices to monitor the user's status within the home environment. We present a candidate implementation of such a system, describing the software architecture and the selected components, and a testbed of the architecture, realized in a lab room and used for a preliminary experimental study involving seven users. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240564

Wireless sensor network based management system for electric bicycle-sharing
EEEIC 2016 - International Conference on Environment and Electrical Engineering
Autore/i: Prist, Mariorosario; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Antonini, P.
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Bicycle-sharing is an exciting new model of public-private transport provision that has quickly emerged in the past five years, and represents a possible way for enhancing sustainable mobility in smart cities of the future. This paper proposes a wireless sensor network based management system for electric bicycle-sharing of new design, where each bicycle and docking station is equipped with a measurement and communication device (i.e., a network mote), and is both sensor and actor of the wireless network. Each bicycle can keep track of its position, battery level, and communicate with the docking station, which manages the recharge cycle, and locks or releases the bicycle to the user. Since all the information is shared through the network, the management system can provide high level software services as well (e.g., the booking service). This paper describes in detail the design and the implementation of the proposed wireless sensor network based management system for electric bicycle-sharing. © 2016 IEEE.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/240562

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

Marche Polytechnic University, an international resource for a new scientific and cultural brotherhood
Il respiro italiano. Expo 2015 - The Italian breath. Expo 2015 - El respiro italiano. Expo 2015 - Der italienische Atem. Expo 2015 - 2015年世界博览会——意大利马尔凯大区精神气息
Autore/i: Bronzini, Fabio; Longhi, Sauro
Editore: Gangemi Editore International Publishing
Luogo di pubblicazione: Roma
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/249784

Sistema di navigazione integrato per carrozzine motorizzate in applicazioni AAL
XXVI Convegno di ALASS - Associazione Latina per l'Analisi dei Sistemi Sanitari
Autore/i: Cavanini, Luca; Ortenzi, Davide; Cimini, Gionata; Monteriu', Andrea; Freddi, Alessandro; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/241712

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

Multi-apartment residential microgrid monitoring system based on kernel canonical variate analysis
NEUROCOMPUTING
Autore/i: Ciabattoni, Lucio; Comodi, Gabriele; Ferracuti, Francesco; Fonti, Alessandro; Giantomassi, Andrea; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In the residential energy sector there is a growing interest in smart energy management systems able to monitor, manage and minimize energy consumption. A key factor to curb household energy consumption is the amendment of occupant erroneous behaviors and systems malfunctioning. In this scenario energy efficiency benefits can be either amplified or neutralized by, respectively, good or bad practices carried out by end users. Authors propose a diagnostic system for a residential microgrid application able to detect faults and occupant bad behaviors. In particular a nonlinear monitoring method, based on kernel canonical variate analysis, is developed. To overcome the normality assumption regarding the signals probability distribution, Upper Control Limits are derived from the estimated Probability Density Function through Kernel Density Estimation. The proposed method, applied to a smart residential microgrid, is tested on experimental data acquired from July 2012 to October 2013.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229210

Residential energy monitoring and management based on fuzzy logic
2015 IEEE International Conference on Consumer Electronics, ICCE 2015
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Pagnotta, D. Proietti; Foresi, G.; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228736

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

Nonlinear decentralized model predictive control for unmanned vehicles moving in formation
INFORMATION TECHNOLOGY AND CONTROL
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: Unmanned vehicles operating in formation may perform more complex tasks than vehicles working indi- vidually. In order to control a formation of unmanned vehicles, however, the following main issues must be faced: vehicle motion is usually described by nonlinear models, feasible control actions for each vehicle are constrained, collision between the members of the formation must be avoided while, at the same time, the computational efforts must be kept low due to limitations on the onboard hardware. To solve these problems, a nonlinear decentralized model predictive control algorithm is presented in this paper. The adopted model is based on the nonlinear kinematic equations describing the motion of a body with six degrees of freedom, where each vehicle shares information with its leader only by means of a wireless local area network. Saturation and collision-free constraints are included within the formulation of the optimization problem, while de- centralization allows to distribute the computational efforts amongst all the vehicles of the formation. In order to show the effectiveness of the proposed approach, it has been applied to a formation of quadrotor vehicles. Simulation results prove that the approach presented in this paper is a valid way to solve the problem of controlling a formation of unmanned vehicles, granting at the same time the possibility to deal with constraints and nonlinearity while limiting the computational efforts through decentralization.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229821

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

A tool for home-based rehabilitation allowing for clinical evaluation in a visual markerless scenario
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Autore/i: Capecci, Marianna; Ceravolo, MARIA GABRIELLA; D'Orazio, F.; Ferracuti, F.; Iarlori, S.; Lazzaro, G.; Longhi, Sauro; Romeo, L.; Verdini, Federica
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This work deals with the design of an interactive monitoring tool for home-based physical rehabilitation. The software platform includes a video processing stage and the exercise performance evaluation. Image features are extracted by a Kinect v2 sensor and elaborated to return the exercises score. Furthermore the tool provides to physiotherapists a quantitative exercise evaluation of subject's performances. The proposed tool for home rehabilitation has been tested on 5 subjects and 5 different exercises and results are presented. In particular both exercises and relative evaluation indexes were selected by specialists in neurorehabilitation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234690

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

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

Electric motor defects diagnosis based on kernel density estimation and Kullback-Leibler divergence in quality control scenario
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
Autore/i: Ferracuti, Francesco; Giantomassi, Andrea; Iarlori, Sabrina; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The present paper deals with the defect detection and diagnosis of induction motor, based on motor current signature analysis in a quality control scenario. In order to develop a monitoring system and improve the reliability of induction motors, Clarke-Concordia transformation and kernel density estimation are employed to estimate the probability density function of data related to healthy and faulty motors. Kullback-Leibler divergence identifies the dissimilarity between two probability distributions and it is used as an index for the automatic defects identification. Kernel density estimation is improved by fast Gaussian transform. Since these techniques achieve a remarkable computational cost reduction respect the standard kernel density estimation, the developed monitoring procedure became applicable on line, as a Quality Control method for the end of production line test. Several simulations and experimentations are carried out in order to verify the proposed methodology effectiveness: broken rotor bars and connectors are simulated, while experimentations are carried out on real motors at the end of production line. Results show that the proposed data-driven diagnosis procedure is able to detect and diagnose different induction motor faults and defects, improving the reliability of induction machines in quality control scenario. © 2015 Elsevier Ltd.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228738

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

Fuzzy logic based economical analysis of photovoltaic energy management
NEUROCOMPUTING
Autore/i: Ciabattoni, Lucio; Ferracuti, Francesco; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: Since 2002 the European Union has seen a rapid growth in the photovoltaic (PV) sector. During the last two years incentives for PV installations were cut almost worldwide slowing the growth of the market. In this scenario the design of a new plant ensuring economic convenience is strongly related to household electricity consumption patterns and energy management actions. This paper presents a high-resolution model of domestic electricity use based on Fuzzy Logic Inference System. Taking into account consumers sensibility concerning the rational use of energy, the model gives as output a 1-min resolution overall electricity usage pattern of the household. The focus of this work is the use of a novel fuzzy model combined with a cost benefits analysis to evaluate the real economic benefits of load shifting actions. A case study is presented to quantify its effectiveness in the new net metering Italian scenario. © 2015 Elsevier B.V.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228734

An integrated simulation environment for Wireless Sensor Networks
Proceedings of the WoWMoM 2015: A World of Wireless Mobile and Multimedia Networks
Autore/i: Prist, Mariorosario; Longhi, Sauro; Monteriu', Andrea; Giuggioloni, Federico; Freddi, Alessandro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Simulators for Wireless Sensor Networks (WSNs) are one of the most important tools for systems development. They enable to study and evaluate new theories and hypotheses for sensors data gathering, testing new applications and protocols. Nowadays, there are a large number of open source WSN simulators and they can be divided into different categories according to their features and main applications. Due to the ability to increase the real WSN prototyping, the Cross Levels Simulator, like Cooja, has become an important class of simulators. Although they are open source, flexible and extensible in all levels, the test interface, the external connection at a physical level and the direct interaction with the process control via the WSN is very poor. In this work we present the Cooja Advanced Sky Interface which is an extension of the Contiki's Cooja network simulator for the Sky mote. Due to the absence of the analog output control in the Contiki OS for the Sky mote, as additional contribution, the Contiki Sky DAC driver has been developed and tested in the Cooja Simulator with the Advanced Sky GUI and GISOO plugin to give the ability to implement control over the wireless sensor network.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234076

An integrated simulation module for wireless cyber-physical system
2015 IEEE 15th International Conference on Environment and Electrical Engineering, EEEIC 2015 - Conference Proceedings
Autore/i: Prist, Mariorosario; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Wireless Sensors Network (WSN) integration in a Cyber Physical System (CPS) is becoming one of the most important research topics for increasing the adaptability, autonomy, efficiency, functionality, reliability, safety, and usability in the wireless automation systems. Due the complexity of the CPS, simulators and emulators have to be used to replace the real experiments in order to provide necessary feedback and facilities for this regard. Although the simulators are open source, flexible, extensible and full integrated in a mathematical modelling tools, the external connection at a physical level and the direct interaction with the process control via the WSN in the CPSs is very poor. This paper proposes a new simulation module to control a wireless cyber-physical system, by integrating LabVIEW development environment for a visual programming language from National Instruments, and COOJA, a cross level wireless sensor network simulator. The developed software module, called “GILOO” (Graphical Integration of Labview and cOOja) enables to develop and to debug control policies in a simulated or realistic scenario, using the virtual environment or the hardware module, such as the National Instruments Data Acquisition (SCADA), the FPGA platform, the CompactRio, etc. The designed GILOO module has been experimentally tested and preliminary results are shown in this paper. In detail, a smart home mock-up is proposed to verify its correct behavior and to realize the networked control of an indoor LED lighting system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234075

Household electrical consumptions modeling and management through neural networks and fuzzy logic approaches
Complex system modelling and control through intelligent soft computations
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: In recent years the European Union and, moreover, Italy has seen a rapid growth in the photovoltaic (PV) sector, following the introduction of the feed in tariff schemes. In this scenario, the design of a new PV plant ensuring savings on electricity bills is strongly related to household electricity consumption patterns. This chapter presents a high-resolution model of domestic electricity use, based on Fuzzy Logic Inference System. The model is built with a "bottom-up" approach and the basic block is the single appliance. Using as inputs patterns of active occupancy and typical domestic habits, the fuzzy model give as output the likelihood to start each appliance within the next minute. In order to validate the model, electricity demand was recorded over the period of one year within 12 dwellings in the central east coast of Italy. A thorough quantitative comparison is made between the synthetic and measured data sets, showing them to have similar statistical characteristics. The focus of the second part of this work is to develop a neural networks based energy management algorithm coupled with the fuzzy model to correctly size a residential photovoltaic plant evaluating the economic benefits of energy management actions in a case study. A cost benefits analysis is presented to quantify its effectiveness in the new Italian scenario and the evaluation of energy management actions. © Springer International Publishing Switzerland 2015.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/195507

High-resolution mapping of river and estuary areas by using unmanned aerial and surface platforms
2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Autore/i: Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/235072

On the design of observers robust to load variations for synchronous converters
2015 International Conference on Renewable Energy Research and Applications, ICRERA 2015
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Ferracuti, Francesco; Ippoliti, Gianluca; Longhi, Sauro; Miceli, Rosario; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228743

Robust control of robot arms via quasi sliding modes and neural networks
Advances and Applications in Sliding Mode Control Systems
Autore/i: Corradini, Maria Letizia; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: This chapter presents a control approach for robotic manipulators based on a discrete-time sliding mode control which has received much less coverage in the literature with respect to continuous time sliding-mode strategies. This is due to its major drawback, consisting in the presence of a sector, of width depending on the available bound on system uncertainties, where robustness is lost because the sliding mode condition cannot be exactly imposed. For this reason, only ultimate boundedness of trajectories can be guaranteed, and the larger the uncertainties affecting the system are, the wider is the bound on trajectories which can be guaranteed. As a possible solution to this problem, in this chapter a discontinuous control law has been proposed, employing a controller inside the sector based on an estimation, as accurate as possible, of the overall effect of uncertainties affecting the system. Different solutions for obtaining this estimate have been considered and the achievable performances have be compared using experimental data. The first approach consists in estimating the uncertain terms by a well established method which is an adaptive on-line procedure for autoregressive modeling of non-stationary multivariable time series by means of a Kalman filtering. In the second solution, radial basis neural networks are used to perform the estimation of the uncertainties affecting the system. The proposed control system is evaluated on the ERICC robot arm. Experimental evidence shows satisfactory trajectory tracking performances and noticeable robustness in the presence of model inaccuracies and payload perturbations. © Springer International Publishing Switzerland 2015.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/191502

Underwater Robot Intelligent Control Based on Multilayer Neural Network
Underwater Intelligent Control
Autore/i: Oskin, Dimitry; Dyda, Alexander; Longhi, Sauro; Monteriù, Andrea
Editore: River Publishers
Classificazione: 2 Contributo in Volume
Abstract: The chapter is devoted to the design of an intelligent neural network based control system for underwater robots. A new algorithm for intelligent con- troller learning is derived using the speed gradient method. The proposed systems provide robot dynamics close to the reference ones. Simulation re- sults of neural network control systems for underwater robot dynamics with parameter and partial structural uncertainty have confirmed the perspectives and effectiveness of the developed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204125

A virtual thruster-based failure tolerant control scheme for underwater vehicles
10th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC 2015)
Autore/i: Fasano, Antonio; Ferracuti, Francesco; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a preliminary set of results on the design of a virtual thruster-based failure tolerant control scheme for underwater vehicles. The proposed control scheme is based on the use of a suitable thruster allocation algorithm, which consists on a modified version of the Moore-Penrose pseudo inverse. When a thruster experencies a failure, the “virtual” thruster concept is introduced, as an ideal faultless thruster that operates in places of the real failed one. Thus, the resulting thrust force, which should be allocated to the failed actuator (i.e., virtual thrust), is instead reallocated to the still functional thrusters. A bank of controllers is built so that each controller is designed to control the considered underwater vehicle under a specific actuator failure scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234072

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

Training and Retraining Motor Functions at Home with Help of Current Technology for Video Games: Basis for the Project
mbient Assi- sted Living: Italian Forum 2014
Autore/i: Giantomassi, Andrea; Capecci, Marianna; Benettazzo, F.; Iarlori, Sabrina; Ferracuti, Francesco; Freddi, Alessandro; Monteriu', Andrea; Innocenzi, Silvia; Casoli, Paola; Ceravolo, MARIA GABRIELLA; Longhi, Sauro; Leo, Tommaso
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Chronic diseases are an international concern, for their increasing incidence and the strain on individuals and on healthcare systems. In order to enable the healthcare system to cope with increasing demands and to avoid strong decrements in subject’s functionality and well-being, a variety of changes for the management of chronic disease care have been advocated by the World Health Organization. The objective of the research is to verify the feasibility and acceptability of a technological solution that allows to transfer a tailored rehabilitation program for patients with disabilities in the home environment. The first step of the study is to identify the correct technological solution on the basis of the International Standard of Organization (ISO) definition of usability and acceptability. The second step is to verify the capacity of the system to perform correctly what is requested. The third step will be to verify the system efficacy in the patients’ training.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234069

Riflessi etici della formazione tecnico-scientifica
Etica e senso di responsabilità nella professione
Autore/i: Longhi, Sauro; Monteriu', Andrea
Editore: Istituto Grafologico Internazionale Girolamo Moretti
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234202

AAL Technologies for Independent Life of Elderly People
Ambient Assisted Living: Italian Forum 2014
Autore/i: Benetazzo, Flavia; Ferracuti, Francesco; Freddi, Alessandro; Giantomassi, Andrea; Iarlori, Sabrina; Longhi, Sauro; Monteriu', Andrea; Ortenzi, Davide
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Assistive technologies have the objective to improve the people quality of life of in daily living, with a special aim to those who suffer of physical disabilities or cognitive impairment, which may be caused by an accident, disease or the natural process of ageing. The present paper describes the main results of a study realized for the INTERREG IVC INNOVAGE project, where the domain target addressed are: home and building automation and assistive robotics. The project provides a quick overview of the typical needs of elderly people, describes the state-of-the-art technologies which can be adopted to satisfy these needs and presents a critical analysis of the functionalities, which present and future assistive technologies should possess. The result of this study is a detailed assessments of requirements and limits of nowadays domotics and robotics technologies aimed to improve people quality of life.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234065

Report RdS/PAR2014/025. Miglioramento delle funzionalità di un simulatore di edificio e sua evoluzione verso la simulazione di reti di edifici in scenari di demand response
Report Ricerca di Sistema
Autore/i: Comodi, Gabriele; Fonti, Alessandro; Polonara, Fabio; Longhi, Sauro
Classificazione: 3 Libro
Abstract: Il crescente interesse verso politiche attive della gestione della domanda di energia (demand side management) e verso azioni che possano modificarne il profilo (demand response) implica necessariamente che l’utente finale, per garantire il proprio comfort, abbia a disposizione sistemi energetici che possano garantire la flessibilità della propria domanda: sistemi di generazione distribuita (che trasformano l’utente finale da “consumer” a “prosumer”) ed accumuli elettrici e termici. L’evoluzione naturale del simulatore sviluppato nei PAR precedenti è quindi quella di modellare questi sistemi che sono in grado di garantire una maggiore flessibilità della domanda di energia del consumatore. In particolare, sono stati implementati: sistemi di (co-)generazione distribuita con microturbina a gas (che trasformano l’utente finale da “consumer” a “prosumer”) e sistemi di accumulo, sia termici che elettrici. Inoltre, è stata introdotta la funzionalità di dynamic pricing per simulare le condizioni al contorno del mercato dell’energia elettrica e del gas. Infine, il modello del cluster già presentato l’anno scorso è stato calibrato” sulla base dei dati sperimentali provenienti dalla rete di sensori dello “Smart village ENEA”. Il modello della microturbina implementato risulta essere molto affidabile, grazie anche alla quantità di dati sperimentali in possesso dell’Università Politecnica delle Marche che ha svolto attività di ricerca su questa macchina per diversi anni. La modellazione degli accumuli (termico ed elettrico) fornisce risultati verosimili ed in linea con la bibliografia internazionale. Il simulatore della rete di edifici, la fase di calibrazione ha dimostrato la bontà del simulatore nel ricostruire l’andamento della domanda di energia termica giornaliera degli edifici del distretto: i isultati mostrano una ottima rispondenza tra i massimi ed i minimi (sia assoluti che relativi) nell’arco delle ventiquattro ore. Tuttavia, in futuro altro lavoro dovrà essere svoltoper cercare di ridurre l’errore assoluto tra il valore simulato e quello reale.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/238887

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

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