Sauro LONGHI

Pubblicazioni

Sauro LONGHI

 

581 pubblicazioni classificate nel seguente modo:

Nr. doc. Classificazioni
367 4 Contributo in Atti di Convegno (Proceeding)
143 1 Contributo su Rivista
53 2 Contributo in Volume
12 3 Libro
4 6 Brevetti
2 7 Curatele
Anno
Risorse
2014
Report RdS/PAR2013/063. Sviluppo di un simulatore di edifici orientato alla gestione attiva della domanda
Autore/i: Comodi, Gabriele; Fonti, Alessandro; Giantomassi, Andrea; Polonara, Fabio; Longhi, Sauro
Classificazione: 3 Libro
Abstract: Il lavoro svolto durante questa annualità è suddiviso in due linee di attività. Nella prima linea di attività sono state migliorate alcune funzionalità del simulatore termico/elettrico. Nel PAR precedente (2012) la centrale termica/frigorifera era stata simulata ipotizzando un rendimento medio annuo costante sia per la caldaia che per il gruppo frigorifero; il simulatore della centrale termica/frigorifera è stato migliorato facendo variare il rendimento in funzione del fattore di carico e delle condizioni ambientali esterne. Inoltre, sono stati modellati i consumi elettrici integrandoli con quelli termici simulando il controllo dell’accensione e spegnimento dei fan-coil e la dimmerazione dell’illuminazione indoor. Infine è stato inserito il costo dell’energia come condizione al contorno attraverso scenari tariffari flat. Inoltre, il simulatore è stato predisposto per essere integrato con algoritmi di ottimizzazione in modo da arrivare ad una ottimizzazione multi-obiettivo minimizzando il discomfort degli utenti e minimizzando i consumi energetici. La seconda linea di attività è consistita nella valutazione del simulatore a partire dai dati sperimentali degli edifici monitorati al fine di conseguire una migliore corrispondenza tra il modello ed il comportamento reale degli edifici. In particolare, l’attività di tuning è consistita principalmente nella validazione del simulatore applicato all’edificio F40 per un periodo di riferimento di 60 giorni individuato nel primo trimestre 2013; inoltre è stata affrontata una primissima fase di valutazione del simulatore per il cluster di edifici. Per quanto riguarda la valutazione sui consumi reali dell’edificio F40, il simulatore sviluppato fornisce ottimi risultati su scala giornaliera con valori del MAPE che oscillano tra il 7.06% ed il 7.87%; più piccolo è l’intervallo che si vuole simulare più i risultati del simulatore si allontanano dai dati reali, come dimostrano il MAPE orario (che oscilla tra il 17.93% ed il 19.59%) e quello biorario (che oscilla dal 15.68% al 17.28%). Altro risultato significativo è il fatto che la simulazione degli apporti gratuiti migliora di molto le prestazioni del simulatore, con riduzione significativa di tutte le voci di errore. Inoltre, le simulazioni dimostrano che le prestazioni del simulatore non cambiano molto con un maggiore livello di dettaglio delle presenze (presenza nell’edificio o presenza nel singolo ufficio): ottenere una simulazione attendibile solamente con il dato di presenza di edificio permette di ovviare al duplice problema della privacy degli occupanti e del costo di installazione di numerosi sensori di presenza. Le metodologia utilizzata per la simulazione degli apporti gratuiti può così essere estesa a tutti gli edifici del terziario, sia pubblico che privato, in cui sia noto l’ingresso mediante badge. Per quanto riguarda la calibrazione del cluster di edifici, i risultati preliminari ottenuti dalla fase di tuning sono incoraggianti, tuttavia il lavoro da fare è ancora molto. In particolare bisognerà: i) effettuare simulazioni prevedendo la presenza degli apporti gratuiti; ii) verificare il tuning anche a livello di ogni singolo edificio.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/229220 Collegamento a IRIS

2014
A discrete-time VS controller based on RBF neural networks for PMSM drives
ASIAN JOURNAL OF CONTROL
Autore/i: Ciabattoni, Lucio; Corradini, Maria Letizia; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 1 Contributo su Rivista
Abstract: A method merging the features of variable structure control and neural network design is presented for speed control of a permanent magnet synchronous motor. The proposed control approach is based on a discrete-time variable structure control and a robust digital differentiator for speed estimation. Radial basis function neural networks are used to learn about uncertainties affecting the system. A stability analysis is provided and the ultimate boundedness of the speed tracking error is proved. Control performance has been evaluated by simulations using the model of a commercial permanent magnet synchronous motor drive.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/95662 Collegamento a IRIS

2014
RGBD camera monitoring system for Alzheimer’s disease assessment using Recurrent Neural Networks with Parametric Bias action recognition
Proceedings of the 19th IFAC World Congress
Autore/i: Iarlori, Sabrina; Ferracuti, Francesco; Giantomassi, Andrea; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The present paper proposes a computer vision system to diagnose the stage of illness in patients a ected by Alzheimer's disease. In the context of Ambient Assisted Living (AAL), the system monitors people in home environment during daily personal care activities. The aim is to evaluate the dementia stage, observing actions listed in the Direct Assessment of Funcional Status (DAFS) index and detecting anomalies during the performance, in order to assign a score explaining if the action is correct or not. In this work brushing teeth and grooming hair by a hairbrush are analysed. The technology consists of the application of a Recurrent Neural Network with Parametric Bias (RNNPB) that is able to learn movements connected with a speci c action and recognize human activities by parametric bias that work like mirror neurons. This study has been conducted using Microsoft Kinect to collect data about the actions observed and oversee the user tracking and gesture recognition. Experiments prove that the proposed computer vision system can learn and recognize complex human activities and evaluates DAFS score.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/214714 Collegamento a IRIS

2014
RGB-D Video Monitoring System to Assess the Dementia Disease State Based on Recurrent Neural Networks with Parametric Bias Action Recognition and DAFS Index Evaluation
Computers Helping People with Special Needs
Autore/i: Iarlori, Sabrina; Ferracuti, Francesco; Giantomassi, Andrea; Longhi, Sauro
Editore: Springer International Publishing
Classificazione: 2 Contributo in Volume
Abstract: Within 2050, demographic changes, due to the significant increase of elderly, will represent one of the most important aspect for social assistance and healthcare institutions, particularly in European Union. Great attention is given to dementia diseases with over 35 million people worldwide who live in this condition, affected by cognitive impairment, frailty and social exclusion with considerable negative consequences for their independence. Preference will be given to intervention with high impact on the quality of life of the individual associated with a socio-economic burden, also for people who care for them. The main challenge comes from the social objective of assisting and keeping elderly people in their familiar home surrounding or to enable them to “aging in place”.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/214713 Collegamento a IRIS

2014
Home energy management benefits evaluation through fuzzy logic consumptions simulator
Proceedings of the International Joint Conference on Neural Networks, IJCNN 2014
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/179118 Collegamento a IRIS

2014
Synchronous buck converter control via robust periodic pole assignment
2014 European Control Conference, ECC 2014
Autore/i: Cimini, Gionata; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Pirro, Matteo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/175120 Collegamento a IRIS

2014
Autonomous navigation, landing and recharge of a quadrotor using artificial vision
2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
Autore/i: Cocchioni, Francesco; Mancini, Adriano; Longhi, Sauro
Editore: IEEE Computer Society
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a solution to UAV reduced endurance and autonomous flight is proposed. With a complete on-board solution, based on artificial vision, the developed system is able to autonomously take off, navigate and land, recharging its battery by using a dedicated landing platform, both in indoor and outdoor scenarios. The landing platform includes a passive centering system to correct the landing error of the UAV, with a novel design wich reduce cost and increase the safety (thanks to small and isolated electrical contacts) without invasive hardware changes on the drone. The developed vision algorithm provides a fast and accurate measurement of UAV position with respect to the landing platform using a visual target, but at the same time it is able to automatically switch to an estimation of position that is independent from the visual target. This aspect is used during navigation or when the tracking of the target fails, ensuring a continuous position measurement feed to the controllers. The developed control system manages all the different phases of a mission (motor turning on/off, take off, navigation, landing, ... ) with low control error, ensuring a landing over the landing platform with an error that is lower than 5cm for both x and y axis. The developed software in ROS environment is modular and provides input/output interfaces to receive command, or send data.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/237329 Collegamento a IRIS

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

2014
Actuator fault detection and isolation system for an hexacopter
Proceedings Conference on Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Prist, Mariorosario
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The problem of detection and isolation of actuator faults in hexacopter vehicles is address in this article. The aim is to detect and isolate possible faults which can occur on the vehicle actuation system (i.e. rotors and propellers). The dynamic nonlinear model of an hexarotor vehicle is first derived to build a model-based diagnosis system. Then a Thau observer is developed to estimate the states of the hexarotor and, on the usage of this information, to generate the needed set of residuals. The developed fault detection and isolation system is finally tested in a high fidelity hexacopter simulator in which different fault situations are considered.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204314 Collegamento a IRIS

2014
An interoperable framework for home automation design, testing and control
2014 22nd Mediterranean Conference on Control and Automation, MED 2014
Autore/i: Ciabattoni, Lucio; Cimini, Gionata; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/175117 Collegamento a IRIS

2014
Slam-based autonomous wheelchair navigation system for AAL scenarios
Proceedings of the Mechatronic and Embedded Systems and Applications (MESA), 2014
Autore/i: Cavanini, Luca; Benetazzo, Flavia; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Commercial electric-power wheelchairs have become much cheaper in the recent years, likewise the availability of reduced size sensors to an affordable price has made their integration easier in this kind of vehicle. This paper presents the development of a smart navigation system applied to an electric wheelchair. The developed work falls within the Ambient Assisted Living field (AAL), which includes all the technologies whose aim is to improve the quality of life of people in the home environment, especially for the elderly and physically impaired. In particular, the present work is focused on the development of technological support aimed at improving the daily life of that population segment who has motor difficulties, and is forced to use personal mobility support systems such as a wheelchair. This system is able to localize the wheelchair while it is moving in an indoor environment. The system exploits a low cost hardware and an integrated open source software, which permit a cheap integration with already available electric wheelchairs.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204126 Collegamento a IRIS

2014
Ambient Assisted Living - Italian Forum 2013
Autore/i: Longhi, Sauro; Pietro, Siciliano; Germani, Michele; Monteriu', Andrea
Editore: Springer-Verlag
Luogo di pubblicazione: Berlin
Classificazione: 3 Libro
Abstract: This book presents the refereed proceedings of the Fourth Italian Forum on Ambient Assisted Living (AAL), held in Ancona, Italy, in October 2013. A wide range of issues are covered and new technological developments are described which will support the autonomy and independence of individuals with special needs through an innovative and integrated approach, designed to respond to the socio-economic challenges of an aging population. Topics addressed include: health and well-being, prevention and rehabilitation and support for care providers; active aging and its social implications; services for the frail elderly with health problems and their families; nutrition; ICT platforms/technologies for the benefit of the elderly; home automation and control technologies (autonomy, safety and energy saving); smart cities and smart communities; telemedicine, telerehabilitation, and telecare; mobility, participation and social inclusion; games and fun for the elderly; building design; social housing; interface design and interaction (accessibility, acceptance); social policies to encourage and support active aging; business models, market analysis and development of sustainable financing and business and ethics, privacy and data protection. Many experimental validations based on user trials and usability testing are presented and discussed. The knowledge and insights provided in this book will help researchers and others involved in AAL to understand relevant societal trends, novel technological developments and pressing challenges. 397 pp.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204118 Collegamento a IRIS

2014
Smart home heating system malfunction and bad behavior diagnosis by Multi-Scale PCA under indoor temperature feedback control
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Autore/i: Giantomassi, Andrea; Ferracuti, Francesco; Iarlori, Sabrina; Puglia, Gloria; Fonti, Alessandro; Comodi, Gabriele; Longhi, Sauro
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The household sector is one of the biggest aggregate consumers and this is the reason why increasingly policies have been considering it. One of the key factors in curbing energy consumption in this sector is widely recognized to be due to erroneous behaviors and systems malfunctioning. In this context, energy management in homes is playing, and will play even more in future, a key role in increasing the final consumer awareness towards its own energy consumption and consequently in bursting its active role in smart grids. This paper highlights the economic benefits of low cost intelligent control domestic devices and identifies energy behavior, system malfunctions and improves energy efficiency. The scope is to detect and isolate different types of malfunctions and bad behaviors under an ambient temperature feedback control. The paper presents an application of Multi-Scale Principal Component Analysis to diagnose inefficient occupant behavior and systems malfunctioning and suggest good practices of energy conservation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/213713 Collegamento a IRIS

2014
Application of a wireless sensor networks and Web2Py architecture for factory line production monitoring
2014 IEEE 11th International Multi-Conference on Systems, Signals and Devices, SSD 2014
Autore/i: Grisostomi, Massimo; Ciabattoni, Lucio; Prist, Mariorosario; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/150102 Collegamento a IRIS

2014
Robust current observer design for DC-DC converters
3rd International Conference on Renewable Energy Research and Applications, ICRERA 2014
Autore/i: Cimini, Gionata; Ippoliti, Gianluca; Orlando, Giuseppe; Longhi, Sauro; Miceli, Rosario
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/191503 Collegamento a IRIS

2014
Fuzzy logic home energy consumption modeling for residential photovoltaic plant sizing in the new Italian scenario
ENERGY
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In recent years, Italy has seen a rapid growth in the PV (photovoltaic) sector, following the introduction of the FIT (feed in tariff) scheme known as Conto Energia. In July 2013 the Italian government definitively cut FITs, leaving only tax benefits and a revised net metering scheme (known as “Scambio sul Posto”) for new PV installations. In this scenario, the design of a new PV plant ensuring savings on electricity bills is strongly related to household electricity consumption patterns. This paper presents a high-resolution model of domestic electricity use. The model is based on Fuzzy Logic Inference System. 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. The model has been validated with electricity demand data recorded over the period of one year within 12 dwellings in the central east coast of Italy. The tool has been used to evaluate the self consumption percentage to correctly size a residential photovoltaic plant in a case study. A cost benefits analysis is presented to show the effectiveness of PV-generation in the new Italian scenario.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/186506 Collegamento a IRIS

2014
Respiratory rate detection algorithm based on RGB-D camera: theoretical background and experimental results
HEALTHCARE TECHNOLOGY LETTERS
Autore/i: Flavia, Benetazzo; Freddi, Alessandro; Monteriu', Andrea; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: Both the theoretical background and the experimental results of an algorithm developed to perform human respiratory rate measurements without any physical contact are presented. Based on depth image sensing techniques, the respiratory rate is derived by measuring morphological changes of the chest wall. The algorithm identifies the human chest, computes its distance from the camera and compares this value with the instantaneous distance, discerning if it is due to the respiratory act or due to a limited movement of the person being monitored. To experimentally validate the proposed algorithm, the respiratory rate measurements coming from a spirometer were taken as a benchmark and compared with those estimated by the algorithm. Five tests were performed, with five different persons sat in front of the camera. The first test aimed to choose the suitable sampling frequency. The second test was conducted to compare the performances of the proposed system with respect to the gold standard in ideal conditions of light, orientation and clothing. The third, fourth and fifth tests evaluated the algorithm performances under different operating conditions. The experimental results showed that the system can correctly measure the respiratory rate, and it is a viable alternative to monitor the respiratory activity of a person without using invasive sensors.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204124 Collegamento a IRIS

2014
Testing of cooperative tasks for Unmanned Aerial and ground platforms
Proceeding of the Mechatronic and Embedded Systems and Applications (MESA)
Autore/i: A., Gaujens; Benini, Alessandro; Mancini, Adriano; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the last years the Model Based Design for Unmanned Systems aided the safe and rational release of applications running on unmanned systems. In particular in this paper we focus on a hybrid methodology that merges Software in the Loop (SIL) and Model in the Loop (MIL) strategies for cooperative tasks performed by aerial and ground autonomous vehicles. The proposed work flow covers the design and testing of Ground Control Station (GCS) modelled by a finite state machine, the design and testing of navigation code running on UAV and UGV and the testing of cooperative missions. The work-flow is based on a realistic 3D physical simulator interfaced with Matlab-Simulink-Stafeflow. The proposed approach has been successfully tested and evaluated allowing to release runnable and safe code on real targets.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204127 Collegamento a IRIS

2014
A low cost mobile platform for educational robotic applications
Proceedings Conference on Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME
Autore/i: Prist, M.; Cavanini, L.; Longhi, S.; Monteriù, A.; Ortenzi, D.; Freddi, A.
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes a low cost mobile platform for robotic applications which is mainly addressed to educators and developers. Most of robotic models in the market use USB or serial standard protocol to retrieve sensor information, and this can generate delays on sensor readings and degradation of the overall performances. The proposed mobile robotic platform is based instead on the Controller Area Network, namely CAN-bus, which permits to obtain high performances and to increase flexibility and expandability for future technology integration.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204313 Collegamento a IRIS

2014
A novel shelving system for nutrition habits measuring
International Workshop Mobile Networks For Biometric Data Analysis (mBiDA 2014)
Autore/i: Ortenzi, Davide; Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Prist, Mariorosario
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The nutrition has an important role in the prevention of several critical disease. In order to evaluate the eating habits of the modern Italian society, the authors have thought to design an innovative system called “Smart Shelve”. This is a robotic structure integrable with various appliances, such as refrigerators, which allows to receive and deliver several types of foods in order to control their daily consump- tion. Smart shelve has external optical sensors for the food recognition, while right inside it is composed of several food compartments which are equipped with load cells to measure the weight of each type of food. Every week the system is able to send the acquired food consumption information to the cloud in order to provide statistical services regarding the nutrition style of each Italian region. The system is also capable to warn the users who have recently conducted a malnutrition style
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234078 Collegamento a IRIS

2014
Unmanned ground and aerial vehicles in extended range indoor and outdoor missions
2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
Autore/i: Cocchioni, F.; Pierfelice, V.; Benini, A.; Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/175115 Collegamento a IRIS

2014
Autonomous assistive robot for respiratory rate detection and tracking
Ambient Assisted Living: Italian Forum 2013
Autore/i: Benetazzo, Flavia; Freddi, Alessandro; Monteriu', Andrea; Harmo, Panu; Kyrki, Ville; Longhi, Sauro
Editore: Springer International Publishing
Luogo di pubblicazione: Berlin
Classificazione: 2 Contributo in Volume
Abstract: Assistive robotics has the objective to improve the quality of life of people in daily living, with a special aim to those who suffer of physical disabilities or cognitive impairment, which may be caused by an accident, disease or the natural process of ageing. Autonomous mobile robots can be adapted to work as assistive robots, because of their capabilities to navigate in unstructured environments and react to changes in it. In order to turn a mobile robot into an assistive robot, the contest of use and the set of functionalities to perform should be clearly identified, while limiting at the same time hardware complexity and costs, which are key factors against the application of assistive technologies into the real world. The present paper deals with the development of a home robot companion, an assistive robot, which is being realized at Università Politecnica delle Marche: its main contribution is the implementation of both a stance detection and respiratory rate algorithm by using the information provided by non-invasive sensors, and their integration into a low cost robotic platform which can perform navigation, user identification and tracking. The overall result is an assistive mobile robot which can increase safety at home for the user.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/234056 Collegamento a IRIS

2014
Kernel canonical variate analysis based management system for monitoring and diagnosing smart homes
Neural Networks (IJCNN), 2014 International Joint Conference on
Autore/i: Giantomassi, Andrea; Ferracuti, Francesco; Iarlori, Sabrina; Longhi, Sauro; Fonti, Alessandro; Comodi, Gabriele
Editore: Institute of Electrical and Electronics Engineers Inc.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In the contest of household energy management, a growing interest is addressed to smart system development, able to monitor and manage resources in order to minimize wasting. One of the key factors in curbing energy consumption in the household sector is the amendment of occupant erroneous behaviours and systems malfunctioning, due to the lack of awareness of the final user. Indeed the benefits achievable with energy efficiency could be either amplified or neutralized by, respectively, good or bad practices carried out by the final users. Authors propose a diagnostic system for home energy management application able to detect faults and occupant behaviours. In particular a nonlinear monitoring method, based on Kernel Canonical Variate Analysis, is developed. To remove the assumption of normality, Upper Control Limits are derived from the estimated Probability Density Function through Kernel Density Estimation. The proposed method is applied to smart home temperature sensors to detect anomalies respect to efficient user behaviours and sensors and actuators faults. The method is tested on experimental data acquired in a real apartment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/213714 Collegamento a IRIS

2014
Fram evaluation as unified memory for convex optimization algorithms
EDERC 2014 - Proceedings of the 6th European Embedded Design in Education and Research Conference
Autore/i: Cimini, Gionata; Bemporad, Alberto; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/186508 Collegamento a IRIS

2014
Flight Control of a Quadrotor Vehicle Subsequent to a Rotor Failure
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
Autore/i: Alexander, Lanzon; Freddi, Alessandro; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In this paper, the problem of designing a control law in case of rotor failure in quadrotor vehicles is addressed. First, a nonlinear mathematical model for a quadrotor vehicle is derived, which includes translational and rotational dynamics. Then a robust feedback linearization controller is developed, which sacrifices the controllability of the yaw state due to rotor failure to linearize the closed-loop system around a working point, where roll and pitch angles are zero and the angular speed around the vertical axis is a nonzero constant. An H∞ loop shaping technique is adopted to achieve regulation of these variables around the chosen working point. Finally, an outer loop is proposed for achieving control of the linear displacement under the assumption of small angles approximation for the pitch and roll angles. The proposed control strategy allows the vehicle to use the remaining three functional rotors to enter a constant angular speed around its vertical axis, granting stability and representing an effective way to deal with a rotor failure in quadrotor vehicles. Read More: http://arc.aiaa.org/doi/abs/10.2514/1.59869
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204123 Collegamento a IRIS

2014
Modular design of a novel wireless sensor node for smart environments
MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings
Autore/i: Grisostomi, Massimo; Ciabattoni, Lucio; Prist, Mariorosario; Romeo, Luca; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/186510 Collegamento a IRIS

2014
Autonomous assistive robot for respiratory rate detection and tracking.
Ambient Assisted Living - Italian Forum 2013
Autore/i: Benetazzo, Flavia; Freddi, Alessandro; Monteriu', Andrea; V., Harmo; P., Kyrki; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204122 Collegamento a IRIS

2014
Improved set-points tracking of remotely operated underwater vehicles through a supervised pid control scheme
JOURNAL OF MARINE ENGINEERING AND TECHNOLOGY
Autore/i: Ippoliti, Gianluca; Jetto, Leopoldo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper considers the position control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great water depths. The use of a single, time invariant PID controller may result in an unsatisfactory set-point tracking. To cope with this problem, a globally non-linear regulator given by the connection of a supervisor with a finite family of properly chosen PID controllers is here proposed. Each PID is designed to obtain a specific desired feature of the step response and the supervisor governs the switching among them to obtain an overall time-varying control law yielding a globally satisfactory output behaviour. The switching logic is driven by the numerical values assumed by some suitably defined cost functionals of output prediction errors. The performance of the switched controller so obtained is evaluated by numerical simulations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259856 Collegamento a IRIS

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

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

2013
Model-based fault diagnosis for industrial mobile robots
Fault Detection: Classification, Techniques and Role in Industrial Systems
Autore/i: Monteriu', Andrea; Longhi, Sauro
Editore: Nova Publishers
Luogo di pubblicazione: New York
Classificazione: 2 Contributo in Volume
Abstract: This chapter describes how a suitable design of a fault diagnosis system can be successfully applied on industrial mobile robots for increasing their reliability and safety, improving their operability and maximize their performance for different tasks and different environments.Structural analysis is applied to the nonlinear model of an industrial mobile robot for residual generation. An adaptive/thresholding decision al- gorithm is described for developing the residual evaluation module. This includes a threshold test based on the minimum and maximum values of the generated residuals to decide if a fault has occurred or not. Moving thresholds are updated using a sliding window of a fixed number of sequential sample readings. With this solution, prob- ability density functions of residuals are unknown and do not need to be estimated. Experimental validation of the proposed scheme is performed on a differential drive industrial mobile robot, and it is presented in the last part of the chapter.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/128493 Collegamento a IRIS

2013
Special issue on ‘periodic systems and robust control’ dedicated to Osvaldo Maria Grasselli
INTERNATIONAL JOURNAL OF CONTROL
Autore/i: A., Astolfi; Longhi, Sauro; A., Tornambè
Classificazione: 1 Contributo su Rivista
Abstract: This special issue celebrates the career of Osvaldo Maria Grasselli. The idea of putting together a special issue dedicated to Osvaldo surfaced during the workshop ‘One-Day Symposium on Advances and Challenges in Linear Control Systems’ organised at the ‘Università di Roma ‘Tor Vergata’ on March 2012, on the occasion of his 70th birthday. This special issue, therefore, contains a record of the technical programme. The research vision of Osvaldo is conspicuous in all contributions, spanning the areas of robust control, geometric control, control of multivariable systems, periodic control systems and their applications.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/111672 Collegamento a IRIS

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

2013
Auditory paradigm for a P300 BCI system using spatial hearing
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Autore/i: Ferracuti, Francesco; Freddi, Alessandro; Iarlori, Sabrina; Longhi, Sauro; Peretti, P.
Editore: IEEE / Institute of Electrical and Electronics Engineers Incorporated:445 Hoes Lane:Piscataway, NJ 08854:(800)701-4333, (732)981-0060, EMAIL: subscription-service@ieee.org, INTERNET: http://www.ieee.org, Fax: (732)981-9667
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/204119 Collegamento a IRIS

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

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

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

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

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

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

2013
Neural networks based home energy management system in residential PV scenario
39th IEEE Photovoltaic Specialists Conference, PVSC 2013
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/127076 Collegamento a IRIS

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

2013
A novel photovoltaic-thermal collector prototype: design, modeling, experimental validation and control
Proceedings 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Autore/i: Ciabattoni, Lucio; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/127080 Collegamento a IRIS

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

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

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

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

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

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

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

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

2013
A fuzzy logic tool for household electrical consumption modeling
Proceedings 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Autore/i: Ciabattoni, Lucio; Grisostomi, Massimo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/127079 Collegamento a IRIS

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

2013
Geometric tools for solving the FDI problem for linear periodic discrete-time systems
INTERNATIONAL JOURNAL OF CONTROL
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: This paper studies the problem of detecting and isolating faults in linear periodic discrete-time systems. The aim is to design an observer-based residual generator where each residual is sensitive to one fault, whilst remaining insensitive to the other faults that can affect the system. Making use of the geometric tools, and in particular of the outer observable subspace notion, the Fault Detection and Isolation (FDI) problem is formulated and necessary and solvability conditions are given. An algorithmic procedure is described to determine the solution of the FDI problem.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/111671 Collegamento a IRIS

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

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

2013
Experimental validation of a dynamic linear model of photovoltaic-thermal collector
39th IEEE Photovoltaic Specialists Conference, PVSC 2013
Autore/i: Ciabattoni, Lucio; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/127075 Collegamento a IRIS

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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




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