581 pubblicazioni classificate nel seguente modo:

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

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

Intelligent techniques for faults diagnosis and prognosis of CHP plant with gas turbine engine
Proceedings of the 8th ACD 2010 European Workshop on Advanced Control and Diagnosis
Autore/i: L., Miozza; Monteriu', Andrea; Freddi, Alessandro; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Abstract: Prognostic and Health Management (PHM) systems are used for the diagnosis and the prognosis of faults that affect the lifetime of dynamic processes. They can detect, identify and isolate fault mechanisms and predict their evolution in order to prevent them from causing system failures. When used in combination with Condition-Based Maintenance (CBM), they not only extend the system reliability, but significantly reduce operating costs and emergency response strategies through intelligent planning of maintenance. In this paper a CBM/PHM system for a cogeneration plant with gas turbine has been developed. Simulation trials have tested the performance and functionality of the system, showing how to produce useful information for health management and intelligent maintenance.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74231

Multi-scale PCA Based Fault Diagnosis for Rotating Electrical Machines
In Proceedings of the 8th ACD 2010 European Workshop on Advanced Control and Diagnosis
Autore/i: Ferracuti, Francesco; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74234

Discrete time variable structure control of robotic manipulators based on fully tuned RBF neural networks
2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Autore/i: Corradini, Maria Letizia; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50612

Observer-based robust control of PMSM via quasi sliding modes
8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010
Autore/i: Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53512

Roll damping and heading control of a marine vessel by fins-rudder VSC
8th IFAC Conference on Control Applications in Marine Systems, CAMS2010
Autore/i: Carletti, Cristina; Gasparri, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Raspa, Paolo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53673

Selection of Lithium cells for EV battery pack using Self Organizing Maps
Proceedings of The 25th Electric Vehicle Symposium (EVS 25)
Autore/i: Raspa, Paolo; L., Frinconi; Mancini, Adriano; M., Cavalletti; Longhi, Sauro; L., Fulimeni; P., Bellesi; R., Isidori
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74701

Integration of Smart user interfaces in the Navigation System of Powered Wheelchairs
Proceedings of 3nd International Conference on Biomedical Electronics and Devices, 2010 BIODEVICES
Autore/i: C., Carletti; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a navigation system that extends the use of Electric Powered Wheelchairs (EPWs) to people with upper limbs impairments that prevent them the control of a traditional joystick-driven EPW. To achieve this aim, an Automatic Speech Recognition (ASR) system and a Brain Computer Interface (BCI) have been introduced to enable the user to asynchronously perform and send the control commands to the navigation module, according to her/his limited residual capabilities. Moreover, a shared-control algorithm has been developed to translate the user’s guidance wishes into directions of motion that maximize the security and minimize the physical and cognitive effort for the user. A preliminary analysis of the proposed navigation system showed satisfactory results in terms of security and fulfillment of the user wishes.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73878

Robust speed estimation and control of PM synchronous motors via quasi-sliding modes
Proceedings of the 49th IEEE Conference on Decision and Control, CDC 2010
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/11566/46292

A Geometric Approach to Fault Detection and Isolation Problem for Linear Periodic Systems
Proceedings of the 49th IEEE Conference on Decision and Control (CDC'10)
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64484

A Framework for Flexible and Autonomous Reliability Tests of Household Appliances Supported by Virtual Planning
Proceedings of Virtual Concept Conference -IDMME 2010
Autore/i: R., Raffaeli; A., Cesetti; G., Angione; L., Lattanzi; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74276

A Racing Car Setup Evaluation Support System Based on Nonlinear Model Predictive Control
Proceedings Of FISITA 2010
Autore/i: P., Antonini; L., Fulimeni; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The paper presents a racing car setup evaluation support system that uses nonlinear model predictive control to emulate driver control actions. Simulation plays a crucial role in car competitions for reducing risks and costs of real track tests. Racing teams usually have their own simulation environments and the related technical literature is not of public domain. Commercial solutions are available with the related technical literature.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74248

Development of a Flexible Test Platform for Household Appliance Testing based on Mobile Agents
Proceedings of IEEE Conference on Automation Science and Engineering, CASE 2010
Autore/i: A., Cesetti; C. P., Scotti; G., Di Buò; G., Angione; L., Lattanzi; C., Cristalli; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper describes an innovative and flexible test platform for the household appliances test based on mobile agents, in order to carry out efficient data collection and analysis and to assist products design by providing defective components identification. The diagnostic system is specifically designed for the life-test laboratories, in which the mobile agent performs several measurements on many products over a long period of time, using different sensors mounted on board of the platform. The architecture and realization of the test platform is illustrated and described in details, focusing on the aspects related with autonomous mobile agent development, such as: navigation and perception in an indoor highly structured environment with unpredictable minor changes, manipulation and physical interaction with the product, image recognition of the environment and of the product. A prototype test platform has been developed and the first results show that it is feasible and effective for the improvement of the level of automation and quality of a life-test laboratory.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74457

Observer-based Fault Tolerant Sliding Mode Control for Remotely Operated Vehicles
Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems (CAMS'10)
Autore/i: Corradini, MARIA LETIZIA; Longhi, Sauro; Monteriu', Andrea; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper proposes an actuator fault-tolerant control scheme designed for a class of nonlinear systems, and then applied to an underwater Remotely Operated Vehicle (ROV) used for inspection purposes. Fault detection is achieved using a Variable Structure System (VSS) observer, while a sliding-mode based approach has been used both for fault isolation and ROV control, after the application of an input decoupling nonlinear state transformation to the ROV model. Finally, control reconfiguration is performed exploiting the inherent redundancy of actuators. An extensive simulation study has been also performed, supporting the effectiveness of the proposed approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64482

Field Robot Supporting the Activities of a Household Appliances Laboratory
Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV'10
Autore/i: A., Cesetti; C. P., Scotti; G., Di Buò; M., Babini; R., Donnini; G., Angione; L., Lattanzi; C., Cristalli; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: The development of a field robot for diagnosis and testing in the production line and laboratories (e.g., life test labs) of household appliances is considered. The proposed system targets the repetitive task of taking numerous measurements on products in order to guarantee a standardized and repeatable quality control. In this solution the diagnosis and testing station is not a fixed system but a flexible one, based on mobile robot with sensory and diagnostic skills. Such system achieves high flexibility own to its mobile nature and cost reduction due to the reduction in the number of measurement devices. The system can be interconnected with surrounding production and test systems to provide relevant feedback information for an integrated production and measurement process. This paper focuses on the aspects related with autonomous mobile platform development. A navigation module has been developed to guarantee the reliable performance in an indoor highly structured environment with position uncertainties of devices to be tested. A localization procedure has been integrated in the navigation module making use of Service Oriented Architecture (SOA). Preliminary tests show the feasibility of the proposed solution for the considered field application.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74458

Service Oriented Soft Real-time implementation of SLAM capability for mobile robots
Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV'10
Autore/i: C. P., Scotti; A., Cesetti; G., di Buò; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper focuses on solving practical challenges inherent from the use of state-of-art mobile robotics techniques in a resource hungry embedded mobile unit without inherent support for hard real-time operation. Such problems include real-time constraints, sensor acquisition independence from robot movement, multi-rate parallel data acquisition and memory limitations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74459

A Service Oriented Architecture Supporting an Autonomous Mobile Robot for Industrial Applications
Proceedings 18th IEEE Mediterranean Conference on Control & Automation, MED 2010
Autore/i: A., Cesetti; C. P., Scotti; G., Di Buò; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents the design and implementation of a control system for autonomous navigation based on a Service Oriented Architecture (SOA) supporting a mobile robot suitable for industrial applications. The robot is required to perform generic high-level tasks in indoor structured environments. The control architecture, developed within the Microsoft Robotics Developer Studio (MRDS), allows to encapsulate the controller functionalities as a set of services that interact and exchange data among them. This approach allows to guarantee flexibility, scalability and reliability. The accurate testing, carried out in simulated and real environments, shows good real-time performances.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/73879

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

Predictor design for altitude control of a seaweed harvester
8th IFAC Conference on Control Applications in Marine Systems, CAMS2010
Autore/i: Gallieri, M.; Ringwood, J.; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46957

Fault detection and prognosis methods for a monitoring system of rotating electrical machines
2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Autore/i: Ciandrini, Chiara; Gallieri, Marco; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50601

A Visual Global Positioning System for Unmanned Aerial Vehicles Used in Photogrammetric Applications
Proceedings of the 3rd International Symposium on Unmanned Aerial Vehicles, UAV’10
Autore/i: A., Cesetti; Frontoni, Emanuele; Mancini, Adriano; A., Ascani; Zingaretti, Primo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74716

RBF neural networks based quasi sliding mode controller and robust speed estimation for PM synchronous motors
36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
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/11566/50581

Fault tolerant decentralized nonlinear MPC for fleets of unmanned marine vehicles
Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems (CAMS'10)
Autore/i: Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea; Vaccarini, Massimo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A fleet of unmanned marine vehicles moving together in a prescribed pattern forms a robotic system for cooperative tasks. The problem is to control several marine vehicles such that, after transients, they form a required formation and move along a desired trajectory. The capability to accomplish the mission even in case of fault, is a fundamental requirement for these kind of vehicles. A completely decentralized nonlinear predictive control integrated with a fault tolerant strategy is here proposed for allowing safe cooperation. Based both on the local information and the acquired one through a LAN, each marine vehicle selects the desired formation to keep and plans its future actions. The proposed solution can be applied to different classes of unmanned marine vehicles.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64483

Renovation of historic building for music rooms and recording studio: High acoustic and energetic performances
39th International Congress on Noise Control Engineering 2010, INTER-NOISE 2010
Autore/i: Caniato, M; Bettarello, F; Longhi, Sauro; Sbaizero, O
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259857

An observer based quasi sliding mode controller for permanent-magnet synchronous motors
In Proceedings of the SPEEDAM 2010 - International Symposium on Power Electronics, Electrical Drives, Automation and Motion
Autore/i: Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53588

A Vision-based guidance system for UAV navigation and safe landing using natural landmarks
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Cesetti, A.; Frontoni, Emanuele; Mancini, Adriano; Zingaretti, Primo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In this paper a vision-based approach for guidance and safe landing of an Unmanned Aerial Vehicle (UAV) is proposed. The UAV is required to navigate from an initial to a final position in a partially known environment. The guidance system allows a remote user to define target areas from a high resolution aerial or satellite image to determine either the waypoints of the navigation trajectory or the landing area. A feature-based image-matching algorithm finds the natural landmarks and gives feedbacks to an onboard, hierarchical, behaviour-based control system for autonomous navigation and landing. Two algorithms for safe landing area detection are also proposed, based on a feature optical flow analysis. The main novelty is in the vision-based architecture, extensively tested on a helicopter, which, in particular, does not require any artificial landmark (e.g., helipad). Results show the appropriateness of the vision-based approach, which is robust to occlusions and light variations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51422

Experimental validation of a sliding mode controller for permanent-magnet synchronous motors
18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings
Autore/i: Bastiani, P.; Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Vannucci, G.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50877

Robust Navigation on Critical Environment using Vision Sensors
ASI - Workshop su Robotica per esplorazione lunare unmanned
Autore/i: Longhi, Sauro; A., Cesetti; Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B171
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74707

Detection of Landmines Using a UAV: Architecture and Control Issues
Workshops - 17th Mediterranean Conference on Control and Automation, 2009, MED ’09.
Autore/i: A., Cesetti; Frontoni, Emanuele; Mancini, Adriano; Zingaretti, Primo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Landmines are a constant danger causing thousands of deaths and injuries every year to soldiers, during conflicts, and to civilians, years after conflicts ceased. It has long been thought that landmine detection is an appropriate application for robotics because it is a dull, dirty and dangerous task. The purpose of this research was to evaluate the effectiveness and suitability of an Unmanned Aerial Countermine to search for, mark and report detected landmines. The intent was to provide the current military force and civilians with an effective mine detection and marking system. Our experience determined that, although accurate digital marking of landmine locations within a terrain map was useful, accurate physical marking of the mine locations was considered essential for the military and civilian requirements. In this paper we discuss the general architecture of the system, describing the required hardware and in particular the proposed sensors, starting from a ground penetrating synthetic aperture radar. We also focus our attention on the control system architecture and on the control strategy of the whole system. The main purpose of this paper is the presentation of the general problem, with an extensive analysis of the state of the art, and the general framework of the project with some major details about works in progress.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74719

UAV navigation and landing based on single camera vision system
Proceedings of the 4th European Conference on Mobile Robots, 2009, ECMR 2009
Autore/i: A., Cesetti; Frontoni, Emanuele; Mancini, Adriano; Zingaretti, Primo; Longhi, Sauro
Editore: KoREMA
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74717

EKF application on estimating missile guidance signals
COMMUNICATIONS TO SIMAI CONGRESS
Autore/i: Pizzingrilli, E; Liberato, M; Longhi, Sauro
Editore: Roma : SIMAI
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32380

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

FaultBuster: data driven fault detection and diagnosis for industrial systems
Proceedings of 7th Workshop on Advanced Control and Diagnosis
Autore/i: N., Bergantino; F., Caponetti; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B176 http://www.issi.uz.zgora.pl/ACD_2009/
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78171

Modeling and Attitude Control of an Autonomous Underwater Glider
8th IFAC International Conference on Manoeuvring and Control of Marine Craft 2009
Autore/i: Tatone, F.; Vaccarini, Massimo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55229

Unconstrained Networked Decentralized Model Predictive Control
JOURNAL OF PROCESS CONTROL
Autore/i: Vaccarini, Massimo; Longhi, Sauro; Katebi, R.
Classificazione: 1 Contributo su Rivista
Abstract: Complex processes are naturally suitable to be controlled in a decentralized framework: centralized con- trol solutions are often unfeasible in dealing with large scale plants and they are computationally prohib- itive when the processes are too fast for the existing computational resources. In these cases, the resulting control problem is usually split into many smaller subproblems and the global requirements are guaranteed by means of a proper coordination. A coordination strategy based on a networked decen- tralized Model Predictive Control is proposed in this paper for improving the global control performances. The innovative solution is based on independent agents and on a local area network used for exchanging a reduced set of information. The proposed architecture guarantees satisfactory performance under strong interactions among subsystems. A stability analysis is presented for the unconstrained decentral- ized case and the provided stability results are employed for tuning the decentralized controller. Numer- ical simulations are given for testing and validating the proposed technique.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32371

Intelligent control for a remotely operated vehicle
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This article considers the tracking control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great sea depths. The vehicle is subjected to different load configurations that introduce considerable variations of its mass and inertial parameters. In this work it is assumed that the possible vehicle configurations are known, but the time instants when the changes occur and the new vehicle configuration following the change are unknown. A neural network-based switching control is proposed for the considered mode-switch process. This solution simplifies the control scheme implementation and reduces the control signal chattering.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51389

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

Vision-based autonomous navigation and landing of an unmanned aerial vehicle using natural landmarks
Proceedings of the 17th Mediterranean Conference on Control and Automation, 2009, MED ’09
Autore/i: A., Cesetti; Frontoni, Emanuele; Mancini, Adriano; Zingaretti, Primo; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B169
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74720

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

A single-camera feature-based vision system for helicopter autonomous landing
Proceedings of the International Conference on Advanced Robotics, 2009, ICAR 2009
Autore/i: A., Cesetti; Frontoni, Emanuele; Mancini, Adriano; Zingaretti, Primo; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: In this paper a feature based single camera vision system for the safe landing of an unmanned aerial vehicle (UAV) is proposed. The autonomous helicopter used for tests is required to navigate from an initial to a final position in a partially known environment, to locate a landing area and to land on it. The algorithm proposed for the detection of safe landing areas is based on the analysis of optical flow and of mutual geometric position of different kinds of features, observed from different points of view. Vision allows estimating the position and velocity of a set of features with respect to the helicopter while the onboard, hierarchical, behavior-based control system autonomously guides the helicopter. Results, obtained using real data and a real helicopter in a outdoor scenario, show the appropriateness of the vision-based approach. It does not require any artificial landmark (e.g., helipad), is able to estimate correctly and autonomously safe landing areas and is quite robust to occlusions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74721

A Vision-Based Guidance System for UAV Navigation and Safe Landing using Natural Landmarks
Proceedings of the 2nd International Symposium on Unmanned Aerial Vehicles, 2009. UAV’09
Autore/i: A., Cesetti; Frontoni, Emanuele; Mancini, Adriano; Zingaretti, Primo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B166
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74718

On-line identification of a municipal solid waste incinerator by fully tuned RBF neural networks
15th IFAC Symposium on System Identification, SYSID 2009
Autore/i: Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Bertini, I.; Pizzuti, S.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46771

A Framework for Simulation and Testing of UAVs in Cooperative Scenarios
Unmanned Aircraft Systems
Autore/i: Mancini, Adriano; A., Cesetti; A., Iaulè; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Editore: Springer
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/42651

Real-Time Model-Based Fault Detection and Isolation for UGVs
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Monteriu', Andrea; P., Asthana; K. P., Valavanis; Longhi, Sauro
Editore: Kluwer Academic Publishers:Journals Department, PO Box 322, 3300 AH Dordrecht Netherlands:011 31 78 6576050, EMAIL: frontoffice@wkap.nl, kluweronline@wkap.nl, INTERNET: http://www.kluwerlaw.com, Fax: 011 31 78 6576254
Classificazione: 1 Contributo su Rivista
Abstract: The paper presents a model-based sensor fault detection and isolation system applied in real-time to unmanned ground vehicles. Structural analysis is applied on the nonlinear model of the vehicle for building the residual generation module, followed by an ad-hoc residual evaluation module for detecting single and multiple sensor faults. The overall proposed diagnosis scheme has been tested in real-time on a real mobile robot in an outdoors environment and for different tasks. The obtained experimental results are satisfactory in terms of diagnosis performance and real-time implementation.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32376

Neural-network-based discrete-time variable structure control of robotic manipulators
2009 International Conference on Advanced Robotics, ICAR 2009
Autore/i: Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Signorini, Raffaele
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53509

Experimental validation of FastSLAM algorithm integrated with a linear features based map
MECHATRONICS
Autore/i: Fulgenzi, Chiara; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In this paper the Simultaneous Localization And Mapping (SLAM) problem in unknown indoor environments is addressed. A probabilistic approach integrating FastSLAM algorithm and a line feature map is developed and validated. Experimental validation is performed by a smart wheelchair equipped with proprioceptive and exteroceptive sensors in an office like environment where loop closing is achieved without any dedicated algorithm. Geometric hypotheses of orthogonal line features are considered to enhance the performance of the algorithm in the considered environment. The proposed approach results in a computationally efficient solution to the SLAM problem and the high quality sensor measurements allow to maintain a good localization of the mobile base and a compact representation of the environment.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51977

Adaptive neural network based sliding mode control for fin roll stabilization of vessels
8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009
Autore/i: Carletti, Cristina; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46772

Fault Tolerant Software: a Multi Agent System Solution
Proc. of the 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SafeProcess 2009)
Autore/i: F., Caponetti; Nicola, Bergantino; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Development of high dependable systems remains a labour intensive task. This paper explores recent advances on the adaptation of the software agent architecture for control application while looking to dependability issues. Multiple agent systems theory will be reviewed giving methods to supervise it. Software ageing is shown to be the most common problem and rejuvenation its counteract. The paper will show how an agent population can be monitored, faulty agents isolated and reloaded in a healthy state, hence rejuvenated. The aim is to propose an architecture as basis for the design of control software able to tolerate faults and residual bugs without the need of maintenance stops.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74260

Discrete-time variable structure control of permanent-magnet synchronous motors
35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Autore/i: Bastiani, P.; Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Vannucci, G.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53792

Fault Detection for Linear Periodic Systems Using a Geometric Approach
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 1 Contributo su Rivista
Abstract: Using the geometric approach, a solution is given to the problem of detecting faults in linear periodic discrete-time systems. The solution consists on developing an unknown input observer. The existing conditions are provided in terms of new geometric notion of outer observable subspace that is the dual notion of inner reachable subspace. Making use of the new notion, a residual generator is developed, such that the residual is made independent of unknown input disturbance, and its output-free response goes asymptotically to zero.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32378

Modal and harmonic experimental validation of the vibration model of an elastic structure
2009 17th Mediterranean Conference on Control and Automation, MED 2009
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/11566/46769

A Framework for Simulation and Testing of UAVs in Cooperative Scenarios
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Mancini, Adriano; Cesetti, A.; Iualè, A.; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/58320

Robust robot localization by sensors with different degree of accuracy
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: Ippoliti, Gianluca; La Manna, Alessia; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: In this paper the robust robot localization problem with respect to uncertainties on environment features is formulated in a stochastic setting, and an Extended Kalman Filtering (EKF) approach is proposed for the integration of odometric, gyroscopic, and sonar measures. As gyroscopic readings are much more reliable than the other ones, the localization algorithm gives rise to a nearly singular EKF. This problem is dealt with by defining a reduced order nonsingular EKF. The robust solution has been implemented and tested on a powered wheelchair.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51514

Formation Control of Marine Veihicles via Real-Time Networked Decentralized MPC
2009 17th Mediterranean Conference on Control & Automation (MED 2009)
Autore/i: Vaccarini, Massimo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55228

From simulated to real scenarios: a framework for multi-UAVs
Int. Conf. on simulation, modeling and programming for autonomous robots – SIMPAR 2008
Autore/i: A., Cesetti; Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46744

A Framework for Simulation and Testing of UAVs in Cooperative Scenarios
International Symposium on Unmanned Aerial Vehicles - UAV’08
Autore/i: Mancini, Adriano; A., Cesetti; A., Iaulè; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47785

Traiano: Educational (but not only) opportunity for Master Students
Conference–Eurobot 2008
Autore/i: Mancini, Adriano; Frontoni, Emanuele; A., Cesetti; Gabrielli, Armando; M., Cavalletti; Zingaretti, Primo; M., Zamponi; M., Babini; R., Donnini; M., Gallieri; V., Minnetti; E., Torta; M., Tinaro; D., Tina; Raspa, Paolo; R., Stronati; D., Mancini; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B155
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47782

TEWA Algorithm for Homeland Security
Proceedings of NATO RTO SET-125 Symposium on "Sensor and Technology for Defence against Terrorism"
Autore/i: E., Pizzingrilli; T., Albanesi; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74703

Fin/Rudder Roll Stabilization of Vessels: a Neural Networks Based Sliding Mode Approach
In Proceedings of the RAAD 2008 17th International Workshop on Robotics in Alpe–Adria–Danube Region
Autore/i: Carletti, C.; Cavalletti, M.; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Sartini, Loris
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74714

An educational opportunity for master students in mobile robotics: Traiano Project
Proceedings of the RAAD 2008 17th International Workshop on Robotics in Alpe–Adria–Danube Region
Autore/i: M., Zamponi; M., Babini; R., Donnini; M., Gallieri; D., Mancini; V., Minnetti; E., Torta; M., Tinaro; D., Tina; P., Raspa; R., Stronati; Longhi, Sauro; Mancini, Adriano; Frontoni, Emanuele; A., Cesetti; A., Gabrielli; M., Cavallettia; Zingaretti, Primo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Eurobot, created in 1998, is an international amateur robotics contest open to teams of young people, organised either in student projects or in independent clubs. The chance to take part in a mobile robotics competition it is an interesting opportunity to execute a theoretic transfer process. In this paper, the Traiano robot, developed by Master Student of Universit´a Politecnica delle Marche for the Eurobot 2008 competition, is presented. Traiano is a fully autonomous complex mechatronic system. Different methodological and technical challenges involve the design and development of a robot. In this paper the workflow, the approach followed during the course of project, algorithms for localization and final result are presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74715

Cooperative control of underwater glider fleets by fault tolerant decentralized MPC
17th IFAC World Congress 2008
Autore/i: Longhi, Sauro; Monteriu', Andrea; Vaccarini, Massimo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: A fleet of Autonomous Underwater Vehicles (AUVs) moving together in a prescribed pattern can form an efficient data acquisition network. The problem is to control several AUVs such that after transients, they form a required formation and move along a desired trajectory. The capability to accomplish the mission even in case of faults, is a fundamental requirement for these kind of missions. A completely decentralized predictive control and FDI strategy is here proposed for allowing cooperation. Trough an underwater communication channel, each vehicle broadcasts its position, its future behavior and its actuator/sensor fault situation. Based both on the local and the received information, each vehicle selects the desired formation to keep and plans its future actions. Simulation results are provided to validate the approach.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55234

Intelligent Powertrain Management System for a Fuel Cell Electric Vehicle
Proceedings of the EVS24
Autore/i: P., Bellesi; M., Cavalletti; R., D'Ercoli; R., Isidori; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B153
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74702

A scalable telemedicine architecture for under developed countries. A case study: Democratic Republic of Congo
Proceedings of the 16th Mediterranean Conference on Control and Automation
Autore/i: S., Kidiamboko; Mancini, Adriano; Longhi, Sauro; Spalazzi, Luca
Editore: IEEE Press
Luogo di pubblicazione: LOS ALAMITOS, CA
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Telemedicine, defined as the use of telecommunications technologies to provide medical information and services, is electronic transfer of medical data being able to include the sound and the images to practice remote medicine. In under developed countries, as the Democratic Republic of Congo, the capability to remote monitor patients that live in villages or small rural town, is a "Big step ahead" for the health system and citizens. In this paper we present a Scalable Telemedicine Architecture designated to be used in a real scenario as the Dem.Rep. of Congo. A prototype of low cost sensor, integrable into architecture, as a pulse oximeter called Ebloops (Experimental Blood Pressure Smart Sensor), is also presented. Pulse oximetry allows doctors to monitor vital parameters as oxygen levels in a human body, heart frequency and other ones.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48523

A comparative analysis of sliding mode controllers for overhead cranes
Proceedings of the 16th Mediterranean Conference on Control and Automation
Autore/i: M., Orbisaglia; Orlando, Giuseppe; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Three different controllers for reducing the swing angle in overhead cranes are developed and compared in this paper. Numerical simulations tests have been developed for analysing the control performance. The introduced solutions combine different slide surfaces with fuzzy logic rules.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74267

A Two Level MPC Architecture for Controlling Cooperative Underwater Gliders
2nd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles 2008
Autore/i: Longhi, Sauro; Vaccarini, Massimo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55235

Probabilistic self-localization and mapping - An asynchronous multirate approach
IEEE ROBOTICS AND AUTOMATION MAGAZINE
Autore/i: Armesto, Leopoldo; Ippoliti, Gianluca; Longhi, Sauro; Tornero, Josep
Classificazione: 1 Contributo su Rivista
Abstract: A new approach has been developed for multirate fusion, probabilistic self-localization, and map building for mobile robots. The asynchronous multirate holds are hybrid systems generating continuous signals from discrete sequence of inputs. This method has been used to overcome the filtering problem of dynamic system with inputs and outputs sampled at a different rates. It acts as interfaces for signals with different sampling rates, providing signals properly adapted to the required sampling period. It also reduce extrapolation errors in comparison to the naive solution of keeping the last updated value. The preliminary ideas of multirate extended Kalman filter (EKF) and unscented Kalman filter (UKF) were successfully applied to the mobile robot localization problem and three-dimensional tracking problem. The multirate asynchronous structure has been applied to particles filters (PFs) in fast simultaneous localization and map building (FastSLAM),as well as can be used with many other filters such as EKF, UKF, or discrete-Bayes filters.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/37845

Statistical learning controller for the energy management in a fuel cell electric vehicle
47th IEEE Conference on Decision and Control, CDC 2008
Autore/i: Cavalletti, Matteo; Piovesan, J.; Abdallah, C. T.; Longhi, Sauro; Dorato, P.; Ippoliti, Gianluca
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46767

Networked Decentralized MPC of Nonlinear Interacting Processes
Proceedings of INTERNATIONAL WORKSHOP ON ASSESSMENT AND FUTURE DIRECTIONS OF NONLINEAR MODEL PREDICTIVE CONTROL (NMPC08)
Autore/i: Vaccarini, Massimo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: http://sisdin.unipv.it/NMPC08/index.html
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74700

Neural network based adaptive controller for a remotely operated vehicle
2nd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46766

Statistical learning applied to the energy management in a fuel cell electric vehicle
17th World Congress, International Federation of Automatic Control, IFAC
Autore/i: Cavalletti, Matteo; Piovesan, J.; Abdallah, C. T.; Longhi, Sauro; Dorato, P.; Ippoliti, Gianluca
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46720

From simulated to real scenarios: a framework for multi-UAVs
Simulation, Modeling, and Programming for Autonomous Robots
Autore/i: A., Cesetti; Mancini, Adriano; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Editore: Springer-Verlag
Luogo di pubblicazione: BERLIN
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51795

Comparative Analysis of Mobile Robot Localization Methods Based on Proprioceptive and Exteroceptive Sensors
Mobile Robots Perception & Navigation
Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro; Monteriu', Andrea
Editore: Advanced Robotic Systems International
Luogo di pubblicazione: MAMMENDORF
Classificazione: 2 Contributo in Volume
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50394

Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Experimental Validation (part II)
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'07)
Autore/i: Monteriu', Andrea; P., Asthana; K., Valavanis; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents implementation details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis, applied to the nonlinear model of the UGV, is followed to build the residual generation module, followed by a residual evaluation module capable of detecting single and multiple sensor faults, as detailed in part I [1]. The overall proposed sensor fault detection and isolation system has been tested in real-time on the ATRV-Jr mobile robot when following different trajectories in an outdoors environment. The robot sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64474

Special section on control applications in marine systems
CONTROL ENGINEERING PRACTICE
Autore/i: Longhi, Sauro; Katebi, R; Daley, S.
Editore: Elsevier Science Limited:Oxford Fulfillment Center, PO Box 800, Kidlington Oxford OX5 1DX United Kingdom:011 44 1865 843000, 011 44 1865 843699, EMAIL: asianfo@elsevier.com, tcb@elsevier.co.UK, INTERNET: http://www.elsevier.com, http://www.elsevier.com/locate/shpsa/, Fax: 011 44 1865 843010 PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD, ENGLAND, OX5 1GB
Classificazione: 1 Contributo su Rivista
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/32370

Adaptive nonlinear control for vessel roll stabilization
7th IFAC Conference on Control Applications in Marine Systems, CAMS 2007
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50490

Networked decentralized MPC for formation control of underwater glider fleets
7th IFAC Conference on Control Applications in Marine Systems 2007
Autore/i: Vaccarini, Massimo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55237

Prototype UAV helicopter working in cooperative environments
Proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Autore/i: Frontoni, Emanuele; Mancini, Adriano; F., Caponetti; Zingaretti, Primo; Longhi, Sauro
Editore: IEEE
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Today small autonomous helicopters offer a low budget platform for aerial applications such as surveillance (both military and civilian), land management, and earth science. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications in a cooperative network based on autonomous agents as UAV and UGV. We present our scalable and robust architecture, focusing in particular on hardware and real time solutions. A mechanical structure for safe testing is then presented.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74271

An Actuator Fault Tolerant Approach for Underwater Remotely Operated Vehicles
Proceedings of the 7th IFAC Conference on Control Applications in Marine Systems (CAMS'07)
Autore/i: Corradini, MARIA LETIZIA; Longhi, Sauro; Orlando, Giuseppe; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents a preliminary set of results on the design of Actuator Fault Detection Systems (AFDSs) for an underwater remotely operated vehicle (ROV) to prevent actuator faults and hence to reduce the risk of safety hazards. The approach consists of two phases. First a model-based approach is applied to the nonlinear model of the ROV. This solution permits to discover the redundancy of the system, and thus using it for fault detection purposes. Successively, by means of a Sliding Mode Control based approach, the fault is isolated and the control law is reconfigurated using the remaining working actuators. In both the phases the plant is assumed to be affected by \moderate" parametric variations. Moreover, it is supposed to undergo unknown faults, which cause the plant input components to be stuck at some uncertain but bounded time functions.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64477

Autonomous helicopter for surveillance and security
Proceedings of 3rd ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (ASME/IEEE'07)
Autore/i: Zingaretti, Primo; Mancini, Adriano; Frontoni, Emanuele; Monteriu', Andrea; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Unmanned Aerial Vehicles represent today an advanced and complex robotics platform for novel tasks. For example, UAVs can be used in applications for traffic monitoring and surveillance, emergency services assistance, photogrammetry and surveying. Generally, an UAV must be fully autonomous; autonomy is accomplished by a complex interconnection of systems related to a wide range of topics, e.g., flight low level control, navigation and task-based planning, elaboration of sensor signals, software architecture for reactive behaviours, communication. Today the challenge is the ability to insert UAVs in a cooperative network based on autonomous agents as UAV, UGV (Unmanned Ground Vehicle) to accomplish a specific task a priori defined. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications as surveillance and security.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64479

Safe flying for an UAV Helicopter
Proceedings of 15th IEEE Mediterranean Conference on Control and Automation (MED'07)
Autore/i: Mancini, Adriano; F., Caponetti; Monteriu', Andrea; Frontoni, Emanuele; Zingaretti, Primo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Today small autonomous helicopters offer a low budget platform for aerial applications such as surveillance (both military and civil), land management and earth sciences. In this paper we introduce a prototype of autonomous aerial vehicle, the Helibot helicopter, specifically designed for applications in cooperative networks. Fundamental steps in the design process of an UAV are shown. We also present work in progress in the field of failure detection and a novel idea to the problem of failure recovery using a terrain vision system.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64476

A Geometric Approach to Fault Detection of Periodic Systems
Proceedings of the 46th IEEE Conference on Decision and Control (CDC'07)
Autore/i: Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Using the geometric approach, a solution is given to the problem of detecting faults in linear periodic discretetime systems. The existing conditions are provided in terms of the new geometric notion of outer observable subspace. Making use of this notion, a residual generator is developed, such that the residual is made independent of unknown input disturbance, and its output free response goes asymptotically to zero. When different faults affect the system, a bank of observers solve the problem, generating a residual for each input fault.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64478

Neural network based nonlinear control for vessel roll stabilization
2007 9th European Control Conference, ECC 2007
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52176

Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles: Theoretical Aspects (part I)
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'07)
Autore/i: Monteriu', Andrea; P., Asthana; K., Valavanis; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64473

Networked decentralized MPC for unicycle vehicles formation
7th IFAC Symposium on Nonlinear Control Systems 2007
Autore/i: Vaccarini, Massimo; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55236

Residual Generation Approaches in Navigation Sensors Fault Detection Applications
Proceedings of the European Control Conference (ECC'07)
Autore/i: Monteriu', Andrea; P., Asthana; K., Valavanis; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64475

Lyapunov-based switching control using neural networks for a remotely operated vehicle
INTERNATIONAL JOURNAL OF CONTROL
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: This paper considers the tracking control problem of an underwater vehicle subjected to different load configurations, which from time to time introduce considerable variations of its mass and inertial parameters. The control of this kind of mode-switch process cannot be adequately faced with traditional adaptive control techniques because of the too long time needed for adaptation. To cope with this problem, a switching control scheme is proposed and the stability of this multi-controller system is analysed using the Lyapunov theory. The performance of the switched controller is evaluated by numerical simulations.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51891

Switching adaptive control for a remotely operated vehicle
Proceedings of the 2007 American Control Conference, ACC
Autore/i: Cavalletti, Matteo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53528

Learning Nonliner MPC for Fast Computation Control
Proc. IFAC Workshop on Nonlinear Model Predictive Control for Fast Systems
Autore/i: Conte, Giuseppe; Longhi, Sauro; P., Pennesi; Vaccarini, Massimo
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/44514

Race car performance evaluation by a neuro-fuzzy inference system
Proceedings of the 2006 American Control Conference
Autore/i: Antonini, P.; Corradini, Maria Letizia; Ippoliti, Gianluca; Longhi, Sauro; Stronati, C.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48202

A multiple models approach for adaptation and learning in mobile robots control
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Autore/i: D'Amico, Amerigo; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: The paper proposes a multiple models based control methodology for the solution of the tracking problem for mobile robots. The proposed method utilizes multiple models of the robot for its identification in an adaptive and learning control framework. Radial Basis Function Networks (RBFNs) are considered for the multiple models in order to exploit the non-linear approximation capabilities of the nets for modeling the kinematic behaviour of the vehicle and for reducing unmodelled tracking errors contributions. The training of the nets and the control performance analysis have been done in a real experimental setup. The experimental results are satisfactory in terms of tracking errors and computational efforts and show the improvement in the tracking performance when the proposed methodology is used for tracking tasks in dynamical uncertain environments.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50903

Learning control of mobile robots using a multiprocessor system
CONTROL ENGINEERING PRACTICE
Autore/i: Antonini, P.; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 1 Contributo su Rivista
Abstract: A real-time multiprocessor system is proposed for the solution of the tracking problem of mobile robots operating in a real context with environmental disturbances and parameter uncertainties. The proposed control scheme utilizes multiple models of the robot for its identification in an adaptive and learning control framework. Radial Basis Function Networks (RBFNs) are considered for the multiple models in order to exploit the net non-linear approximation capabilities for modeling the kinematic behavior of the vehicle and for reducing unmodeled contributions to tracking errors. The training of the nets and the tests of the achieved control performance have been done in a real experimental setup. The proposed control architecture improves the robot tracking performance achieving fast and accurate control actions in presence of large and time-varying uncertainties in dynamical environments. The experimental results are satisfactory in terms of tracking errors and computational efforts.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51696

Advanced Control Strategies for Roll Stabilization of Ocean Motoryachts.
In Proceedings of the 7th IFAC Conference on Manoeuvring and Control of Marine Craft
Autore/i: Gerini, G.; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe; Scala, P.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52877

Stability analysis tool for tuning unconstrained decentralized model predictive controllers
Proceedings of Control 2006
Autore/i: Vaccarini, Massimo; M. R., Katebi; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: Some processes are naturally suitable to be controlled in a decentralized framework: centralized control solutions are often infeasible in dealing with large scale plants and they are technologically prohibitive when the processes are too fast for the available computational resources. In these cases, the resulting control problem is usually split in many smaller subproblems and the global requirements are guaranteed by means of a proper coordination. The unconstrained decentralized case is here considered and a coordination strategy is proposed for improving the global control performances. This paper present a tool for setting up and tuning a nominally stable decentralized Model Predictive Controller. Numerical examples are proposed for testing and validating the developed technique.
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/74333

Control Applications in Marine Systems 2004
Autore/i: R., Katebi; Longhi, Sauro
Editore: Elsevier Limited
Luogo di pubblicazione: OXFORD
Classificazione: 3 Libro
Abstract: http://www.elsevier.com/wps/find/bookdescription.cws_home/708585/description#description
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/41971

Experimental validation of FastSLAM algorithm characterized by a linear features based map
8th International IFAC Symposium on Robot Control, SYROCO 2006
Autore/i: Fulgenzi, Chiara; Ippoliti, Gianluca; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48204

FastSLAM 2.0: least-squares approach
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Autore/i: Armesto, Leopoldo; Ippoliti, Gianluca; Longhi, Sauro; Tornero, J.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46708

On-line sensor fault detection system for a smart wheelchair
8th International IFAC Symposium on Robot Control, SYROCO 2006
Autore/i: Ippoliti, Gianluca; Longhi, Sauro; Monteriu', Andrea
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46709

State Space Stability Analysis of Unconstrained Decentralized Model Predictive Control Systems
Proceedings of the 2006 American Control Conference
Autore/i: Vaccarini, Massimo; Longhi, Sauro; Katebi, M. R.
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/55239

A sensitivity based approach for racing cars design and set-up
Proceedings of FISITA 2006
Autore/i: P., Antonini; M. L., Corradini; Longhi, Sauro
Classificazione: 4 Contributo in Atti di Convegno (Proceeding)
Abstract: B121
Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78169