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This paper presents the design and validation of a model-based
Gianfranco Gagliardi; Marco Lupia; Gianni Cario; Alessandro Casavola. Optimal H∞ Control for Lateral Dynamics of Autonomous Vehicles. Sensors 2021, 21, 4072 .
AMA StyleGianfranco Gagliardi, Marco Lupia, Gianni Cario, Alessandro Casavola. Optimal H∞ Control for Lateral Dynamics of Autonomous Vehicles. Sensors. 2021; 21 (12):4072.
Chicago/Turabian StyleGianfranco Gagliardi; Marco Lupia; Gianni Cario; Alessandro Casavola. 2021. "Optimal H∞ Control for Lateral Dynamics of Autonomous Vehicles." Sensors 21, no. 12: 4072.
Underwater acoustic communications are currently implemented through a variety of vendor-specific protocols. The lack of interoperability between these protocols has prompted the North Atlantic Treaty Organization (NATO) Science and Technology Organization (STO) Centre for Maritime Research and Experimentation (CMRE) to lead a collaborative effort toward the establishment of a standard for digital underwater acoustic communications. The JANUS standard was promulgated as a NATO standard, Standardization Agreement (STANAG) 4748, in March 2017 and has since been used by a growing number of vendors.To promote interoperability and engagement with industry, CMRE began organizing the JANUS Interoperability Fest. The goal of this event was to collectively exercise JANUS implementations from companies and to clear up any possible misunderstandings with the technical specification. The first edition of the JANUS Fest took place in 2018. This article describes the planned and performed tests as well as the primary outcomes of the second JANUS Fest, which was organized in 2019. The success of this event is demonstrated by the results and the positive feedback from participants and observers.
Roberto Petroccia; Fausto Ferreira; João Alves; Bruno Cardeira; Giovanni Zappa; Vincenzo Manzari; Gianni Cario; James DellaMorte; Knuth Ehmcke; Oleksiy Kebkal; Florian Schulz; Ken Scussel; Daniele Spaccini. The 2019 JANUS Interoperability Fest: A Field Report. Marine Technology Society Journal 2021, 55, 5 -16.
AMA StyleRoberto Petroccia, Fausto Ferreira, João Alves, Bruno Cardeira, Giovanni Zappa, Vincenzo Manzari, Gianni Cario, James DellaMorte, Knuth Ehmcke, Oleksiy Kebkal, Florian Schulz, Ken Scussel, Daniele Spaccini. The 2019 JANUS Interoperability Fest: A Field Report. Marine Technology Society Journal. 2021; 55 (2):5-16.
Chicago/Turabian StyleRoberto Petroccia; Fausto Ferreira; João Alves; Bruno Cardeira; Giovanni Zappa; Vincenzo Manzari; Gianni Cario; James DellaMorte; Knuth Ehmcke; Oleksiy Kebkal; Florian Schulz; Ken Scussel; Daniele Spaccini. 2021. "The 2019 JANUS Interoperability Fest: A Field Report." Marine Technology Society Journal 55, no. 2: 5-16.
In underwater localization systems several sources of error may impact in different ways the accuracy of the final position estimates. Through simulations and statistical analysis it is possible to identify and characterize such sources of error and their relative importance. This is especially of use when an accurate localization system has to be designed within required accuracy prescriptions. This approach allows one to also investigate how much these sources of error influence the final position estimates achieved by an Extended Kalman Filter (EKF). This paper presents the results of experiments designed in a virtual environment used to simulate real acoustic underwater localization systems. The paper intends to analyze the main parameters that significantly influence the position estimates achieved by a Short Baseline (SBL) system. Specifically, the results of this analysis are presented for a proprietary localization system constituted by a surface platform equipped with four acoustic transducers used for the localization of an underwater target. The simulator here presented has the purpose of simulating the hardware system and modifying some of its design parameters, such as the base-line length and the errors on the GPS and Inertial Measurement Unit (IMU) units, in order to understand which parameters have to modify for improving the accuracy of the entire positioning system. It is shown that statistical analysis techniques can be of help in determining the best values of these parameters that permit to improve the performance of a real hardware system.
Gianni Cario; Alessandro Casavola; Gianfranco Gagliardi; Marco Lupia; Umberto Severino. Accurate Localization in Acoustic Underwater Localization Systems. Sensors 2021, 21, 762 .
AMA StyleGianni Cario, Alessandro Casavola, Gianfranco Gagliardi, Marco Lupia, Umberto Severino. Accurate Localization in Acoustic Underwater Localization Systems. Sensors. 2021; 21 (3):762.
Chicago/Turabian StyleGianni Cario; Alessandro Casavola; Gianfranco Gagliardi; Marco Lupia; Umberto Severino. 2021. "Accurate Localization in Acoustic Underwater Localization Systems." Sensors 21, no. 3: 762.
This paper reports the results of a recently concluded R&D project, SCALS (Smart Cities Adaptive Lighting System), which aimed at the development of all hardware/software components of an adaptive urban smart lighting architecture allowing municipalities to manage and control public street lighting lamps. The system is capable to autonomously adjust street lamps’ brightness on the basis of the presence of vehicles (busses/trucks, cars, motorcycles and bikes) and/or pedestrians in specific areas or segments of the streets/roads of interest to reduce the energy consumption. The main contribution of this work is to design a low cost smart lighting system and, at same time, to define an IoT infrastructure where each lighting pole is an element of a network that can increase their amplitude. More generally, the proposed smart infrastructure can be viewed as the basis of a wider technological architecture aimed at offering value-added services for sustainable cities. The smart architecture combines various sub-systems (local controllers, motion sensors, video-cameras, weather sensors) and electronic devices, each of them in charge of performing specific operations: remote street segments lamp management, single street lamp brightness control, video processing for vehicles motion detection and classification, wireless and wired data exchanges, power consumptions analysis and traffic evaluation. Two pilot sites have been built up in the project where the smart architecture has been tested and validated in real scenarios. Experimental results show that energy savings of up to 80% are possible compared to a traditional street lamp system.
Gianfranco Gagliardi; Marco Lupia; Gianni Cario; Francesco Tedesco; Francesco Cicchello Gaccio; Fabrizio Lo Scudo; Alessandro Casavola. Advanced Adaptive Street Lighting Systems for Smart Cities. Smart Cities 2020, 3, 1495 -1512.
AMA StyleGianfranco Gagliardi, Marco Lupia, Gianni Cario, Francesco Tedesco, Francesco Cicchello Gaccio, Fabrizio Lo Scudo, Alessandro Casavola. Advanced Adaptive Street Lighting Systems for Smart Cities. Smart Cities. 2020; 3 (4):1495-1512.
Chicago/Turabian StyleGianfranco Gagliardi; Marco Lupia; Gianni Cario; Francesco Tedesco; Francesco Cicchello Gaccio; Fabrizio Lo Scudo; Alessandro Casavola. 2020. "Advanced Adaptive Street Lighting Systems for Smart Cities." Smart Cities 3, no. 4: 1495-1512.
In underwater localization several sources of error may impact in different ways the final estimation of the position. This applies to the Long Baseline (LBL), the Short Baseline (SBL) and the Ultra-Short Baseline (USBL) localization systems. Through simulations and statistical analysis, it is possible to identify and experimentally characterize such sources of error. It could be also investigated how much these sources of error influence the estimation results of an Extended Kalman Filter (EKF). This paper presents the results of experiments designed in a virtual environment, useful to represent real localization systems. Specifically, the system used for the simulation is constituted by a surface platform equipped with four acoustic transducers used for the localization of an underwater target.
Gianni Cario; Alessandro Casavola; Gianfranco Gagliardi; Marco Lupia; Umberto Severino; Fabio Bruno. Analysis of error sources in underwater localization systems. OCEANS 2019 - Marseille 2019, 1 -6.
AMA StyleGianni Cario, Alessandro Casavola, Gianfranco Gagliardi, Marco Lupia, Umberto Severino, Fabio Bruno. Analysis of error sources in underwater localization systems. OCEANS 2019 - Marseille. 2019; ():1-6.
Chicago/Turabian StyleGianni Cario; Alessandro Casavola; Gianfranco Gagliardi; Marco Lupia; Umberto Severino; Fabio Bruno. 2019. "Analysis of error sources in underwater localization systems." OCEANS 2019 - Marseille , no. : 1-6.
This paper presents an urban smart lighting system capable to autonomously control the street lamp lighting level by exploiting data related to vehicles (bus, car, motorcycle and bike) and/or pedestrians traffic in a specific area. The system is able to set the lighting level on the basis of required needs and allows one to reduce energy costs. To this end, it makes use of local controllers, motion sensors, video-camera and electronic devices for video processing. In this way the inputs coming from the sensors is processed in order to optimally dim the lighting by applying an 1-10 V control input voltage to the fixture or driver. The control can be performed either on a decentralized fashion on each single street lamp or on a group of them. Experimental results show that with respect to a traditional street lamp system, the presented architecture allows energy saving up to 65%.
Gianfranco Gagliardi; Alessandro Casavola; Marco Lupia; Gianni Cario; Francesco Tedesco; Fabrizio Lo Scudo; Francesco Cicchello Gaccio; Antonio Augimeri. A smart city adaptive lighting system. 2018 Third International Conference on Fog and Mobile Edge Computing (FMEC) 2018, 258 -263.
AMA StyleGianfranco Gagliardi, Alessandro Casavola, Marco Lupia, Gianni Cario, Francesco Tedesco, Fabrizio Lo Scudo, Francesco Cicchello Gaccio, Antonio Augimeri. A smart city adaptive lighting system. 2018 Third International Conference on Fog and Mobile Edge Computing (FMEC). 2018; ():258-263.
Chicago/Turabian StyleGianfranco Gagliardi; Alessandro Casavola; Marco Lupia; Gianni Cario; Francesco Tedesco; Fabrizio Lo Scudo; Francesco Cicchello Gaccio; Antonio Augimeri. 2018. "A smart city adaptive lighting system." 2018 Third International Conference on Fog and Mobile Edge Computing (FMEC) , no. : 258-263.
This paper concerns the implementation of an efficient underwater acoustic network suitable for long lasting environmental monitoring in fish farming. Several hardware and software solutions have been designed and implemented to extend the network lifetime and to make the system autonomous and suitable for such an application scenario. The proposed system is composed of different components. The SUNSET Software Defined Communication Stack (SDCS) is used to provide networking capabilities to underwater nodes communicating acoustically through AppliCon SeaModem modems. The Hydrolab Series 5 probes are used to monitor the water quality. Lifetime of underwater nodes is extended through the use of a novel device that allows to harvest energy from underwater water currents via suitable propellers. In addition, novel sleep and wake up mechanisms have been designed and implemented into the underwater nodes to minimize the energy consumption of the system during the idle periods. The performance of the proposed system has been extensively evaluated in field by monitoring the water quality in three fish farming cages located in the Mediterranean Sea, Italy. The system has been connected to the Internet infrastructure allowing the users to easy interact with the underwater system in real-time. Our results confirm that the proposed system is suitable for long term monitoring providing a reliable and robust data collection scheme with an extended network life time.
Gianni Cario; Alessandro Casavola; Petrika Gjanci; Petrika Gjanci Marco Lupia; Chiara Petrioli; Daniele Spaccini. Long lasting underwater wireless sensors network for water quality monitoring in fish farms. OCEANS 2017 - Aberdeen 2017, 1 -6.
AMA StyleGianni Cario, Alessandro Casavola, Petrika Gjanci, Petrika Gjanci Marco Lupia, Chiara Petrioli, Daniele Spaccini. Long lasting underwater wireless sensors network for water quality monitoring in fish farms. OCEANS 2017 - Aberdeen. 2017; ():1-6.
Chicago/Turabian StyleGianni Cario; Alessandro Casavola; Petrika Gjanci; Petrika Gjanci Marco Lupia; Chiara Petrioli; Daniele Spaccini. 2017. "Long lasting underwater wireless sensors network for water quality monitoring in fish farms." OCEANS 2017 - Aberdeen , no. : 1-6.
Fabio Bruno; Antonio Lagudi; Loris Barbieri; Maurizio Muzzupappa; Gerardo Ritacco; Alessandro Cozza; Marco Cozza; Raffaele Peluso; Marco Lupia; Gianni Cario. Virtual and Augmented Reality Tools to Improve the Exploitation of Underwater Archaeological Sites by Diver and Non-diver Tourists. DNA Computing 2016, 269 -280.
AMA StyleFabio Bruno, Antonio Lagudi, Loris Barbieri, Maurizio Muzzupappa, Gerardo Ritacco, Alessandro Cozza, Marco Cozza, Raffaele Peluso, Marco Lupia, Gianni Cario. Virtual and Augmented Reality Tools to Improve the Exploitation of Underwater Archaeological Sites by Diver and Non-diver Tourists. DNA Computing. 2016; ():269-280.
Chicago/Turabian StyleFabio Bruno; Antonio Lagudi; Loris Barbieri; Maurizio Muzzupappa; Gerardo Ritacco; Alessandro Cozza; Marco Cozza; Raffaele Peluso; Marco Lupia; Gianni Cario. 2016. "Virtual and Augmented Reality Tools to Improve the Exploitation of Underwater Archaeological Sites by Diver and Non-diver Tourists." DNA Computing , no. : 269-280.
VISAS (Virtual and Augmented Exploitation of Submerged Archaeological Sites) is a collaborative research project created to improve the responsible and sustainable exploitation of underwater archaeological sites. This strategic goal is reached through the development of three services. The first concerns the 3-D reconstruction of the underwater environment by using a methodology for optical and acoustic bathymetric data fusion. The second is based on a virtual reality system for dive session planning and 3-D exploration of the underwater site. Finally, the third service is intended to enrich the diving experience through a virtual guide running on an underwater tablet equipped with a hybrid tracking system. This paper provides a summary report of the project and an overview of the partial results achieved.
Fabio Bruno; Antonio Lagudi; Maurizio Muzzupappa; Marco Lupia; Gianni Cario; Loris Barbieri; Salvatore Passaro; Roberto Saggiomo. Project VISAS: Virtual and Augmented Exploitation of Submerged Archaeological Sites‐Overview and First Results. Marine Technology Society Journal 2016, 50, 119 -129.
AMA StyleFabio Bruno, Antonio Lagudi, Maurizio Muzzupappa, Marco Lupia, Gianni Cario, Loris Barbieri, Salvatore Passaro, Roberto Saggiomo. Project VISAS: Virtual and Augmented Exploitation of Submerged Archaeological Sites‐Overview and First Results. Marine Technology Society Journal. 2016; 50 (4):119-129.
Chicago/Turabian StyleFabio Bruno; Antonio Lagudi; Maurizio Muzzupappa; Marco Lupia; Gianni Cario; Loris Barbieri; Salvatore Passaro; Roberto Saggiomo. 2016. "Project VISAS: Virtual and Augmented Exploitation of Submerged Archaeological Sites‐Overview and First Results." Marine Technology Society Journal 50, no. 4: 119-129.
Vladimir Djapic; Wenjie Dong; Daniele Spaccini; Gianni Cario; Alessandro Casavola; Petrika Gjanci; Marco Lupia; Chiara Petrioli. Cooperation of coordinated teams of Autonomous Underwater Vehicles**This work was supported by Office of Naval Research Global (ONRG) NICOP N62909-14-1-N259 grant and ONR 0601153N grant. IFAC-PapersOnLine 2016, 49, 88 -93.
AMA StyleVladimir Djapic, Wenjie Dong, Daniele Spaccini, Gianni Cario, Alessandro Casavola, Petrika Gjanci, Marco Lupia, Chiara Petrioli. Cooperation of coordinated teams of Autonomous Underwater Vehicles**This work was supported by Office of Naval Research Global (ONRG) NICOP N62909-14-1-N259 grant and ONR 0601153N grant. IFAC-PapersOnLine. 2016; 49 (15):88-93.
Chicago/Turabian StyleVladimir Djapic; Wenjie Dong; Daniele Spaccini; Gianni Cario; Alessandro Casavola; Petrika Gjanci; Marco Lupia; Chiara Petrioli. 2016. "Cooperation of coordinated teams of Autonomous Underwater Vehicles**This work was supported by Office of Naval Research Global (ONRG) NICOP N62909-14-1-N259 grant and ONR 0601153N grant." IFAC-PapersOnLine 49, no. 15: 88-93.
SeaModem is a low-cost underwater acoustic modem developed by AppliCon, a spin-off of the University of Calabria, for shallow water communications. In its default configuration, it operates in the 25-35 KHz frequency range and offers a wide range of selectable features including selectable 2-4-8 FSK modulation tones, error detection and correction algorithms via CRC and Viterbi, selectable power transmission up to 40 W, one-way and two-way range calculation capabilities, network capabilities allowing communications among a maximum of 15 modems in the same area and a host interface via a configurable UART. The paper contains a detailed description of the system and the results of several tests are also provided.
Gianni Cario; Alessandro Casavola; Marco Lupia; Claudio Rosace. SeaModem: A low-cost underwater acoustic modem for shallow water communication. OCEANS 2015 - Genova 2015, 1 -6.
AMA StyleGianni Cario, Alessandro Casavola, Marco Lupia, Claudio Rosace. SeaModem: A low-cost underwater acoustic modem for shallow water communication. OCEANS 2015 - Genova. 2015; ():1-6.
Chicago/Turabian StyleGianni Cario; Alessandro Casavola; Marco Lupia; Claudio Rosace. 2015. "SeaModem: A low-cost underwater acoustic modem for shallow water communication." OCEANS 2015 - Genova , no. : 1-6.
In this paper we present the initial implementation of an advanced communication and networking solution that can enable the coordination and cooperation of autonomous mobile marine robots. To enable such a heterogeneous network three main research areas have been blended: 1) communications, 2) networking, and 3) decentralized cooperative localization and control. This paper focuses on the first two components and addresses the integration of the third one. Due to the challenges of the underwater environment, novel communication software and hardware have to be investigated to provide the level of flexibility and features that are required for efficient networking and robots cooperation. Robust and reliable distributed networking protocols have to be developed and implemented to enable an efficient sharing of data and control messages among heterogeneous surface and underwater platforms. Moreover, the combination of communications, networking and cooperative navigation has to be addressed in order to develop more capable, distributed and efficient underwater systems.
Vladimir Djapic; Wenjie Dong; Anthony Jones; Gianni Cario; Alessandro Casavola; Marco Lupia; Claudio Rosace; Petrika Gjanci; Roberto Petroccia; Chiara Petrioli; Daniele Spaccini; Domenico Tommaselli. Advanced underwater acoustic networking and cooperation of multiple marine robots. OCEANS 2015 - Genova 2015, 1 -9.
AMA StyleVladimir Djapic, Wenjie Dong, Anthony Jones, Gianni Cario, Alessandro Casavola, Marco Lupia, Claudio Rosace, Petrika Gjanci, Roberto Petroccia, Chiara Petrioli, Daniele Spaccini, Domenico Tommaselli. Advanced underwater acoustic networking and cooperation of multiple marine robots. OCEANS 2015 - Genova. 2015; ():1-9.
Chicago/Turabian StyleVladimir Djapic; Wenjie Dong; Anthony Jones; Gianni Cario; Alessandro Casavola; Marco Lupia; Claudio Rosace; Petrika Gjanci; Roberto Petroccia; Chiara Petrioli; Daniele Spaccini; Domenico Tommaselli. 2015. "Advanced underwater acoustic networking and cooperation of multiple marine robots." OCEANS 2015 - Genova , no. : 1-9.
This paper presents the design, implementation, and in-field experimentation of a “bilingual” underwater acoustic modem with multi-hop networking capabilities. The designed system supports the use of the JANUS physical coding scheme and of a proprietary one. JANUS is an open, simple and robust digital coding technology currently in process to become a NATO standard. The Applicon SeaModem has been selected as the communication hardware to use and JANUS has been integrated into it. The designed system has also been interfaced with the SUNSET system which provides ad-hoc networking capabilities and the support for distributed cooperation. Additionally, SUNSET has been extended with a policy module allowing to switch between the different available communication schemes according to the network needs. In-lab experiments and in-field tests have been conducted to validate and evaluate the proposed system. A network of 4 underwater devices (three static nodes and one surface vehicle) was deployed and JANUS was used for initial contact and parameters negotiation to then switch to the proprietary communication scheme. Promising results were collected and several lessons were learnt. After the experiments a more efficient policy module has been designed and implemented and it will be tested in the next at-sea trial.
Roberto Petroccia; Gianni Cario; Marco Lupia; Vladimir Djapic; Chiara Petrioli. First in-field experiments with a “bilingual” underwater acoustic modem supporting the JANUS standard. OCEANS 2015 - Genova 2015, 1 -7.
AMA StyleRoberto Petroccia, Gianni Cario, Marco Lupia, Vladimir Djapic, Chiara Petrioli. First in-field experiments with a “bilingual” underwater acoustic modem supporting the JANUS standard. OCEANS 2015 - Genova. 2015; ():1-7.
Chicago/Turabian StyleRoberto Petroccia; Gianni Cario; Marco Lupia; Vladimir Djapic; Chiara Petrioli. 2015. "First in-field experiments with a “bilingual” underwater acoustic modem supporting the JANUS standard." OCEANS 2015 - Genova , no. : 1-7.
This paper discusses an algorithm for driver drowsiness detection based on the theory of hybrid observers. A hybrid observer is designed on the basis of a driver's model whose parameters change according to the assumed drowsiness levels which are identified on-line from measurements of relevant vehicle signals. Simulations have been undertaken with Carsim to verify the capability of the proposed methodology to correctly identify on-line the current driver's drowsiness level.
Gianni Cario; Alessandro Casavola; Giuseppe Franzè; Marco Lupia. A hybrid observer approach for driver drowsiness detection. 2011 19th Mediterranean Conference on Control & Automation (MED) 2011, 1331 -1336.
AMA StyleGianni Cario, Alessandro Casavola, Giuseppe Franzè, Marco Lupia. A hybrid observer approach for driver drowsiness detection. 2011 19th Mediterranean Conference on Control & Automation (MED). 2011; ():1331-1336.
Chicago/Turabian StyleGianni Cario; Alessandro Casavola; Giuseppe Franzè; Marco Lupia. 2011. "A hybrid observer approach for driver drowsiness detection." 2011 19th Mediterranean Conference on Control & Automation (MED) , no. : 1331-1336.