Assessment of Daily Life Mobility Levels using Wearable Inertial Sensors and Minimun Measured Input Models

Tracking activities during daily life and assessing movement parameters is essential for complementing the information gathered in confined environments such as clinical and physical activity laboratories for the assessment of mobility. Inertial measurement units (IMUs) are used as to monitor the motion of human movement for prolonged periods of time and without space limitations. The focus in this study was to provide a robust, low-cost and an unobtrusive solution for evaluating human motion using a single IMU. First part of the study focused on monitoring and classification of the daily life activities. A simple method that analyses the variations in signal was developed to distinguish two types of activity intervals: active and inactive. Neural classifier was used to classify active intervals; the angle with respect to gravity was used to classify inactive intervals. Second part of the study focused on extraction of gait parameters using a single inertial measurement unit (IMU) attached to the pelvis. Two complementary methods were proposed for gait parameters estimation. First method was a wavelet based method developed for the estimation of gait events. Second method was developed for estimating step and stride length during level walking using the estimations of the previous method. A special integration algorithm was extended to operate on each gait cycle using a specially designed Kalman filter. The developed methods were also applied on various scenarios. Activity monitoring method was used in a PRIN’07 project to assess the mobility levels of individuals living in a urban area. The same method was applied on volleyball players to analyze the fitness levels of them by monitoring their daily life activities. The methods proposed in these studies provided a simple, unobtrusive and low-cost solution for monitoring and assessing activities outside of controlled environments.

Statistical Physics and Modeling of Human Mobility

In this thesis, we extend some ideas of statistical physics to describe the properties of human mobility. By using a database containing GPS measures of individual paths (position, velocity and covered space at a spatial scale of 2 Km or a time scale of 30 sec), which includes the 2% of the private vehicles in Italy, we succeed in determining some statistical empirical laws pointing out "universal" characteristics of human mobility. Developing simple stochastic models suggesting possible explanations of the empirical observations, we are able to indicate what are the key quantities and cognitive features that are ruling individuals' mobility. To understand the features of individual dynamics, we have studied different aspects of urban mobility from a physical point of view. We discuss the implications of the Benford's law emerging from the distribution of times elapsed between successive trips. We observe how the daily travel-time budget is related with many aspects of the urban environment, and describe how the daily mobility budget is then spent. We link the scaling properties of individual mobility networks to the inhomogeneous average durations of the activities that are performed, and those of the networks describing people's common use of space with the fractional dimension of the urban territory. We study entropy measures of individual mobility patterns, showing that they carry almost the same information of the related mobility networks, but are also influenced by a hierarchy among the activities performed. We discover that Wardrop's principles are violated as drivers have only incomplete information on traffic state and therefore rely on knowledge on the average travel-times. We propose an assimilation model to solve the intrinsic scattering of GPS data on the street network, permitting the real-time reconstruction of traffic state at a urban scale.

Carbonates and sulfides in orogenic garnet-bearing peridotites from the Ulten Zone as witnesses for Carbon and Sulfur mobility in orogenic settings

Convergent plate boundaries are sites of sustained chemical exchanges between the Earth’s surface and deep geochemical reservoirs, playing a major role in the global cycle of carbon and sulfur. However, carbon and sulfur recycling processes continue to be hotly debated. A critical gap in the knowledge of the whole subduction factory is given by the limited accessibility to the upper mantle residing above the subducting plate, the so-called mantle wedge. This thesis investigates the carbonate and sulfide metasomatism taking place during the whole metamorphic evolution of a mantle wedge involved in the Variscan continental collision. We integrate different detailed geochemical and petrological techniques to orogenic carbonated spinel and garnet peridotites from the Ulten Zone of the Eastern Italian Alps. Our data show that the Ulten Zone peridotite experienced multiple stages of addition and removal of carbon and sulfur throughout its metamorphic evolution, as follows: (1) The Variscan lithospheric mantle was initially depleted and sulfide-poor. It subsequently inherited a sulfur and carbon component during an early metasomatic stage, when hot, H2S-CO2-bearing melts leaving a subduction-modified source percolated the overlying spinel-facies peridotite in the mantle wedge; (2) Under peak eclogite-facies P-T conditions, pervasive carbonation and sulfidation occurred. Heterogeneous melt and fluid sources variably enriched in carbon, isotopically heavy sulfur and radiogenic Sr were involved; (3) Shortly after the attainment of peak-P conditions, peridotite bodies were incorporated in a tectonic mélange with the neighboring gneisses. Here, the Ulten Zone peridotite was exposed to channelized infiltration of hybridized C-O-H fluids that promoted the formation of veinlets of carbonates locally associated with sulfide grains. (4) Upon late retrogression, infiltration of serpentinizing fluids promoted C and S remobilization at shallow crustal levels.

Colocated multiple-input multiple-output radars for smart mobility

In recent years, radars have been used in many applications such as precision agriculture and advanced driver assistant systems. Optimal techniques for the estimation of the number of targets and of their coordinates require solving multidimensional optimization problems entailing huge computational efforts. This has motivated the development of sub-optimal estimation techniques able to achieve good accuracy at a manageable computational cost. Another technical issue in advanced driver assistant systems is the tracking of multiple targets. Even if various filtering techniques have been developed, new efficient and robust algorithms for target tracking can be devised exploiting a probabilistic approach, based on the use of the factor graph and the sum-product algorithm. The two contributions provided by this dissertation are the investigation of the filtering and smoothing problems from a factor graph perspective and the development of efficient algorithms for two and three-dimensional radar imaging. Concerning the first contribution, a new factor graph for filtering is derived and the sum-product rule is applied to this graphical model; this allows to interpret known algorithms and to develop new filtering techniques. Then, a general method, based on graphical modelling, is proposed to derive filtering algorithms that involve a network of interconnected Bayesian filters. Finally, the proposed graphical approach is exploited to devise a new smoothing algorithm. Numerical results for dynamic systems evidence that our algorithms can achieve a better complexity-accuracy tradeoff and tracking capability than other techniques in the literature. Regarding radar imaging, various algorithms are developed for frequency modulated continuous wave radars; these algorithms rely on novel and efficient methods for the detection and estimation of multiple superimposed tones in noise. The accuracy achieved in the presence of multiple closely spaced targets is assessed on the basis of both synthetically generated data and of the measurements acquired through two commercial multiple-input multiple-output radars.

Big data analytics and modeling for Human Mobility

The fast development of Information Communication Technologies (ICT) offers new opportunities to realize future smart cities. To understand, manage and forecast the city's behavior, it is necessary the analysis of different kinds of data from the most varied dataset acquisition systems. The aim of this research activity in the framework of Data Science and Complex Systems Physics is to provide stakeholders with new knowledge tools to improve the sustainability of mobility demand in future cities. Under this perspective, the governance of mobility demand generated by large tourist flows is becoming a vital issue for the quality of life in Italian cities' historical centers, which will worsen in the next future due to the continuous globalization process. Another critical theme is sustainable mobility, which aims to reduce private transportation means in the cities and improve multimodal mobility. We analyze the statistical properties of urban mobility of Venice, Rimini, and Bologna by using different datasets provided by companies and local authorities. We develop algorithms and tools for cartography extraction, trips reconstruction, multimodality classification, and mobility simulation. We show the existence of characteristic mobility paths and statistical properties depending on transport means and user's kinds. Finally, we use our results to model and simulate the overall behavior of the cars moving in the Emilia Romagna Region and the pedestrians moving in Venice with software able to replicate in silico the demand for mobility and its dynamic.

Multi-phase electric drives for mobility

Multi-phase electrical drives are potential candidates for the employment in innovative electric vehicle powertrains, in response to the request for high efficiency and reliability of this type of application. In addition to the multi-phase technology, in the last decades also, multilevel technology has been developed. These two technologies are somewhat complementary since both allow increasing the power rating of the system without increasing the current and voltage ratings of the single power switches of the inverter. In this thesis, some different topics concerning the inverter, the motor and the fault diagnosis of an electric vehicle powertrain are addressed. In particular, the attention is focused on multi-phase and multilevel technologies and their potential advantages with respect to traditional technologies. First of all, the mathematical models of two multi-phase machines, a five-phase induction machine and an asymmetrical six-phase permanent magnet synchronous machines are developed using the Vector Space Decomposition approach. Then, a new modulation technique for multi-phase multilevel T-type inverters, which solves the voltage balancing problem of the DC-link capacitors, ensuring flexible management of the capacitor voltages, is developed. The technique is based on the proper selection of the zero-sequence component of the modulating signals. Subsequently, a diagnostic technique for detecting the state of health of the rotor magnets in a six-phase permanent magnet synchronous machine is established. The technique is based on analysing the electromotive force induced in the stator windings by the rotor magnets. Furthermore, an innovative algorithm able to extend the linear modulation region for five-phase inverters, taking advantage of the multiple degrees of freedom available in multi-phase systems is presented. Finally, the mathematical model of an eighteen-phase squirrel cage induction motor is defined. This activity aims to develop a motor drive able to change the number of poles of the machine during the machine operation.

Design of mobility infrastructures to promote sustainability and accessibility of urban areas

This doctoral dissertation represents a cluster of research activities carried out at the DICAM Department of the University of Bologna during a three-year Ph.D. course. The goal of this research is to show how the development of an interconnected infrastructure network, aimed at promoting accessibility and sustainability of places, is fundamental in a framework of deep urban regeneration. Sustainable urban mobility plays an important role in improving the quality of life of citizens. From an environmental point of view, a sustainable mobility system means reducing fuel discharges and energy waste and, in general, aims to promote low carbon emissions. At the same time, a socially and economically sustainable mobility system should be accessible to everybody and create more job opportunities through better connectivity and mobility. Environmentally friendly means of transport such as non-motorized transport, electric vehicles, and hybrid vehicles play an important role in achieving sustainability but require a planned approach at the local policy level. The aim of this study is to demonstrate that, through a targeted reconnection of road and cycle-pedestrian routes, the quality of life of an urban area subject to degradation can be significantly improved just by increasing its accessibility and sustainability. Starting from a detailed study of the European policies and from the comparison with real similar cases, the case study of the Canal Port of Rimini (Italy) has been analysed within the European project FRAMESPORT. The analysis allowed the elaboration of a multicriterial methodology to get to the definition of a project proposal and of a priority scale of interventions. The applied methodology is a valuable tool that may be used in the future in similar urban contexts. Finally, the whole project was represented by using virtual reality to visually show the difference between the before and after the regeneration intervention.

Analysis of urban infrastructure for sustainable mobility through instrumented bicycles for students

In Europe almost 80% of the continent's population lives in cities. It is estimated that by 2030 most regions in Europe which contain major cities will have even more inhabitants on 35–60% more than now. This process generates a consequent elevate human pressure on the natural environment, especially around large urban agglomerations. Cities could be seen as an ecosystem, represented by the dominance of humans that re-distribute organisms and fluxes and represent the result of co-evolving human and natural systems, emerging from the interactions between humans, natural and infrastructures. Roads have a relevant role in building links between urban components, creating the basis on which it is founded the urban ecosystem itself. This thesis is focused on the research for a comprehensive model, framed in European urban health & wellbeing programme, aimed to evaluate the determinants of health in urban populations. Through bicycles, GPS and sensor kits, specially developed and produced by University of Bologna for this purpose, it has been possible to conduct on Bologna different direct observations that oriented the novelty of the research: the categorization of university students cyclists, connection among environmental data awareness and level of cycling, and an early identification of urban attributes able to impact on road air quality and level of cycling. The categorization of university students’ cyclist has been defined through GPS analysis and focused survey, that both permit to identify behavioural and technical variables and attitudes towards urban cycling. The statistic relationship between level of cycling, seen as number of bicycles passages per lane and pollutants level, has been investigated through an inverse regression model, defined and tested through SPSS software on the basis of the data harvest. The research project that represents a sort of dynamic mobility laboratory on two wheels, that permits to harvest and study detected parameters.

R.P.C.M. Apulia (Reconstructing Prehistoric Communities’ Mobility in Apulia)

The research originates in the necessity to bring a new systematic archaeological perspective to the prehistoric background of northern Apulia. Therefore, the aim of the R.P.C.M. Apulia project is to shed new light on a specific chronological arch, from the Neolithic to Early Bronze Age, of the northern part of the Apulia, because the related studies resulted updated to the 70-80’s with some sporadic exception. Moreover, addressing the investigation to the relationship between the communities and the landscape, so how they could exploit the lands and how they could move into this area keeping in touch. To reconstruct the Prehistorical dynamics, it has been necessary first of all to create a database containing all the information about the sites thus to validate them and classifying them according to a model specifically built. The storing operation has been conducted with the software ArcGIS v.10.1 and the sites have been georeferenced on the map as points. It provided the basis on which developing the analysis concerning the mobility (Least Cost Path) and landscape perception (Fuzzy Viewshed Analysis). The first one has been considered to evaluate the mobility into the study area. Therefore, to generate sample paths on the base of the time in reaching a specific point and the terrain trend. The gained information has been collected to hypothesize how they could keep in touch across the chronological changes for purposes related to trading/idea/people exchanges. The visibility analysis has been led to grasp how the groups perceived the landscape through the sight. This datum covered an important role, especially from the Copper Age, concerning the domain and control of the trading ways. The data coming from the mentioned analysis have been used to read into the settlement choices according to the development of the new socio-economic relationships and plan survey activity.

Potential theory on metric spaces

This work revolves around potential theory in metric spaces, focusing on applications of dyadic potential theory to general problems associated to functional analysis and harmonic analysis. In the first part of this work we consider the weighted dual dyadic Hardy's inequality over dyadic trees and we use the Bellman function method to characterize the weights for which the inequality holds, and find the optimal constant for which our statement holds. We also show that our Bellman function is the solution to a stochastic optimal control problem. In the second part of this work we consider the problem of quasi-additivity formulas for the Riesz capacity in metric spaces and we prove formulas of quasi-additivity in the setting of the tree boundaries and in the setting of Ahlfors-regular spaces. We also consider a proper Harmonic extension to one additional variable of Riesz potentials of functions on a compact Ahlfors-regular space and we use our quasi-additivity formula to prove a result of tangential convergence of the harmonic extension of the Riesz potential up to an exceptional set of null measure

Urban air mobility: modelling the future transport system

The advances in the aviation field, particularly the development of electric flying vehicles, as UAV and eVTOL, paved the way for setting Urban Air Mobility (UAM) services. UAM would provide services for passengers, goods and emergencies and could offer faster trips than ground ones. It is expected that early UAM operations will be performed at Very Low-Level airspace as 0-500 m Above Ground Level. The purpose of this research is to both explore the main features of UAM and test an aerial network model, which could be integrated in a multimodal transport system where ground and aerial mobility services are provided. Analyses on UAM transport system involved two sub-systems: the transport demand sub-system, i.e., the mobility requirements, and the transport supply sub-system, i.e., the service and facilities enabling mobility. At first, the UAM demand levels and features for an Airport Shuttle service have been explored through a suitable survey, by combining Revealed and Stated Preference methodologies, and by calibrating some discrete mode choice models. Then, the focus has been on the transport supply model for UAM services, by focusing on both the ground access points (vertiports) and the aerial network model. A suitable three-dimensional urban aerial network (3D-UAN) model that could support fast aerial connections between O/D pairs has been proposed. Some tests have been implemented to verify the feasibility of the proposed model. Some flying vehicles supporting an Airport Shuttle service have been simulated on the aerial network, which has been specified in terms of both topological features and link transport costs. The preliminary results have showed that the proposed 3D-UAN model could be suitable for supporting UAM services. As for transport engineering, the UAM system framework proposed in this thesis paves the way for further research on air-ground multimodality in urban areas.