ICE Emissions Estimation through Machine-learning techniques to support real-world R&D experiments

The emissions estimation, both during homologation and standard driving, is one of the new challenges that automotive industries have to face. The new European and American regulation will allow a lower and lower quantity of Carbon Monoxide emission and will require that all the vehicles have to be able to monitor their own pollutants production. Since numerical models are too computationally expensive and approximated, new solutions based on Machine Learning are replacing standard techniques. In this project we considered a real V12 Internal Combustion Engine to propose a novel approach pushing Random Forests to generate meaningful prediction also in extreme cases (extrapolation, very high frequency peaks, noisy instrumentation etc.). The present work proposes also a data preprocessing pipeline for strongly unbalanced datasets and a reinterpretation of the regression problem as a classification problem in a logarithmic quantized domain. Results have been evaluated for two different models representing a pure interpolation scenario (more standard) and an extrapolation scenario, to test the out of bounds robustness of the model. The employed metrics take into account different aspects which can affect the homologation procedure, so the final analysis will focus on combining all the specific performances together to obtain the overall conclusions.

Robotic grasping: State of the art and modular real-world implementation

Robotic Grasping is an important research topic in robotics since for robots to attain more general-purpose utility, grasping is a necessary skill, but very challenging to master. In general the robots may use their perception abilities like an image from a camera to identify grasps for a given object usually unknown. A grasp describes how a robotic end-effector need to be positioned to securely grab an object and successfully lift it without lost it, at the moment state of the arts solutions are still far behind humans. In the last 5–10 years, deep learning methods take the scene to overcome classical problem like the arduous and time-consuming approach to form a task-specific algorithm analytically. In this thesis are present the progress and the approaches in the robotic grasping field and the potential of the deep learning methods in robotic grasping. Based on that, an implementation of a Convolutional Neural Network (CNN) as a starting point for generation of a grasp pose from camera view has been implemented inside a ROS environment. The developed technologies have been integrated into a pick-and-place application for a Panda robot from Franka Emika. The application includes various features related to object detection and selection. Additionally, the features have been kept as generic as possible to allow for easy replacement or removal if needed, without losing time for improvement or new testing.

Structure learning of graphical models for task-oriented robot grasping

In the collective imaginaries a robot is a human like machine as any androids in science fiction. However the type of robots that you will encounter most frequently are machinery that do work that is too dangerous, boring or onerous. Most of the robots in the world are of this type. They can be found in auto, medical, manufacturing and space industries. Therefore a robot is a system that contains sensors, control systems, manipulators, power supplies and software all working together to perform a task. The development and use of such a system is an active area of research and one of the main problems is the development of interaction skills with the surrounding environment, which include the ability to grasp objects. To perform this task the robot needs to sense the environment and acquire the object informations, physical attributes that may influence a grasp. Humans can solve this grasping problem easily due to their past experiences, that is why many researchers are approaching it from a machine learning perspective finding grasp of an object using information of already known objects. But humans can select the best grasp amongst a vast repertoire not only considering the physical attributes of the object to grasp but even to obtain a certain effect. This is why in our case the study in the area of robot manipulation is focused on grasping and integrating symbolic tasks with data gained through sensors. The learning model is based on Bayesian Network to encode the statistical dependencies between the data collected by the sensors and the symbolic task. This data representation has several advantages. It allows to take into account the uncertainty of the real world, allowing to deal with sensor noise, encodes notion of causality and provides an unified network for learning. Since the network is actually implemented and based on the human expert knowledge, it is very interesting to implement an automated method to learn the structure as in the future more tasks and object features can be introduced and a complex network design based only on human expert knowledge can become unreliable. Since structure learning algorithms presents some weaknesses, the goal of this thesis is to analyze real data used in the network modeled by the human expert, implement a feasible structure learning approach and compare the results with the network designed by the expert in order to possibly enhance it.

Mechanical analysis and modeling of structural archetypes

This is a research B for the University of Bologna. The course is the civil engineering LAUREA MAGISTRALE at UNIBO. The main purpose of this research is to promote another way of explaining, analyzing and presenting some civil engineering aspects to the students worldwide by theory, modeling and photos. The basic idea is divided into three steps. The first one is to present and analyze the theoretical parts. So a detailed analysis of the theory combined with theorems, explanations, examples and exercises will cover this step. At the second, a model will make clear all these parts that were discussed in the theory by showing how the structures work or fail. The modeling is able to present the behavior of many elements, in scale which we use in the real structures. After these two steps an interesting exhibition of photos from the real world with comments will give the chance to the engineers to observe all these theoretical and modeling-laboratory staff in many different cases. For example many civil engineers in the world may know about the air pressure on the structures but many of them have never seen the extraordinary behavior of the bridge of Tacoma ‘dancing with the air’. At this point I would like to say that what I have done is not a book, but a research of how this ‘3 step’ presentation or explanation of some mechanical characteristics could be helpful. I know that my research is something different and new and in my opinion is very important because it helps students to go deeper in the science and also gives new ideas and inspirations. This way of teaching can be used at all lessons especially at the technical. Hope that one day all the books will adopt this kind of presentation.

Reactive programming: un caso di studio

L'obiettivo di questa tesi è analizzare e testare la programmazione reattiva, paradigma di programmazione particolarmente adatto per lo sviluppo di applicazioni altamente interattive. La progettazione di sistemi reattivi implica necessariamente l'utilizzo di codice asincrono e la programmazione reattiva (RP) offre al programmatore semplici meccanismi per gestirlo. In questa tesi, la programmazione reattiva è stata utilizzata e valutata mediante la realizzazione di un progetto real-world chiamato AvvocaTimer. Verrà affrontata la progettazione, implementazione e collaudo di una parte del sistema attraverso l'approccio reattivo e, successivamente, confrontata con la prima versione, realizzata con i metodi attualmente usati per gestire codice asincrono, per analizzare vantaggi e/o svantaggi derivanti dall'utilizzo del nuovo paradigma.

Development of Optimal Energy Management Strategies for a Hybrid Boat

The present work proposes different approaches to extend the mathematical methods of supervisory energy management used in terrestrial environments to the maritime sector, that diverges in constraints, variables and disturbances. The aim is to find the optimal real-time solution that includes the minimization of a defined track time, while maintaining the classical energetic approach. Starting from analyzing and modelling the powertrain and boat dynamics, the energy economy problem formulation is done, following the mathematical principles behind the optimal control theory. Then, an adaptation aimed in finding a winning strategy for the Monaco Energy Boat Challenge endurance trial is performed via ECMS and A-ECMS control strategies, which lead to a more accurate knowledge of energy sources and boat’s behaviour. The simulations show that the algorithm accomplishes fuel economy and time optimization targets, but the latter adds huge tuning and calculation complexity. In order to assess a practical implementation on real hardware, the knowledge of the previous approaches has been translated into a rule-based algorithm, that let it be run on an embedded CPU. Finally, the algorithm has been tuned and tested in a real-world race scenario, showing promising results.

A framework for risk analysis in automotive cybersecurity

We address the problem of automotive cybersecurity from the point of view of Threat Analysis and Risk Assessment (TARA). The central question that motivates the thesis is the one about the acceptability of risk, which is vital in taking a decision about the implementation of cybersecurity solutions. For this purpose, we develop a quantitative framework in which we take in input the results of risk assessment and define measures of various facets of a possible risk response; we then exploit the natural presence of trade-offs (cost versus effectiveness) to formulate the problem as a multi-objective optimization. Finally, we develop a stochastic model of the future evolution of the risk factors, by means of Markov chains; we adapt the formulations of the optimization problems to this non-deterministic context. The thesis is the result of a collaboration with the Vehicle Electrification division of Marelli, in particular with the Cybersecurity team based in Bologna; this allowed us to consider a particular instance of the problem, deriving from a real TARA, in order to test both the deterministic and the stochastic framework in a real world application. The collaboration also explains why in the work we often assume the point of view of a tier-1 supplier; however, the analyses performed can be adapted to any other level of the supply chain.

Novel Machine-Learning Based IC Testing Strategy

The final goal of the thesis should be a real-world application in the production test data environment. This includes the pre-processing of the data, building models and visualizing the results. To do this, different machine learning models, outlier prediction oriented, should be investigated using a real dataset. Finally, the different outlier prediction algorithms should be compared, and their performance discussed.

Model-Based validation of Driver Drowsiness Detection System for ADAS

The work described in this Master’s Degree thesis was born after the collaboration with the company Maserati S.p.a, an Italian luxury car maker with its headquarters located in Modena, in the heart of the Italian Motor Valley, where I worked as a stagiaire in the Virtual Engineering team between September 2021 and February 2022. This work proposes the validation using real-world ECUs of a Driver Drowsiness Detection (DDD) system prototype based on different detection methods with the goal to overcome input signal losses and system failures. Detection methods of different categories have been chosen from literature and merged with the goal of utilizing the benefits of each of them, overcoming their limitations and limiting as much as possible their degree of intrusiveness to prevent any kind of driving distraction: an image processing-based technique for human physical signals detection as well as methods based on driver-vehicle interaction are used. A Driver-In-the-Loop simulator is used to gather real data on which a Machine Learning-based algorithm will be trained and validated. These data come from the tests that the company conducts in its daily activities so confidential information about the simulator and the drivers will be omitted. Although the impact of the proposed system is not remarkable and there is still work to do in all its elements, the results indicate the main advantages of the system in terms of robustness against subsystem failures and signal losses.

Edge-aware Graph Attention Networks: Joint Reasoning On Text and Knowledge Graphs for Biomedical Question Answering

Much of the real-world dataset, including textual data, can be represented using graph structures. The use of graphs to represent textual data has many advantages, mainly related to maintaining a more significant amount of information, such as the relationships between words and their types. In recent years, many neural network architectures have been proposed to deal with tasks on graphs. Many of them consider only node features, ignoring or not giving the proper relevance to relationships between them. However, in many node classification tasks, they play a fundamental role. This thesis aims to analyze the main GNNs, evaluate their advantages and disadvantages, propose an innovative solution considered as an extension of GAT, and apply them to a case study in the biomedical field. We propose the reference GNNs, implemented with methodologies later analyzed, and then applied to a question answering system in the biomedical field as a replacement for the pre-existing GNN. We attempt to obtain better results by using models that can accept as input both node and edge features. As shown later, our proposed models can beat the original solution and define the state-of-the-art for the task under analysis.

Enhanced switchgear connection testing through augmented reality: early developments

Augmented reality is an emerging field of interactive design in which virtual material is seamlessly blended with displays of real world environments. The tremendous potential of augmented reality has begun to be explored with the emergence of personal mobile devices capable of constructing engaging augmented reality experiences. This work is part of a project aiming at using augmented reality goggles to bring advance information to the user interacting with switch-gear during automation cabling. In particular we will be focusing on the recognition and definition of the figures of the component on the AR device. In this part we are using standard camera that allows us to get real images and helps us to localize the gearbox in space through ARUCO marker and we can exploit in order to re-project the actual shape of the component that are currently interested in manipulation by exploiting the data provided by the database. The experiments are carried out using the camera to get the images of the real world switch-gear and re-project those images with the component superimposed on it. Using transforms of the database we did localization to re-project the rendered image of component exactly on the real world component, which can be further integrated in AR goggles to see the component superimposed in real-time.

Integration of ROS for the control of industrial robotic systems in a proprietary environment

The paper deals with the integration of ROS, in the proprietary environment of the Marchesini Group company, for the control of industrial robotic systems. The basic tools of this open-source software are deeply studied to model a full proprietary Pick and Place manipulator inside it, and to develop custom ROS nodes to calculate trajectories; speaking of which, the URDF format is the standard to represent robots in ROS and the motion planning framework MoveIt offers user-friendly high-level methods. The communication between ROS and the Marchesini control architecture is established using the OPC UA standard; the tasks computed are transmitted offline to the PLC, supervisor controller of the physical robot, because the performances of the protocol don’t allow any kind of active control by ROS. Once the data are completely stored at the Marchesini side, the industrial PC makes the real robot execute a trajectory computed by MoveIt, so that it replicates the behaviour of the simulated manipulator in Rviz. Multiple experiments are performed to evaluate in detail the potential of ROS in the planning of movements for the company proprietary robots. The project ends with a small study regarding the use of ROS as a simulation platform. First, it is necessary to understand how a robotic application of the company can be reproduced in the Gazebo real world simulator. Then, a ROS node extracts information and examines the simulated robot behaviour, through the subscription to specific topics.

Robotic Manipulation of DLOs for Wiring Harness Assembly: a Machine Learning Approach

In recent times, a significant research effort has been focused on how deformable linear objects (DLOs) can be manipulated for real world applications such as assembly of wiring harnesses for the automotive and aerospace sector. This represents an open topic because of the difficulties in modelling accurately the behaviour of these objects and simulate a task involving their manipulation, considering a variety of different scenarios. These problems have led to the development of data-driven techniques in which machine learning techniques are exploited to obtain reliable solutions. However, this approach makes the solution difficult to be extended, since the learning must be replicated almost from scratch as the scenario changes. It follows that some model-based methodology must be introduced to generalize the results and reduce the training effort accordingly. The objective of this thesis is to develop a solution for the DLOs manipulation to assemble a wiring harness for the automotive sector based on adaptation of a base trajectory set by means of reinforcement learning methods. The idea is to create a trajectory planning software capable of solving the proposed task, reducing where possible the learning time, which is done in real time, but at the same time presenting suitable performance and reliability. The solution has been implemented on a collaborative 7-DOFs Panda robot at the Laboratory of Automation and Robotics of the University of Bologna. Experimental results are reported showing how the robot is capable of optimizing the manipulation of the DLOs gaining experience along the task repetition, but showing at the same time a high success rate from the very beginning of the learning phase.

Neural Radiance Fields for Relighting and View Synthesis

Neural scene representation and neural rendering are new computer vision techniques that enable the reconstruction and implicit representation of real 3D scenes from a set of 2D captured images, by fitting a deep neural network. The trained network can then be used to render novel views of the scene. A recent work in this field, Neural Radiance Fields (NeRF), presented a state-of-the-art approach, which uses a simple Multilayer Perceptron (MLP) to generate photo-realistic RGB images of a scene from arbitrary viewpoints. However, NeRF does not model any light interaction with the fitted scene; therefore, despite producing compelling results for the view synthesis task, it does not provide a solution for relighting. In this work, we propose a new architecture to enable relighting capabilities in NeRF-based representations and we introduce a new real-world dataset to train and evaluate such a model. Our method demonstrates the ability to perform realistic rendering of novel views under arbitrary lighting conditions.

Development of a health parameters tracking wearable device for detection of stress episodes and principles of panic attacks

A proof of concept for a wearable device is presented to help patients who suffer from panic attacks due to panic disorder. The aim of this device is to enable such patients manage these stressful episodes by guiding them to regulate their breathing and by informing the care taker. Panic attack prediction is deployed that can enable the healthcare providers to not only monitor and manage the panic attacks of a patient but also carry out an early intervention to reduce the symptom severity of the approaching panic attack. The patient can acquire the help they need, ultimately regaining control. The concept of panic attack prediction can lead to a personalized treatment of the patient. The study is conducted using a small real-world dataset, and only two primary symptoms of panic attack are used. These symptoms include pacing heart rate and hyperventilation or abnormal breathing rate. This thesis project is developed in collaboration with ALTEN italia and all the required hardware is provided by them.