New target tracking and monitoring guidance laws for UAV

A pursuer UAV tracking and loitering around a target is the problem analyzed in this thesis. The UAV is assumed to be a fixed-wing vehicle and constant airspeed together with bounded lateral accelerations are the main constraints of the problem. Three different guidance laws are designed for ensuring a continuos overfly on the target. Different proofs are presented to demonstrate the stability properties of the laws. All the algorithms are tested on a 6DoF Pioneer software simulator. Classic control design methods have been adopted to develop autopilots for implementig the simulation platform used for testing the guidance laws.

I progetti di Oswald Mathias Ungers per la città di Treviri. Questioni di composizione architettonica

Abstract This PhD thesis focuses on two projects carried out by Oswald Mathias Ungers in the city of Trier. More specifi cally, this study focuses on the relationship between composition principles, architectural forms, historical context and the nature of the city where these buildings have been built. The works carried out by Ungers in Trier are unique experiences - if taken in this master’s works context - and each one of them refl ects - in its specifi c project and architectural composition theme - the results - in terms of design - of a complex research on the fundamentals of architecture carried out by Ungers in more than fi ve decades of his activity. The theoretical and compositional experiment aspect is one of the main subjects to defi ne these buildings in terms of architecture. This aspect is so crucial that it is possible to consider them as an example of radical and specifi c experiences, referred to a specifi c place and based on a specifi c theoretical corpus. More specifi cally, this study focuses on the design activity carried out by Ungers in this city, mainly between the 80s and 90s and in the fi rst decade of the 21st century. It puts forward an interpretation that does not only defi ne the essential features, elements and questions lying behind these two architectures, but fi rst and foremost analyzes the theoretical, methodological and compositional relationship between Ungers and Trier, his adopted city. An increasingly closer relationship between the architect and his city highlights the wider relationship network established between the place and the projects carried out by Ungers in this city and makes it possible to understand the importance of Trier in the work of this architect, in his education and in his way to see, think and make architecture. The projects analyzed - the Thermen am Forum Museum (1988-1996) and the Kaiserthermen entrance hall (2003-2007) - were analyzed in terms of their architectural composition in an attempt to highlight the poetry of these architectures and to fi nd out their progressive, rational - and therefore transmissible - character. This study is an attempt to assess and unveil the compositional themes characterizing these projects while detecting the compositional principles lying behind the works and verifying the design process through which such principles were translated into architecture. Looking at these works as architectural composition examples makes it possible to clarify Ungers’ hermeneutic relationship established with the city’s history and structure. More specifi cally, the main subject of this thesis is the relationship between the architect, his city and history in the architectural solutions offered by two exemplary case studies, which were both built and placed in the historical city center of Trier and both connected with the ancient core of the city. The Thermen am Forum Museum and the Kaiserthermen entrance hall projects are - though being developed at different times of Ungers’ architectural life and though being extremely different in terms of approach to their context, due to their architectural image - two works that can be compared with the historical heritage of the city and this makes them ideal examples of the relationship between architectural forms, history and environment.

Macchine esperienziali: Narrativa, cognizione e atto di lettura

La mia tesi si riallaccia al dibattito teorico-letterario contemporaneo sulla possibilità di un approccio cognitivo alla narrativa e alla letteratura in particolare. Essa si propone di esplorare il rapporto tra narrazione ed esperienza, ridefinendo il concetto di “esperienzialità” della narrativa introdotto da Monika Fludernik nel suo Towards a “Natural” Narratology (1996). A differenza di Fludernik, che ha identificato l’esperienzialità con la rappresentazione dell’esperienza dei personaggi, la mia trattazione assegna un ruolo di primo piano al lettore, cercando di rispondere alla domanda: perché leggere una storia è – o si costituisce come – un’esperienza? L’intuizione dietro tutto ciò è che le teorizzazioni dell’esperienza e della coscienza nella filosofia della mente degli ultimi venti anni possano gettare luce sull’interazione tra lettori e testi narrativi. Il mio punto di riferimento principale è la scienza cognitiva “di seconda generazione”, secondo cui l’esperienza è un relazionarsi attivo e corporeo al mondo. La prima parte del mio studio è dedicata all’intreccio tra la narrativa e quello che chiamo lo “sfondo esperienziale” di ogni lettore, un repertorio di esperienze già note ai lettori attraverso ripetute interazioni con il mondo fisico e socio-culturale. Mi soffermo inoltre sul modo in cui relazionarsi a un testo narrativo può causare cambiamenti e slittamenti in questo sfondo esperienziale, incidendo sulla visione del mondo del lettore. Mi rivolgo poi al coinvolgimento corporeo del lettore, mostrando che la narrativa può attingere allo sfondo esperienziale dei suoi fruitori anche sul piano dell’esperienza di base: le simulazioni corporee della percezione contribuiscono alla nostra comprensione delle storie, incidendo sia sulla ricostruzione dello spazio dell’ambientazione sia sulla relazione intersoggettiva tra lettori e personaggi. Infine, mi occupo del rapporto tra l’esperienza della lettura e la pratica critico-letteraria dell’interpretazione, sostenendo che – lungi dal costituire due modalità opposte di fruizione dei testi – esse sono intimamente connesse.

Computational modelling of human stem cell-derived cardiomyocytes - Texture descriptors for biological image processing

This thesis investigates two distinct research topics. The main topic (Part I) is the computational modelling of cardiomyocytes derived from human stem cells, both embryonic (hESC-CM) and induced-pluripotent (hiPSC-CM). The aim of this research line lies in developing models of the electrophysiology of hESC-CM and hiPSC-CM in order to integrate the available experimental data and getting in-silico models to be used for studying/making new hypotheses/planning experiments on aspects not fully understood yet, such as the maturation process, the functionality of the Ca2+ hangling or why the hESC-CM/hiPSC-CM action potentials (APs) show some differences with respect to APs from adult cardiomyocytes. Chapter I.1 introduces the main concepts about hESC-CMs/hiPSC-CMs, the cardiac AP, and computational modelling. Chapter I.2 presents the hESC-CM AP model, able to simulate the maturation process through two developmental stages, Early and Late, based on experimental and literature data. Chapter I.3 describes the hiPSC-CM AP model, able to simulate the ventricular-like and atrial-like phenotypes. This model was used to assess which currents are responsible for the differences between the ventricular-like AP and the adult ventricular AP. The secondary topic (Part II) consists in the study of texture descriptors for biological image processing. Chapter II.1 provides an overview on important texture descriptors such as Local Binary Pattern or Local Phase Quantization. Moreover the non-binary coding and the multi-threshold approach are here introduced. Chapter II.2 shows that the non-binary coding and the multi-threshold approach improve the classification performance of cellular/sub-cellular part images, taken from six datasets. Chapter II.3 describes the case study of the classification of indirect immunofluorescence images of HEp2 cells, used for the antinuclear antibody clinical test. Finally the general conclusions are reported.

Il rapporto architettura – suolo nell’opera di Aldo Rossi

La ricerca muove dal presupposto che l’opera di Aldo Rossi sia stata analizzata finora secondo un criterio tipologico. Tale approccio è una tra le possibili chiavi di lettura del lavoro dell’architetto. Nel tentativo di individuare un’interpretazione dell’opera di Rossi legata a sistemi immutabili nel tempo si è ritenuto necessario approfondire la relazione che si stabilisce tra la sua opera e il suolo. Attraverso la definizione di due categorie di lettura dei progetti dell’autore, che si basano su continuità o discontinuità fisica del progetto rispetto al suolo, si comprende come il rapporto tra area e progetto produca nel tempo soluzioni ricorrenti. In base a questa interpretazione muro e pilastro costituiscono due elementi fondamentali del linguaggio di Rossi. Essi a loro volta si allacciano ad un sistema di riferimento più ampio di cui tettonica e arte muraria sono i capisaldi. La ricerca si articola in tre parti, all’interno delle quali sono sviluppati specifici capitoli. La prima parte, sistema di riferimento, è necessaria a delineare un vocabolario utile per isolare il tema trattato. Essa è fondamentale per comprendere la posizione occupata da Rossi rispetto alle esperienze verificatesi nel corso della storia, relativamente al rapporto spazio - architettura - suolo. La seconda parte, arte muraria, serve a mettere in luce l’influenza che la componente massiva e plastica del terreno ha determinato nella definizione di specifiche soluzioni progettuali. La terza parte, tettonica, delinea invece un approccio opposto al precedente, individuando quei progetti in cui il rapporto col suolo è stato sminuito o addirittura negato, aumentando il senso di sospensione dei volumi nello spazio. In definitiva, l’influenza che il rapporto col suolo ha determinato sulle scelte progettuali di Rossi rappresenta l’interrogativo principale di questa ricerca.

Radiative neutron capture cross section on 238U at the n_TOF CERN facility: a high precision measurement

The aim of this work is to provide a precise and accurate measurement of the 238U(n,gamma) reaction cross-section. This reaction is of fundamental importance for the design calculations of nuclear reactors, governing the behaviour of the reactor core. In particular, fast neutron reactors, which are experiencing a growing interest for their ability to burn radioactive waste, operate in the high energy region of the neutron spectrum. In this energy region inconsistencies between the existing measurements are present up to 15%, and the most recent evaluations disagree each other. In addition, the assessment of nuclear data uncertainty performed for innovative reactor systems shows that the uncertainty in the radiative capture cross-section of 238U should be further reduced to 1-3% in the energy region from 20 eV to 25 keV. To this purpose, addressed by the Nuclear Energy Agency as a priority nuclear data need, complementary experiments, one at the GELINA and two at the n_TOF facility, were scheduled within the ANDES project within the 7th Framework Project of the European Commission. The results of one of the 238U(n,gamma) measurement performed at the n_TOF CERN facility are presented in this work, carried out with a detection system constituted of two liquid scintillators. The very accurate cross section from this work is compared with the results obtained from the other measurement performed at the n_TOF facility, which exploit a different and complementary detection technique. The excellent agreement between the two data-sets points out that they can contribute to the reduction of the cross section uncertainty down to the required 1-3%.