Dal sacrificio alla preghiera. La distruzione del Secondo Tempio di Gerusalemme e le trasformazioni cultuali della religione giudaica

La distruzione del Secondo Tempio di Gerusalemme nel 70 e.v. rappresenta un momento cruciale nell’evoluzione storica e teologica della religione giudaica. Prima della catastrofe, l’intero sistema cultuale si fondava sulle ritualità sacrificali, che si concentravano esclusivamente nel santuario gerosolimitano. Con la caduta di quest’ultimo e il venir meno delle sue prassi, il giudaismo dovette ripensare totalmente la propria religiosità, la quale andò gradualmente a imperniarsi sulla preghiera e su atti di devozione non cruenti, in una prospettiva più aperta, mobile e orizzontale. Pertanto, questa ricerca si pone lo scopo di analizzare, in una prospettiva fortemente votata all’antropologia, alla storia e alla sociologia della religione, il senso profondo di tale trasformazione. A questo fine, è stato studiato il culto sacrificale e liturgico giudaico precedente e successivo al 70 e.v., indagando in particolare alcuni aspetti specifici, quali la spazialità sacra, la gestualità rituale e l’uso della musica. In questo modo, è stato possibile delineare alcune logiche fondamentali che costituiscono la struttura dell’intero sistema religioso. Confrontando quelle del periodo del Secondo Tempio con quelle posteriori a esso, è dunque emersa una certa linearità, ma anche una forte discontinuità nella percezione del sacro e dei suoi rituali, fornendo così una nuova interpretazione del significato di una trasformazione di così vasta portata.

Uniquitous internet middleware: architecture design and prototype evaluation

Technology advances in recent years have dramatically changed the way users exploit contents and services available on the Internet, by enforcing pervasive and mobile computing scenarios and enabling access to networked resources almost from everywhere, at anytime, and independently of the device in use. In addition, people increasingly require to customize their experience, by exploiting specific device capabilities and limitations, inherent features of the communication channel in use, and interaction paradigms that significantly differ from the traditional request/response one. So-called Ubiquitous Internet scenario calls for solutions that address many different challenges, such as device mobility, session management, content adaptation, context-awareness and the provisioning of multimodal interfaces. Moreover, new service opportunities demand simple and effective ways to integrate existing resources into new and value added applications, that can also undergo run-time modifications, according to ever-changing execution conditions. Despite service-oriented architectural models are gaining momentum to tame the increasing complexity of composing and orchestrating distributed and heterogeneous functionalities, existing solutions generally lack a unified approach and only provide support for specific Ubiquitous Internet aspects. Moreover, they usually target rather static scenarios and scarcely support the dynamic nature of pervasive access to Internet resources, that can make existing compositions soon become obsolete or inadequate, hence in need of reconfiguration. This thesis proposes a novel middleware approach to comprehensively deal with Ubiquitous Internet facets and assist in establishing innovative application scenarios. We claim that a truly viable ubiquity support infrastructure must neatly decouple distributed resources to integrate and push any kind of content-related logic outside its core layers, by keeping only management and coordination responsibilities. Furthermore, we promote an innovative, open, and dynamic resource composition model that allows to easily describe and enforce complex scenario requirements, and to suitably react to changes in the execution conditions.

Safe and Collaborative Navigation & Interaction With Mobile Manipulators in Domestic Appliance Test Labs

Safe collaboration between a robot and human operator forms a critical requirement for deploying a robotic system into a manufacturing and testing environment. In this dissertation, the safety requirement for is developed and implemented for the navigation system of the mobile manipulators. A methodology for human-robot co-existence through a 3d scene analysis is also investigated. The proposed approach exploits the advance in computing capability by relying on graphic processing units (GPU’s) for volumetric predictive human-robot contact checking. Apart from guaranteeing safety of operators, human-robot collaboration is also fundamental when cooperative activities are required, as in appliance test automation floor. To achieve this, a generalized hierarchical task controller scheme for collision avoidance is developed. This allows the robotic arm to safely approach and inspect the interior of the appliance without collision during the testing procedure. The unpredictable presence of the operators also forms dynamic obstacle that changes very fast, thereby requiring a quick reaction from the robot side. In this aspect, a GPU-accelarated distance field is computed to speed up reaction time to avoid collision between human operator and the robot. An automated appliance testing also involves robotized laundry loading and unloading during life cycle testing. This task involves Laundry detection, grasp pose estimation and manipulation in a container, inside the drum and during recovery grasping. A wrinkle and blob detection algorithms for grasp pose estimation are developed and grasp poses are calculated along the wrinkle and blobs to efficiently perform grasping task. By ranking the estimated laundry grasp poses according to a predefined cost function, the robotic arm attempt to grasp poses that are more comfortable from the robot kinematic side as well as collision free on the appliance side. This is achieved through appliance detection and full-model registration and collision free trajectory execution using online collision avoidance.