La tratta di donne a fini di sfruttamento sessuale: strumenti di contrasto e possibilità di intervento.

L’obiettivo della ricerca è, da un lato, quello di definire un quadro conoscitivo di sfondo rispetto al fenomeno della tratta e dello sfruttamento sessuale di donne che approdano nel contesto italiano, dall’altro quello di esaminare gli interventi politici e legislativi posti in essere per contrastare il fenomeno e per tutelarne le vittime. Dopo uno sguardo alle caratteristiche strutturali della tratta, alla normativa italiana, europea e internazionale connessa al suo contrasto e alla protezione delle vittime e ai modelli di intervento sociale nel settore posti in essere nel nostro Paese, l’analisi si è concretizzata prendendo in considerazione i risultati emersi dall’attività di ricerca. L’analisi delle storie di vita delle vittime, di nazionalità nigeriana, albanese e serba ha permesso, da un lato, di evidenziare la complessità dei loro percorsi di vita e dall’altro di tracciare un quadro delle modalità organizzative e di sfruttamento utilizzate dal racket nigeriano e da quello albanese. Sul versante legislativo, invece, le interviste ai ricercatori svedesi sono state volte a comprendere se la normativa che punisce l’acquisto di prestazioni sessuali potesse avere un potere deterrente e, quindi, se potesse rappresentare una risposta efficace per arginare il fenomeno della prostituzione schiavizzata. In ultimo, dal punto di vista processuale, l’analisi delle sentenze giudiziarie penali emesse dal Tribunale di Rimini è stata utile per individuare le principali dinamiche che caratterizzano il rapporto tra l’autore e la vittima di reato e, non di meno, per sottolineare l’importanza del ruolo della vittima nel processo penale.

Composite materials design, manufacture and evaluation

Fibre-Reinforced-Plastics are composite materials composed by thin fibres with high mechanical properties, made to work together with a cohesive plastic matrix. The huge advantages of fibre reinforced plastics over traditional materials are their high specific mechanical properties i.e. high stiffness and strength to weight ratios. This kind of composite materials is the most disruptive innovation in the structural materials field seen in recent years and the areas of potential application are still many. However, there are few aspects which limit their growth: on the one hand the information available about their properties and long term behaviour is still scarce, especially if compared with traditional materials for which there has been developed an extended database through years of use and research. On the other hand, the technologies of production are still not as developed as the ones available to form plastics, metals and other traditional materials. A third aspect is that the new properties presented by these materials e.g. their anisotropy, difficult the design of components. This thesis will provide several case-studies with advancements regarding the three limitations mentioned. In particular, the long term mechanical properties have been studied through an experimental analysis of the impact of seawater on GFRP. Regarding production methods, the pre-impregnated cured in autoclave process was considered: a rapid tooling method to produce moulds will be presented, and a study about the production of thick components. Also, two liquid composite moulding methods will be presented, with a case-study regarding a large component with sandwich structure that was produced with the Vacuum-Assisted-Resin-Infusion method, and a case-study regarding a thick con-rod beam that was produced with the Resin-Transfer-Moulding process. The final case-study will analyse the loads acting during the use of a particular sportive component, made with FRP layers and a sandwich structure, practical design rules will be provided.

La città divisa. Conflittualità, confini, prove di comunità

Il presente lavoro approfondisce le tematiche della conflittualità e della separazione etnica, sociale, religiosa, generazionale e culturale. In particolare, riporta i risultati di ricerche condotte in alcuni degli attuali contesti urbani più carichi di tensioni conflittuali, cercando di individuare i motivi vicini e remoti del confligere, le attività messe in atto per contenere le tensioni e le relative necessità educative poste in primo piano. L’elaborato si compone di cinque parti. La prima parte consiste in una riflessione teorica sulle dinamiche che caratterizzano le interazioni sociali nello spazio cittadino. Nella seconda parte viene trattato il tema del settarismo in Scozia, che vede contrapposti i cattolici di origine irlandese (generalmente tifosi della squadra di calcio dei Celtic) e i protestanti di sangue scozzese (generalmente tifosi dei Rangers). La terza parte ricostruisce la storia e il presente della lunga convivenza tra tatari musulmani e russi cristiano-ortodossi nei territori dell’attuale Repubblica etnica del Tatarstan, situata nel cuore della Russia europea, ponendo particolare attenzione agli aspetti religiosi, linguistici, culturali ed educativi. La quarta parte parla del disagio nelle periferie europee, manifestatosi in modo eclatante con le rivolte giovanili in Francia (2005) e nel Regno Unito (2011). La parte conclusiva, infine riprenderà alcuni degli elementi emersi per proporre una riflessione di tipo pedagogico atta ad affrontare in tutta la sua complessità, e con approcci nuovi, il tema della città divisa, con le relative conflittualità, i confini e le prove di comunità.

Dalle ambivalenze della Storia alla “cosmopolitical fiction”: la rappresentazione dell'alterità nel romanzo di Anita Desai

Varcare le frontiere della Storia attraverso le storie personali dei suoi personaggi ha sempre affascinato la sensibilità creatrice di Anita Desai, i cui romanzi possono essere considerati un interessante esempio di letteratura di confine, che riesce nel difficile compito di misurarsi, con eleganza e sensibilità, nella rappresentazione delle più feroci forme di marginalizzazione. Proponendo un dialogo tra alterità, che apre alle complessità storico-culturali in maniera del tutto a-ideologica e imparziale, la scrittrice indoinglese procede alla “provincializzazione” dell’India attraverso le numerose ambivalenze prodotte nelle zone frontaliere analizzate. Dalla rappresentazione della frontiera identitaria esterna, ovvero dall’ambivalente rapporto intrattenuto con il colonizzatore/ex-colonizzatore inglese, alla rappresentazione della frontiera identitaria interna, ovvero l’analisi delle contraddittorie relazioni tra le componenti etniche del subcontinente, Desai arriva infine a problematizzare storie di ambivalenti processi di marginalizzazione prodotti da mondi culturali così diversi come la Germania nazista, o gli indiani Huichol del lontano Messico, tracciando geografie culturali inedite della grande ragnatela della Storia. Desai riesce così a recuperare voci liminali spesso trascurate dalla postcolonialità stessa, per riconfigurarle in un’esplorazione profonda del comune destino dell’umanità, voci straniate e stranianti che acquisiscono un vero e proprio status di agency discorsiva, proiettando la sua scrittura verso una dimensione cosmopolitica. L’opera di Desai diventa indubbiamente un’opportunità concreta per scorgere nella differenza l’universalità di una comune umanità, vale a dire un’opportunità per vedere nell’alterità un’identità ribaltata.

Development of control-oriented models of Dual Clutch Transmission systems

A control-oriented model of a Dual Clutch Transmission was developed for real-time Hardware In the Loop (HIL) applications, to support model-based development of the DCT controller. The model is an innovative attempt to reproduce the fast dynamics of the actuation system while maintaining a step size large enough for real-time applications. The model comprehends a detailed physical description of hydraulic circuit, clutches, synchronizers and gears, and simplified vehicle and internal combustion engine sub-models. As the oil circulating in the system has a large bulk modulus, the pressure dynamics are very fast, possibly causing instability in a real-time simulation; the same challenge involves the servo valves dynamics, due to the very small masses of the moving elements. Therefore, the hydraulic circuit model has been modified and simplified without losing physical validity, in order to adapt it to the real-time simulation requirements. The results of offline simulations have been compared to on-board measurements to verify the validity of the developed model, that was then implemented in a HIL system and connected to the TCU (Transmission Control Unit). Several tests have been performed: electrical failure tests on sensors and actuators, hydraulic and mechanical failure tests on hydraulic valves, clutches and synchronizers, and application tests comprehending all the main features of the control performed by the TCU. Being based on physical laws, in every condition the model simulates a plausible reaction of the system. The first intensive use of the HIL application led to the validation of the new safety strategies implemented inside the TCU software. A test automation procedure has been developed to permit the execution of a pattern of tests without the interaction of the user; fully repeatable tests can be performed for non-regression verification, allowing the testing of new software releases in fully automatic mode.

High-Speed Laser Processing of Thin Single and Multi-Layer Films

Theoretical models are developed for the continuous-wave and pulsed laser incision and cut of thin single and multi-layer films. A one-dimensional steady-state model establishes the theoretical foundations of the problem by combining a power-balance integral with heat flow in the direction of laser motion. In this approach, classical modelling methods for laser processing are extended by introducing multi-layer optical absorption and thermal properties. The calculation domain is consequently divided in correspondence with the progressive removal of individual layers. A second, time-domain numerical model for the short-pulse laser ablation of metals accounts for changes in optical and thermal properties during a single laser pulse. With sufficient fluence, the target surface is heated towards its critical temperature and homogeneous boiling or "phase explosion" takes place. Improvements are seen over previous works with the more accurate calculation of optical absorption and shielding of the incident beam by the ablation products. A third, general time-domain numerical laser processing model combines ablation depth and energy absorption data from the short-pulse model with two-dimensional heat flow in an arbitrary multi-layer structure. Layer removal is the result of both progressive short-pulse ablation and classical vaporisation due to long-term heating of the sample. At low velocity, pulsed laser exposure of multi-layer films comprising aluminium-plastic and aluminium-paper are found to be characterised by short-pulse ablation of the metallic layer and vaporisation or degradation of the others due to thermal conduction from the former. At high velocity, all layers of the two films are ultimately removed by vaporisation or degradation as the average beam power is increased to achieve a complete cut. The transition velocity between the two characteristic removal types is shown to be a function of the pulse repetition rate. An experimental investigation validates the simulation results and provides new laser processing data for some typical packaging materials.

The Dynamics of Passive Torsional Fatigue Test Rigs: Innovative Applications of Universal Joints

The dynamics of a passive back-to-back test rig have been characterised, leading to a multi-coordinate approach for the analysis of arbitrary test configurations. Universal joints have been introduced into a typical pre-loaded back-to-back system in order to produce an oscillating torsional moment in a test specimen. Two different arrangements have been investigated using a frequency-based sub-structuring approach: the receptance method. A numerical model has been developed in accordance with this theory, allowing interconnection of systems with two-coordinates and closed multi-loop schemes. The model calculates the receptance functions and modal and deflected shapes of a general system. Closed form expressions of the following individual elements have been developed: a servomotor, damped continuous shaft and a universal joint. Numerical results for specific cases have been compared with published data in literature and experimental measurements undertaken in the present work. Due to the complexity of the universal joint and its oscillating dynamic effects, a more detailed analysis of this component has been developed. Two models have been presented. The first represents the joint as two inertias connected by a massless cross-piece. The second, derived by the dynamic analysis of a spherical four-link mechanism, considers the contribution of the floating element and its gyroscopic effects. An investigation into non-linear behaviour has led to a time domain model that utilises the Runge-Kutta fourth order method for resolution of the dynamic equations. It has been demonstrated that the torsional receptances of a universal joint, derived using the simple model, result in representation of the joint as an equivalent variable inertia. In order to verify the model, a test rig has been built and experimental validation undertaken. The variable inertia of a universal joint has lead to a novel application of the component as a passive device for the balancing of inertia variations in slider-crank mechanisms.

Theoretical and Experimental Analysis of micro-CHP Energy Systems

In the framework of the micro-CHP (Combined Heat and Power) energy systems and the Distributed Generation (GD) concept, an Integrated Energy System (IES) able to meet the energy and thermal requirements of specific users, using different types of fuel to feed several micro-CHP energy sources, with the integration of electric generators of renewable energy sources (RES), electrical and thermal storage systems and the control system was conceived and built. A 5 kWel Polymer Electrolyte Membrane Fuel Cell (PEMFC) has been studied. Using experimental data obtained from various measurement campaign, the electrical and CHP PEMFC system performance have been determinate. The analysis of the effect of the water management of the anodic exhaust at variable FC loads has been carried out, and the purge process programming logic was optimized, leading also to the determination of the optimal flooding times by varying the AC FC power delivered by the cell. Furthermore, the degradation mechanisms of the PEMFC system, in particular due to the flooding of the anodic side, have been assessed using an algorithm that considers the FC like a black box, and it is able to determine the amount of not-reacted H2 and, therefore, the causes which produce that. Using experimental data that cover a two-year time span, the ageing suffered by the FC system has been tested and analyzed.

Model reduction techniques in flexible multibody dynamics with application to engine cranktrain simulation

The development of a multibody model of a motorbike engine cranktrain is presented in this work, with an emphasis on flexible component model reduction. A modelling methodology based upon the adoption of non-ideal joints at interface locations, and the inclusion of component flexibility, is developed: both are necessary tasks if one wants to capture dynamic effects which arise in lightweight, high-speed applications. With regard to the first topic, both a ball bearing model and a journal bearing model are implemented, in order to properly capture the dynamic effects of the main connections in the system: angular contact ball bearings are modelled according to a five-DOF nonlinear scheme in order to grasp the crankshaft main bearings behaviour, while an impedance-based hydrodynamic bearing model is implemented providing an enhanced operation prediction at the conrod big end locations. Concerning the second matter, flexible models of the crankshaft and the connecting rod are produced. The well-established Craig-Bampton reduction technique is adopted as a general framework to obtain reduced model representations which are suitable for the subsequent multibody analyses. A particular component mode selection procedure is implemented, based on the concept of Effective Interface Mass, allowing an assessment of the accuracy of the reduced models prior to the nonlinear simulation phase. In addition, a procedure to alleviate the effects of modal truncation, based on the Modal Truncation Augmentation approach, is developed. In order to assess the performances of the proposed modal reduction schemes, numerical tests are performed onto the crankshaft and the conrod models in both frequency and modal domains. A multibody model of the cranktrain is eventually assembled and simulated using a commercial software. Numerical results are presented, demonstrating the effectiveness of the implemented flexible model reduction techniques. The advantages over the conventional frequency-based truncation approach are discussed.

Synthesis of Hand Exoskeletons for the Rehabilitation of Post-Stroke Patients

This dissertation presents the synthesis of a hand exoskeleton (HE) for the rehabilitation of post-stroke patients. Through the analysis of state-of-the-art, a topological classification was proposed. Based on the proposed classification principles, the rehabilitation HEs were systematically analyzed and classified. This classification is helpful to both understand the reason of proposing certain solutions for specific applications and provide some useful guidelines for the design of a new HE, that was actually the primary motivation of this study. Further to this classification, a novel rehabilitation HE was designed to support patients in cylindrical shape grasping tasks with the aim of recovering the basic functions of manipulation. The proposed device comprises five planar mechanisms, one per finger, globally actuated by two electric motors. Indeed, the thumb flexion/extension movement is controlled by one actuator whereas a second actuator is devoted to the control of the flexion/extension of the other four fingers. By focusing on the single finger mechanism, intended as the basic model of the targeted HE, the feasibility study of three different 1 DOF mechanisms are analyzed: a 6-link mechanism, that is connected to the human finger only at its tip, an 8-link and a 12-link mechanisms where phalanges and articulations are part of the kinematic chain. The advantages and drawbacks of each mechanism are deeply analyzed with respect to targeted requirements: the 12-link mechanism was selected as the most suitable solution. The dimensional synthesis based on the Burmester theory as well as kinematic and static analyses were separately done for all fingers in order to satisfy the desired specifications. The HE was finally designed and a prototype was built. The experimental results of the first tests are promising and demonstrate the potential for clinical applications of the proposed device in robot-assisted training of the human hand for grasping functions.

Inverse Static Analysis of Massive Parallel Arrays of Three-State Actuators via Artificial Intelligence

Massive parallel robots (MPRs) driven by discrete actuators are force regulated robots that undergo continuous motions despite being commanded through a finite number of states only. Designing a real-time control of such systems requires fast and efficient methods for solving their inverse static analysis (ISA), which is a challenging problem and the subject of this thesis. In particular, five Artificial intelligence methods are proposed to investigate the on-line computation and the generalization error of ISA problem of a class of MPRs featuring three-state force actuators and one degree of revolute motion.

Valutazione della risposta sismica di edifici mediante modelli anelastici equivalenti

Nella presente tesi è proposta una metodologia per lo studio e la valutazione del comportamento sismico di edifici a telaio. Il metodo prevede la realizzazione di analisi non-lineari su modelli equivalenti MDOF tipo stick, in accordo alla classificazione data nel report FEMA 440. Gli step per l’applicazione del metodo sono descritti nella tesi. Per la validazione della metodologia si sono utilizzati confronti con analisi time-history condotte su modelli tridimensionali dettagliati delle strutture studiate (detailed model). I parametri ingegneristici considerati nel confronto, nell’ottica di utilizzare il metodo proposto in un approccio del tipo Displacement-Based Design sono lo spostamento globale in sommità, gli spostamenti di interpiano, le forze di piano e la forza totale alla base. I risultati delle analisi condotte sui modelli stick equivalenti, mostrano una buona corrispondenza, ottima in certi casi, con quelli delle analisi condotte sui modelli tridimensionali dettagliati. Le time-history realizzate sugli stick model permettono però, un consistente risparmio in termini di onere computazionale e di tempo per il post-processing dei risultati ottenuti.

Modelli semplificati per valutazione di vulnerabilità sismica di strutture in muratura

L'obiettivo della tesi è stato quello di indagare il complesso problema della vulnerabilità sismica dei ponte in muratura ad arco utilizzando modelli semplificati. Dopo una descrizione dei materiali da costruzione impiegati nella realizzazione e dei principali elementi dei un ponti in muratura, si è indirizzato lo studio di un ponte ad arco situato nel comune di San Marcello Pistoiese. Viene mostrato un modello numerico che permette di descrivere il comportamento strutturale del ponte sotto azione sismica e di valutare la capacità di carico del ponte sottoposto ad una azione trasversale. In un secondo momento viene descritta la realizzazione di un modello in scala del ponte, che è stato sottoposto a prove distruttive effettuate per valutare la capacità di carico del ponte rispetto ad un ipotetica azione orizzontale. Si è cercato poi di inquadrare il problema in un modello teorico che faccia riferimento all'analisi limite. Esso descrive un cinematismo di collasso a telaio che prende spunto dal quadro fessurativo del modello in muratura. Infine sono stati presentati modelli FEM numerici in ordine di complessità crescente, cercando di inquadrare il comportamento meccanico del prototipo del ponte. Tre tipi di modelli sono rappresentati: un telaio incernierato alle estremità costituito da elementi beam con resistenza alla flessione . Il secondo tipo è costituito da una reticolare equivalente che mima lo schema del ponte ed è formato solo da bielle. Infine, il terzo tipo cerca di descrivere l'intero modello con elementi tridimensionali.

Non-Linear Analysis and Design of Synchronous Bearingless Multiphase Permanent Magnet Machines and Drives

A two-dimensional model to analyze the distribution of magnetic fields in the airgap of a PM electrical machines is studied. A numerical algorithm for non-linear magnetic analysis of multiphase surface-mounted PM machines with semi-closed slots is developed, based on the equivalent magnetic circuit method. By using a modular structure geometry, whose the basic element can be duplicated, it allows to design whatever typology of windings distribution. In comparison to a FEA, permits a reduction in computing time and to directly changing the values of the parameters in a user interface, without re-designing the model. Output torque and radial forces acting on the moving part of the machine can be calculated. In addition, an analytical model for radial forces calculation in multiphase bearingless Surface-Mounted Permanent Magnet Synchronous Motors (SPMSM) is presented. It allows to predict amplitude and direction of the force, depending on the values of torque current, of levitation current and of rotor position. It is based on the space vectors method, letting the analysis of the machine also during transients. The calculations are conducted by developing the analytical functions in Fourier series, taking all the possible interactions between stator and rotor mmf harmonic components into account and allowing to analyze the effects of electrical and geometrical quantities of the machine, being parametrized. The model is implemented in the design of a control system for bearingless machines, as an accurate electromagnetic model integrated in a three-dimensional mechanical model, where one end of the motor shaft is constrained to simulate the presence of a mechanical bearing, while the other is free, only supported by the radial forces developed in the interactions between magnetic fields, to realize a bearingless system with three degrees of freedom. The complete model represents the design of the experimental system to be realized in the laboratory.

L'evoluzione poetica delle Grazie di Ugo Foscolo. Un'ipotesi di commento.

Il presente progetto di ricerca propone l’esegesi di alcune sezioni delle Grazie di Ugo Foscolo, secondo l’Edizione Nazionale (1985), a cura di Pagliai-Scotti. È stato fornito il commento delle seguenti sezioni: Prima redazione dell’Inno, Seconda redazione dell’Inno e Appendice alla Seconda redazione dell’Inno, Versi del Rito, Quadernone, Stesure milanesi: Viaggio delle api e frammenti sparsi. Tutte le stesure della Prima redazione dell’Inno e alcuni frammenti delle Stesure milanesi non erano mai stati commentati fino ad ora. Il commento offre una ricostruzione dell’intertesto delle Grazie – le fonti letterarie, erudite e figurative –, e punta alla storicizzazione e alla contestualizzazione della poesia di Foscolo. Attraverso lo studio dei frammenti nella loro evoluzione è possibile intendere come i tre inni, diventati uno soltanto nella redazione del Quadernone, rappresentino la sintesi di tutto il sapere e gli interessi foscoliani (eruditi, scientifici, filosofico-estetici e letterari), e come essi, sin dai primi esiti poetici, siano specchio delle esperienze biografiche dell’autore. Il commento proposto nella tesi ribadisce la complessità della poesia delle Grazie, nelle sue componenti civili e didattiche. Esso avanza nuovi e importanti spunti di indagine, ponendosi come viatico indispensabile per un futuro commento integrale.