Design, development and guidance of the Airborne’s quadrotor

The main goal of the Airborne project is to develop, at technology readiness level 8 (TRL8), a few selected robotic aerial technologies for quick localization of victims by avalanches by equipping drones with two forefront sensors used in SAR operations in case of avalanches, namely the ARVA and RECCO. This thesis focuses on the design, development, and guidance of the TRL8 quadrotor developed during the project. We present and describe the design method that allowed us to obtain an EMI shielded UAV capable of integrating both RECCO and ARVA sensors. Besides, is presented the avionics and power train design and building procedure in order to obtain a modular UAV frame that can be easily carried by rescuers and achieves all the performance benchmarks of the project. Additionally, in addition to the onboard algorithms, a multivariate regressive convolutional neural network whose goal is the localization of the ARVA signal is presented. On guidance, the automatic flight procedure is described, and the onboard waypoint generator algorithm is presented. The goal of this algorithm is the generation and execution of an automatic grid pattern without the need to know the map in advance and without the support of a control ground station (CGS). Moreover, we present an iterative trajectory planner that does not need pre-knowledge of the map and uses Bézier curves to address optimal, dynamically feasible, safe, and re-plannable trajectories. The goal is to develop a method that allows local and fast replannings in case of an obstacle pop up or if some waypoints change. This makes the novel planner suitable to be applied in SAR operations. The introduction of the final version of the quadrotor is supported by internal flight tests and field tests performed in real operative scenarios by the Club Alpino Italiano (CAI).

The XENON1T experiment: Monte Carlo background estimation and sensitivity curves study

Despite the scientific achievement of the last decades in the astrophysical and cosmological fields, the majority of the Universe energy content is still unknown. A potential solution to the “missing mass problem” is the existence of dark matter in the form of WIMPs. Due to the very small cross section for WIMP-nuleon interactions, the number of expected events is very limited (about 1 ev/tonne/year), thus requiring detectors with large target mass and low background level. The aim of the XENON1T experiment, the first tonne-scale LXe based detector, is to be sensitive to WIMP-nucleon cross section as low as 10^-47 cm^2. To investigate the possibility of such a detector to reach its goal, Monte Carlo simulations are mandatory to estimate the background. To this aim, the GEANT4 toolkit has been used to implement the detector geometry and to simulate the decays from the various background sources: electromagnetic and nuclear. From the analysis of the simulations, the level of background has been found totally acceptable for the experiment purposes: about 1 background event in a 2 tonne-years exposure. Indeed, using the Maximum Gap method, the XENON1T sensitivity has been evaluated and the minimum for the WIMP-nucleon cross sections has been found at 1.87 x 10^-47 cm^2, at 90% CL, for a WIMP mass of 45 GeV/c^2. The results have been independently cross checked by using the Likelihood Ratio method that confirmed such results with an agreement within less than a factor two. Such a result is completely acceptable considering the intrinsic differences between the two statistical methods. Thus, in the PhD thesis it has been proven that the XENON1T detector will be able to reach the designed sensitivity, thus lowering the limits on the WIMP-nucleon cross section by about 2 orders of magnitude with respect to the current experiments.

The Hitchin map for one-nodal base curves of compact type

Studying moduli spaces of semistable Higgs bundles (E, \phi) of rank n on a smooth curve C, a key role is played by the spectral curve X (Hitchin), because an important result by Beauville-Narasimhan-Ramanan allows us to study isomorphism classes of such Higgs bundles in terms of isomorphism classes of rank-1 torsion-free sheaves on X. This way, the generic fibre of the Hitchin map, which associates to any semistable Higgs bundle the coefficients of the characteristic polynomial of \phi, is isomorphic to the Jacobian of X. Focusing on rank-2 Higgs data, this construction was extended by Barik to the case in which the curve C is reducible, one-nodal, having two smooth components. Such curve is called of compact type because its Picard group is compact. In this work, we describe and clarify the main points of the construction by Barik and we give examples, especially concerning generic fibres of the Hitchin map. Referring to Hausel-Pauly, we consider the case of SL(2,C)-Higgs bundles on a smooth base curve, which are such that the generic fibre of the Hitchin map is a subvariety of the Jacobian of X, the Prym variety. We recall the description of special loci, called endoscopic loci, such that the associated Prym variety is not connected. Then, letting G be an affine reductive group having underlying Lie algebra so(4,C), we consider G-Higgs bundles on a smooth base curve. Starting from the construction by Bradlow-Schaposnik, we discuss the associated endoscopic loci. By adapting these studies to a one-nodal base curve of compact type, we describe the fibre of the SL(2,C)-Hitchin map and of the G-Hitchin map, together with endoscopic loci. In the Appendix, we give an interpretation of generic spectral curves in terms of families of double covers.