Coordination and Control of Autonomous Mobile Robots Swarms by using Particle Swarm Optimization Algorithm and Consensus Theory

This thesis presents some different techniques designed to drive a swarm of robots in an a-priori unknown environment in order to move the group from a starting area to a final one avoiding obstacles. The presented techniques are based on two different theories used alone or in combination: Swarm Intelligence (SI) and Graph Theory. Both theories are based on the study of interactions between different entities (also called agents or units) in Multi- Agent Systems (MAS). The first one belongs to the Artificial Intelligence context and the second one to the Distributed Systems context. These theories, each one from its own point of view, exploit the emergent behaviour that comes from the interactive work of the entities, in order to achieve a common goal. The features of flexibility and adaptability of the swarm have been exploited with the aim to overcome and to minimize difficulties and problems that can affect one or more units of the group, having minimal impact to the whole group and to the common main target. Another aim of this work is to show the importance of the information shared between the units of the group, such as the communication topology, because it helps to maintain the environmental information, detected by each single agent, updated among the swarm. Swarm Intelligence has been applied to the presented technique, through the Particle Swarm Optimization algorithm (PSO), taking advantage of its features as a navigation system. The Graph Theory has been applied by exploiting Consensus and the application of the agreement protocol with the aim to maintain the units in a desired and controlled formation. This approach has been followed in order to conserve the power of PSO and to control part of its random behaviour with a distributed control algorithm like Consensus.

Enhancing the reliability of electric transportation motors through insulation coordination and improved qualification

The ambitious goals of increasing the efficiency, performance and power densities of transportation drives cannot be met with compromises in the motor reliability. For the insulation specialists the challenge will be critical as the use of wide-bandgap converters (WBG, based on SiC and GaN switches) and the higher operating voltages expected for the next generation drives will enhance the electrical stresses to unprecedented levels. It is expected for the DC bus in aircrafts to reach 800 V (split +/-400 V) and beyond, driven by the urban air mobility sector and the need for electrification of electro-mechanical/electro-hydraulic actuators (an essential part of the "More Electric Aircraft" concept). Simultaneously the DC bus in electric vehicles (EV) traction motors is anticipated to increase up to 1200 V very soon. The electrical insulation system is one of the most delicate part of the machine in terms of failure probability. In particular, the appearance of partial discharges (PD) is disruptive on the reliability of the drive, especially under fast repetitive transients. Extensive experimental activity has been performed to extend the body of knowledge on PD inception, endurance under PD activity, and explore and identify new phenomena undermining the reliability. The focus has been concentrated on the impact of the WGB-converter produced waveforms and the environmental conditions typical of the aeronautical sector on insulation models. Particular effort was put in the analysis at the reduced pressures typical of aircraft cruise altitude operation. The results obtained, after a critical discussion, have been used to suggest a coordination between the insulation PD inception voltage with the converter stresses and to propose an improved qualification procedure based on the existing IEC 60034-18-41 standard.

Social aspects of organic agriculture and other multifunctional benefits - Successful EU models compared with possibilities for organic developments in Croatia

Main objective of the dissertation is to illustrate how social and educational aspects (in close interaction with other multifunctional aspects in organic agriculture) which are developed on different multifunctional organic farms in Italy and Netherlands, as well as established agricultural policy frameworks in these countries, can be compared with the situation in Croatian organics and can contribute to further developent of organic issues in the Repubic of Croatia. So, through different chapters, the dissertation describes the performance of organic agriculture sectors in Italy, Netherlands and Croatia within the national agricultural policy frameworks, it analyzes the role of national institutions and policy in Croatia in connection with Croatia's status of candidate country for enterance into EU and harmonization of legislation with the CAP, as well as analyzes what is the role of national authorities, universities, research centres, but also of private initiatives, NGOs and cooperatives in organic agriculture in Netherlands, Italy and Croatia. Its main part describes how social and educational aspects are interacting with other multifunctional aspects in organic agriculture and analyzes the benefits and contribution of multifunctional activites performed on organic farms to education, healthy nourishment, environment protection and health care. It also assess the strengths and weaknesses of organic agriculture in all researched countries. The dissertation concludes with development opportunities for multifunctional organic agriculture in Croatia, as well as giving perspectives and recommendations for different approaches on the basis of experiences learned from successful EU models accompanied with some personal ideas and proposals.

Reasonableness in European and Chinese Contract Law. A Comparative Law Study

Contemporary private law, in teh last few decades, TEMPhas been increasingly characterized by teh spread of general clauses and standards and by teh growing role of interpreters in teh framework of teh sources of law. dis process TEMPhas also consistently effected those systems dat are not typically centered on judge-made law. In particular in contract law general clauses and standards has assumed a leading role and has become protagonists of processes of integration and harmonization of teh law. Wifin dis context, teh reasonableness clause TEMPhas come to teh attention of scholars, emerging as a new element of connection between different legal systems -first of all between common law and civil law – and even between different legal traditions. dis research aims at reconstructing teh patterns of emersion and evolution of teh TEMPprincipal of reasonableness in contract law both wifin European Union Law and in teh Chinese legal system, in order to identify evolutionary trends, processes of emersion and circulation of legal models and teh scope of operation of teh TEMPprincipal in teh two contexts. In view of teh increasingly intense economic relations between Europe and China, wifin teh framework of teh new project called Belt and Road Initiative, a comparative survey of dis type can foster mutual understanding and make communications more TEMPeffective, at teh level of legal culture and commercial relations, and to support teh processes of supranational harmonization of contract law rules.

Mitochondrial Inheritance, Mito-nuclear Coevolution, and Sex-associated Genes in Bivalve Molluscs: Transcriptomics and Molecular Evolution

Bivalvia represents an ancient taxon including around 25,000 living species that have adapted to a wide range of environmental conditions, and show a great diversity in body size, shell shapes, and anatomic structure. Bivalves are characterized by highly variable genome sizes and extremely high levels of heterozygosity, which obstacle complete and accurate genome assemblies and hinder further genomic studies. Moreover, some bivalve species presented a stable evolutionary exception to the strictly maternal inheritance of mitochondria, namely doubly uniparental inheritance (DUI), making these species a precious model to study mitochondrial biology. During my PhD, I focused on a DUI species, the Manila clam Ruditapes philippinarum, and my work was two-folded. First, taking advantage of a newly assembled draft genome and a large RNA-seq dataset from different tissues of both sexes, I investigated 1) the role of gene expression and alternative splicing in tissue differentiation; 2) the relationship across tissue specificity, regulatory network connectivity, and sequence evolution; 3) sexual contrasting genetic markers potentially associated with sexual differentiation. The detailed information for this part is in Chapter 2. Second, using the same RNA-seq data, I investigated how nuclear oxidative phosphorylation (OXPHOS) genes coordinate with two divergent mitochondrial genomes in DUI species (mito-nuclear coordination and coevolution). To address this question, I compared transcription, polymorphism, and synonymous codon usage in the mitochondrial and nuclear OXPHOS genes of R. philippinarum in Chapter 3. To my knowledge, this thesis represents the first study exploring the role of alternative splicing in tissue differentiation, and the first study analyzing both transcriptional regulation and sequence evolution to investigate the coordination of OXPHOS genes in bivalves.

Il "posto" del Presidente del Consiglio dei ministri tra attività di governo e coordinamento inter-istituzionale

La ricerca ha ad oggetto lo studio dell’evoluzione del ruolo del Presidente del Consiglio dei ministri all’interno delle dinamiche di funzionamento della forma di governo italiana. Difatti, la ricostruzione sistematica di tale figura sembra essere rimasta sempre in secondo piano rispetto alle complesse analisi riguardanti la forma di governo parlamentare. Dal totale silenzio dello Statuto albertino sul punto, agli svariati tentativi non sempre riusciti nel periodo statutario di disciplinare le competenze presidenziali con atti normativi, alle “fumose” parole dell’articolo 95 della Costituzione, che hanno lasciato coesistere interpretazioni divergenti sulla collocazione del Presidente del Consiglio all’interno della compagine governativa, sino alla tardiva attuazione del disposto costituzionale con la legge n. 400/88, con grande difficoltà tale figura è riuscita ad avere un riconoscimento espresso e stabile delle proprie attribuzioni costituzionali. Il lavoro di ricerca, pertanto, si propone di ricostruire il “ruolo” costituzionale di tale figura soprattutto alla luce delle recenti evoluzioni che hanno caratterizzato la forma di governo nazionale. Ponendo al centro l’analisi di tali fenomeni, il lavoro si sviluppa seguendo tre direttrici evidenziate dalla tre parti in cui esso si divide: un’analisi storico-evolutiva; un’analisi orizzontale e “di sistema” dell’impianto organizzativo dell’esecutivo e del suo vertice e un’analisi concreta di due “casi di studio”. La finalità della ricerca è quella di proporre una lettura del ruolo costituzionale del Presidente del Consiglio in una chiave più estesa: non limitato esclusivamente al coordinamento e alla direzione dell’attività endogovernativa, declinata principalmente nel campo normativo, ma che ricomprende anche il coordinamento delle politiche pubbliche di governo e funzionale allo svolgimento di un coordinamento “inter-istituzionale” e “di sistema”, che coinvolge le diverse strutture governative, il Parlamento e i diversi livelli di governo, anche sovranazionale.

Per conoscere il teatro delle persone con disabilita visive: documenti, studi, sperimentazioni, laboratori, interviste.

Attraverso questa tesi, si intente centrare l'attenzione del mondo accademico e di quello teatrale sugli apporti delle pratiche performative al posizionamento sociale e la qualità della vita delle persone cieche e ipovedenti. Questa tesi tenta di fornire strumenti che avvicinino le persone con disabilità visive alla pratica delle attività teatrali basate su teorie scientifiche. Innanzitutto, a questo fine, ho reperito, sintetizzato e messo in reciproca relazione contributi di taglio psicologico, fisiologico e sociologico. Da questo lavoro esplorativo è risultato un quadro compressivo delle condizioni psicofisiche delle persone con disabilità visive. I loro aspetti psicologici presentano disturbi depressivi, ansie, problematiche circa la concezione di sé e l’autostima, rischi di suicidio, mentre quelli fisici includono stabilità posturale, coordinamento bilaterale e diverse forme di attività. A questi elementi vanno inoltre associati controllo dell'espressione, socialità e memoria. Combinando questi insiemi di caratteristiche alle possibilità e alle dinamiche del laboratorio teatrale, si sono quindi elaborate, progettate e sperimentate diverse serie di esercizi teatrali per non vedenti e ipovedenti. Tuttavia, a causa degli impedimenti oggettivi causati dalla pandemia del Covid, questa parte sperimentale della ricerca è in gran parte restata allo stato embrionale. Infine, sono stati documentati con descrizioni e interviste due laboratori teatrali per non vedenti rappresentativi della realtà italiana. A questi ho aggiunto riferimenti su iniziative e istituzioni di carattere teatrale: New Life, Teatro Ciego, XINMU Laboratorio teatrale, EXTANT, Theater Breaking, CRE Outreach. Si spera che, attraverso questo ricerca, non solo le persone con disabilità visive si famigliarizzino con le risorse offerte dalle pratiche formative, ma anche gli studiosi interessati possano sinteticamente accedere ad una complessiva e preliminare delle attività teatrali per i non vedenti, contribuendo, così, allo sviluppo sistematico della ricerca in questo campo.

Green approach to Palladium Cross-Coupling reactions and development of new methodologies based on highly abundant metals

Transition metal catalyzed cross-coupling reactions represent among the most versatile and useful tools in organic synthesis for the carbon-carbon (C-C) bond formation and have a prominent role in both the academic and pharmaceutical segments. Among them, palladium catalyzed cross-coupling reactions are currently the most versatile. In this thesis, the applications, impact and development of green palladium cross-coupling reactions are discussed. Specifically, we discuss the translation of the Twelve Principles of Green Chemistry and their applications in pharmaceutical organometallic chemistry to stimulate the development of cost-effective and sustainable catalytic processes for the synthesis of active pharmaceutical ingredients (API). The Heck-Cassar-Sonogashira (HCS) and the Suzuki-Miyaura (SM) protocols, using HEP/H2O as green mixture and sulfonated phosphine ligands, allowed to recycle and recover the catalyst, always guaranteeing high yields and fast conversion under mild conditions, with aryl iodides, bromides, triflates and chlorides. No catalyst leakage or metal contamination of the final product were observed during the HCS and SM reactions, respecting the very low limits for metal impurities in medicines established by the International Conference of Harmonization Guidelines Q3D (ICH Q3D). In addition, a deep understanding of the reaction mechanism is very important if the final target is to develop efficient protocols that can be applied at industrial level. Experimental and theoretical studies pointed out the presence of two catalytic cycles depending on the counterion, shedding light on the role of base in catalyst reduction and acetylene coordination in the HCS coupling. Finally, the development of a cross-coupling reaction to form aryldifluoronitriles in the presence of copper is discussed, highlighting the importance of inserting fluorine atoms within biological structures and the use of readily available metals such as copper as an alternative to palladium.