Cooperative teleoperation systems

This thesis deals with the studies on the Cooperative Teleoperation Systems. The literature on cooperative teleoperation did not take into account control architectures composed of pairs of wave-based bilateral teleoperators operating in a shared environment. In this work The author two cooperative control schemes based on wave variables by considering two pairs of single-master/single-slave devices collaborating to carry out operations in a shared remote environment are proposed. Such architectures have been validated both with simulations and experimental tests. Ch. 2 introduces a description of the two control architectures proposed and presents some simulation results where the cooperative teleoperation systems evolve in free space and in contact with a stiff wall. In the Ch. 3 some experimental results which confirm the positive results of the control schemes are illustred. Such results have been achieved by using a prototype custom built at Laboratory of Automaiton and Robotics of University of Bologna, which is also illustrated in this chapter. In Ch. 4 the problem of defining proper tools and procedures for an analysis, and possibly a comparison, of the performances of cooperative teleoperation systems is addressed. In particular, a novel generalization of criteria adopted for classical (i.e. one master-one slave) teleoperators is presented and illustrated on the basis of the force-position and the position-position cooperative control schemes proposed in Ch. 2, both from a transparency and stability point of view, and by assuming a null time delay in the communication channel.

Engineering Complex Computational Ecosystems

Self-organising pervasive ecosystems of devices are set to become a major vehicle for delivering infrastructure and end-user services. The inherent complexity of such systems poses new challenges to those who want to dominate it by applying the principles of engineering. The recent growth in number and distribution of devices with decent computational and communicational abilities, that suddenly accelerated with the massive diffusion of smartphones and tablets, is delivering a world with a much higher density of devices in space. Also, communication technologies seem to be focussing on short-range device-to-device (P2P) interactions, with technologies such as Bluetooth and Near-Field Communication gaining greater adoption. Locality and situatedness become key to providing the best possible experience to users, and the classic model of a centralised, enormously powerful server gathering and processing data becomes less and less efficient with device density. Accomplishing complex global tasks without a centralised controller responsible of aggregating data, however, is a challenging task. In particular, there is a local-to-global issue that makes the application of engineering principles challenging at least: designing device-local programs that, through interaction, guarantee a certain global service level. In this thesis, we first analyse the state of the art in coordination systems, then motivate the work by describing the main issues of pre-existing tools and practices and identifying the improvements that would benefit the design of such complex software ecosystems. The contribution can be divided in three main branches. First, we introduce a novel simulation toolchain for pervasive ecosystems, designed for allowing good expressiveness still retaining high performance. Second, we leverage existing coordination models and patterns in order to create new spatial structures. Third, we introduce a novel language, based on the existing ``Field Calculus'' and integrated with the aforementioned toolchain, designed to be usable for practical aggregate programming.

Innovative architecture of on-board and on-ground radio systems for space communication

The radio communication system is one of the most critical system of the overall satellite platform: it often represents the only way of communication, between a spacecraft and the Ground Segment or among a constellation of satellites. This thesis focuses on specific innovative architectures for on-board and on-ground radio systems. In particular, this work is an integral part of a space program started in 2004 at the University of Bologna, Forlì campus, which led to the completion of the microsatellite ALMASat-1, successfully launched on-board the VEGA maiden flight. The success of this program led to the development of a second microsatellite, named ALMASat-EO, a three-axis stabilized microsatellite able to capture images of the Earth surface. Therefore, the first objective of this study was focused on the investigation of an innovative, efficient and low cost architecture for on-board radio communication systems. The TT&C system and the high data rate transmitter for images downlink design and realization are thoroughly described in this work, together with the development of the embedded hardware and the adopted antenna systems. Moreover, considering the increasing interest in the development of constellations of microsatellite, in particular those flying in close formations, a careful analysis has been carried out for the development of innovative communication protocols for inter-satellite links. Furthermore, in order to investigate the system aspects of space communications, a study has been carried out at ESOC having as objective the design, implementation and test of two experimental devices for the enhancement of the ESA GS. Thus, a significant portion of this thesis is dedicated to the description of the results of a method for improving the phase stability of GS radio frequency equipments by means of real-time phase compensation and a new way to perform two antennas arraying tracking using already existing ESA tracking stations facilities.

A projection into the ideas and technologies of "non-place" and "space of flow" in urban context

The meaning of a place has been commonly assigned to the quality of having root (rootedness) or sense of belonging to that setting. While on the contrary, people are nowadays more concerned with the possibilities of free moving and networks of communication. So, the meaning, as well as the materiality of architecture has been dramatically altered with these forces. It is therefore of significance to explore and redefine the sense and the trend of architecture at the age of flow. In this dissertation, initially, we review the gradually changing concept of "place-non-place" and its underlying technological basis. Then we portray the transformation of meaning of architecture as influenced by media and information technology and advanced methods of mobility, in the dawn of 21st century. Against such backdrop, there is a need to sort and analyze architectural practices in response to the triplet of place-non-place and space of flow, which we plan to achieve conclusively. We also trace the concept of flow in the process of formation and transformation of old cities. As a brilliant case study, we look at Persian Bazaar from a socio-architectural point of view. In other word, based on Robert Putnam's theory of social capital, we link social context of the Bazaar with architectural configuration of cities. That is how we believe "cities as flow" are not necessarily a new paradigm.

Space-based optical observation system suitable for micro satellite

The PhD research activity has taken place in the space debris field. In detail, it is focused on the possibility of detecting space debris from the space based platform. The research is focused at the same time on the software and the hardware of this detection system. For the software, a program has been developed for being able to detect an object in space and locate it in the sky solving the star field. For the hardware, the possibility of adapting a ground telescope for space activity has been considered and it has been tested on a possible electronic board.

Simulation of optical observables for space missions to small bodies

The navigation of deep space spacecraft requires accurate measurement of the probe’s state and attitude with respect to a body whose ephemerides may not be known with good accuracy. The heliocentric state of the spacecraft is estimated through radiometric techniques (ranging, Doppler, and Delta-DOR), while optical observables can be introduced to improve the uncertainty in the relative position and attitude with respect to the target body. In this study, we analyze how simulated optical observables affect the estimation of parameters in an orbit determination problem, considering the case of the ESA’s Hera mission towards the binary asteroid system composed of Didymos and Dimorphos. To this extent, a shape model and a photometric function are used to create synthetic onboard camera images. Then, using a stereophotoclinometry technique on some of the simulated images, we create a database of maplets that describe the 3D geometry of the surface around a set of landmarks. The matching of maplets with the simulated images provides the optical observables, expressed as pixel coordinates in the camera frame, which are fed to an orbit determination filter to estimate a certain number of solve-for parameters. The noise introduced in the output optical observables by the image processing can be quantified using as a metric the quality of the residuals, which is used to fine-tune the maplet-matching parameters. In particular, the best results are obtained when using small maplets, with high correlation coefficients and occupation factors.

The VIMOS-VLT Deep Survey: the evolution of type-1 AGN

Quasars and AGN play an important role in many aspects of the modern cosmology. Of particular interest is the issue of the interplay between AGN activity and formation and evolution of galaxies and structures. Studies on nearby galaxies revealed that most (and possibly all) galaxy nuclei contain a super-massive black hole (SMBH) and that between a third and half of them are showing some evidence of activity (Kormendy and Richstone, 1995). The discovery of a tight relation between black holes mass and velocity dispersion of their host galaxy suggests that the evolution of the growth of SMBH and their host galaxy are linked together. In this context, studying the evolution of AGN, through the luminosity function (LF), is fundamental to constrain the theories of galaxy and SMBH formation and evolution. Recently, many theories have been developed to describe physical processes possibly responsible of a common formation scenario for galaxies and their central black hole (Volonteri et al., 2003; Springel et al., 2005a; Vittorini et al., 2005; Hopkins et al., 2006a) and an increasing number of observations in different bands are focused on collecting larger and larger quasar samples. Many issues remain however not yet fully understood. In the context of the VVDS (VIMOS-VLT Deep Survey), we collected and studied an unbiased sample of spectroscopically selected faint type-1 AGN with a unique and straightforward selection function. Indeed, the VVDS is a large, purely magnitude limited spectroscopic survey of faint objects, free of any morphological and/or color preselection. We studied the statistical properties of this sample and its evolution up to redshift z 4. Because of the contamination of the AGN light by their host galaxies at the faint magnitudes explored by our sample, we observed that a significant fraction of AGN in our sample would be missed by the UV excess and morphological criteria usually adopted for the pre-selection of optical QSO candidates. If not properly taken into account, this failure in selecting particular sub-classes of AGN could, in principle, affect some of the conclusions drawn from samples of AGN based on these selection criteria. The absence of any pre-selection in the VVDS leads us to have a very complete sample of AGN, including also objects with unusual colors and continuum shape. The VVDS AGN sample shows in fact redder colors than those expected by comparing it, for example, with the color track derived from the SDSS composite spectrum. In particular, the faintest objects have on average redder colors than the brightest ones. This can be attributed to both a large fraction of dust-reddened objects and a significant contamination from the host galaxy. We have tested these possibilities by examining the global spectral energy distribution of each object using, in addition to the U, B, V, R and I-band magnitudes, also the UV-Galex and the IR-Spitzer bands, and fitting it with a combination of AGN and galaxy emission, allowing also for the possibility of extinction of the AGN flux. We found that for 44% of our objects the contamination from the host galaxy is not negligible and this fraction decreases to 21% if we restrict the analysis to a bright subsample (M1450 <-22.15). Our estimated integral surface density at IAB < 24.0 is 500 AGN per square degree, which represents the highest surface density of a spectroscopically confirmed sample of optically selected AGN. We derived the luminosity function in B-band for 1.0 < z < 3.6 using the 1/Vmax estimator. Our data, more than one magnitude fainter than previous optical surveys, allow us to constrain the faint part of the luminosity function up to high redshift. A comparison of our data with the 2dF sample at low redshift (1 < z < 2.1) shows that the VDDS data can not be well fitted with the pure luminosity evolution (PLE) models derived by previous optically selected samples. Qualitatively, this appears to be due to the fact that our data suggest the presence of an excess of faint objects at low redshift (1.0 < z < 1.5) with respect to these models. By combining our faint VVDS sample with the large sample of bright AGN extracted from the SDSS DR3 (Richards et al., 2006b) and testing a number of different evolutionary models, we find that the model which better represents the combined luminosity functions, over a wide range of redshift and luminosity, is a luminosity dependent density evolution (LDDE) model, similar to those derived from the major Xsurveys. Such a parameterization allows the redshift of the AGN density peak to change as a function of luminosity, thus fitting the excess of faint AGN that we find at 1.0 < z < 1.5. On the basis of this model we find, for the first time from the analysis of optically selected samples, that the peak of the AGN space density shifts significantly towards lower redshift going to lower luminosity objects. The position of this peak moves from z 2.0 for MB <-26.0 to z 0.65 for -22< MB <-20. This result, already found in a number of X-ray selected samples of AGN, is consistent with a scenario of “AGN cosmic downsizing”, in which the density of more luminous AGN, possibly associated to more massive black holes, peaks earlier in the history of the Universe (i.e. at higher redshift), than that of low luminosity ones, which reaches its maximum later (i.e. at lower redshift). This behavior has since long been claimed to be present in elliptical galaxies and it is not easy to reproduce it in the hierarchical cosmogonic scenario, where more massive Dark Matter Halos (DMH) form on average later by merging of less massive halos.

Design and control techniques of optical networks

The world of communication has changed quickly in the last decade resulting in the the rapid increase in the pace of peoples’ lives. This is due to the explosion of mobile communication and the internet which has now reached all levels of society. With such pressure for access to communication there is increased demand for bandwidth. Photonic technology is the right solution for high speed networks that have to supply wide bandwidth to new communication service providers. In particular this Ph.D. dissertation deals with DWDM optical packet-switched networks. The issue introduces a huge quantity of problems from physical layer up to transport layer. Here this subject is tackled from the network level perspective. The long term solution represented by optical packet switching has been fully explored in this years together with the Network Research Group at the department of Electronics, Computer Science and System of the University of Bologna. Some national as well as international projects supported this research like the Network of Excellence (NoE) e-Photon/ONe, funded by the European Commission in the Sixth Framework Programme and INTREPIDO project (End-to-end Traffic Engineering and Protection for IP over DWDM Optical Networks) funded by the Italian Ministry of Education, University and Scientific Research. Optical packet switching for DWDM networks is studied at single node level as well as at network level. In particular the techniques discussed are thought to be implemented for a long-haul transport network that connects local and metropolitan networks around the world. The main issues faced are contention resolution in a asynchronous variable packet length environment, adaptive routing, wavelength conversion and node architecture. Characteristics that a network must assure as quality of service and resilience are also explored at both node and network level. Results are mainly evaluated via simulation and through analysis.

High-performance switching architectures for optical networks

The need for high bandwidth, due to the explosion of new multi\-media-oriented IP-based services, as well as increasing broadband access requirements is leading to the need of flexible and highly reconfigurable optical networks. While transmission bandwidth does not represent a limit due to the huge bandwidth provided by optical fibers and Dense Wavelength Division Multiplexing (DWDM) technology, the electronic switching nodes in the core of the network represent the bottleneck in terms of speed and capacity for the overall network. For this reason DWDM technology must be exploited not only for data transport but also for switching operations. In this Ph.D. thesis solutions for photonic packet switches, a flexible alternative with respect to circuit-switched optical networks are proposed. In particular solutions based on devices and components that are expected to mature in the near future are proposed, with the aim to limit the employment of complex components. The work presented here is the result of part of the research activities performed by the Networks Research Group at the Department of Electronics, Computer Science and Systems (DEIS) of the University of Bologna, Italy. In particular, the work on optical packet switching has been carried on within three relevant research projects: the e-Photon/ONe and e-Photon/ONe+ projects, funded by the European Union in the Sixth Framework Programme, and the national project OSATE funded by the Italian Ministry of Education, University and Scientific Research. The rest of the work is organized as follows. Chapter 1 gives a brief introduction to network context and contention resolution in photonic packet switches. Chapter 2 presents different strategies for contention resolution in wavelength domain. Chapter 3 illustrates a possible implementation of one of the schemes proposed in chapter 2. Then, chapter 4 presents multi-fiber switches, which employ jointly wavelength and space domains to solve contention. Chapter 5 shows buffered switches, to solve contention in time domain besides wavelength domain. Finally chapter 6 presents a cost model to compare different switch architectures in terms of cost.

Il passato nell’epoca della sua (ri)producibilità digitale. Torino 1943 - 45. Metodologia della ricerca con tecnologie informatiche. Sistema storico-territoriale di informazione multimediale

Se il lavoro dello storico è capire il passato come è stato compreso dalla gente che lo ha vissuto, allora forse non è azzardato pensare che sia anche necessario comunicare i risultati delle ricerche con strumenti propri che appartengono a un'epoca e che influenzano la mentalità di chi in quell'epoca vive. Emergenti tecnologie, specialmente nell’area della multimedialità come la realtà virtuale, permettono agli storici di comunicare l’esperienza del passato in più sensi. In che modo la storia collabora con le tecnologie informatiche soffermandosi sulla possibilità di fare ricostruzioni storiche virtuali, con relativi esempi e recensioni? Quello che maggiormente preoccupa gli storici è se una ricostruzione di un fatto passato vissuto attraverso la sua ricreazione in pixels sia un metodo di conoscenza della storia che possa essere considerato valido. Ovvero l'emozione che la navigazione in una realtà 3D può suscitare, è un mezzo in grado di trasmettere conoscenza? O forse l'idea che abbiamo del passato e del suo studio viene sottilmente cambiato nel momento in cui lo si divulga attraverso la grafica 3D? Da tempo però la disciplina ha cominciato a fare i conti con questa situazione, costretta soprattutto dall'invasività di questo tipo di media, dalla spettacolarizzazione del passato e da una divulgazione del passato parziale e antiscientifica. In un mondo post letterario bisogna cominciare a pensare che la cultura visuale nella quale siamo immersi sta cambiando il nostro rapporto con il passato: non per questo le conoscenze maturate fino ad oggi sono false, ma è necessario riconoscere che esiste più di una verità storica, a volte scritta a volte visuale. Il computer è diventato una piattaforma onnipresente per la rappresentazione e diffusione dell’informazione. I metodi di interazione e rappresentazione stanno evolvendo di continuo. Ed è su questi due binari che è si muove l’offerta delle tecnologie informatiche al servizio della storia. Lo scopo di questa tesi è proprio quello di esplorare, attraverso l’utilizzo e la sperimentazione di diversi strumenti e tecnologie informatiche, come si può raccontare efficacemente il passato attraverso oggetti tridimensionali e gli ambienti virtuali, e come, nel loro essere elementi caratterizzanti di comunicazione, in che modo possono collaborare, in questo caso particolare, con la disciplina storica. La presente ricerca ricostruisce alcune linee di storia delle principali fabbriche attive a Torino durante la seconda guerra mondiale, ricordando stretta relazione che esiste tra strutture ed individui e in questa città in particolare tra fabbrica e movimento operaio, è inevitabile addentrarsi nelle vicende del movimento operaio torinese che nel periodo della lotta di Liberazione in città fu un soggetto politico e sociale di primo rilievo. Nella città, intesa come entità biologica coinvolta nella guerra, la fabbrica (o le fabbriche) diventa il nucleo concettuale attraverso il quale leggere la città: sono le fabbriche gli obiettivi principali dei bombardamenti ed è nelle fabbriche che si combatte una guerra di liberazione tra classe operaia e autorità, di fabbrica e cittadine. La fabbrica diventa il luogo di "usurpazione del potere" di cui parla Weber, il palcoscenico in cui si tengono i diversi episodi della guerra: scioperi, deportazioni, occupazioni .... Il modello della città qui rappresentata non è una semplice visualizzazione ma un sistema informativo dove la realtà modellata è rappresentata da oggetti, che fanno da teatro allo svolgimento di avvenimenti con una precisa collocazione cronologica, al cui interno è possibile effettuare operazioni di selezione di render statici (immagini), di filmati precalcolati (animazioni) e di scenari navigabili interattivamente oltre ad attività di ricerca di fonti bibliografiche e commenti di studiosi segnatamente legati all'evento in oggetto. Obiettivo di questo lavoro è far interagire, attraverso diversi progetti, le discipline storiche e l’informatica, nelle diverse opportunità tecnologiche che questa presenta. Le possibilità di ricostruzione offerte dal 3D vengono così messe a servizio della ricerca, offrendo una visione integrale in grado di avvicinarci alla realtà dell’epoca presa in considerazione e convogliando in un’unica piattaforma espositiva tutti i risultati. Divulgazione Progetto Mappa Informativa Multimediale Torino 1945 Sul piano pratico il progetto prevede una interfaccia navigabile (tecnologia Flash) che rappresenti la pianta della città dell’epoca, attraverso la quale sia possibile avere una visione dei luoghi e dei tempi in cui la Liberazione prese forma, sia a livello concettuale, sia a livello pratico. Questo intreccio di coordinate nello spazio e nel tempo non solo migliora la comprensione dei fenomeni, ma crea un maggiore interesse sull’argomento attraverso l’utilizzo di strumenti divulgativi di grande efficacia (e appeal) senza perdere di vista la necessità di valicare le tesi storiche proponendosi come piattaforma didattica. Un tale contesto richiede uno studio approfondito degli eventi storici al fine di ricostruire con chiarezza una mappa della città che sia precisa sia topograficamente sia a livello di navigazione multimediale. La preparazione della cartina deve seguire gli standard del momento, perciò le soluzioni informatiche utilizzate sono quelle fornite da Adobe Illustrator per la realizzazione della topografia, e da Macromedia Flash per la creazione di un’interfaccia di navigazione. La base dei dati descrittivi è ovviamente consultabile essendo contenuta nel supporto media e totalmente annotata nella bibliografia. È il continuo evolvere delle tecnologie d'informazione e la massiccia diffusione dell’uso dei computer che ci porta a un cambiamento sostanziale nello studio e nell’apprendimento storico; le strutture accademiche e gli operatori economici hanno fatto propria la richiesta che giunge dall'utenza (insegnanti, studenti, operatori dei Beni Culturali) di una maggiore diffusione della conoscenza storica attraverso la sua rappresentazione informatizzata. Sul fronte didattico la ricostruzione di una realtà storica attraverso strumenti informatici consente anche ai non-storici di toccare con mano quelle che sono le problematiche della ricerca quali fonti mancanti, buchi della cronologia e valutazione della veridicità dei fatti attraverso prove. Le tecnologie informatiche permettono una visione completa, unitaria ed esauriente del passato, convogliando tutte le informazioni su un'unica piattaforma, permettendo anche a chi non è specializzato di comprendere immediatamente di cosa si parla. Il miglior libro di storia, per sua natura, non può farlo in quanto divide e organizza le notizie in modo diverso. In questo modo agli studenti viene data l'opportunità di apprendere tramite una rappresentazione diversa rispetto a quelle a cui sono abituati. La premessa centrale del progetto è che i risultati nell'apprendimento degli studenti possono essere migliorati se un concetto o un contenuto viene comunicato attraverso più canali di espressione, nel nostro caso attraverso un testo, immagini e un oggetto multimediale. Didattica La Conceria Fiorio è uno dei luoghi-simbolo della Resistenza torinese. Il progetto è una ricostruzione in realtà virtuale della Conceria Fiorio di Torino. La ricostruzione serve a arricchire la cultura storica sia a chi la produce, attraverso una ricerca accurata delle fonti, sia a chi può poi usufruirne, soprattutto i giovani, che, attratti dall’aspetto ludico della ricostruzione, apprendono con più facilità. La costruzione di un manufatto in 3D fornisce agli studenti le basi per riconoscere ed esprimere la giusta relazione fra il modello e l’oggetto storico. Le fasi di lavoro attraverso cui si è giunti alla ricostruzione in 3D della Conceria: . una ricerca storica approfondita, basata sulle fonti, che possono essere documenti degli archivi o scavi archeologici, fonti iconografiche, cartografiche, ecc.; . La modellazione degli edifici sulla base delle ricerche storiche, per fornire la struttura geometrica poligonale che permetta la navigazione tridimensionale; . La realizzazione, attraverso gli strumenti della computer graphic della navigazione in 3D. Unreal Technology è il nome dato al motore grafico utilizzato in numerosi videogiochi commerciali. Una delle caratteristiche fondamentali di tale prodotto è quella di avere uno strumento chiamato Unreal editor con cui è possibile costruire mondi virtuali, e che è quello utilizzato per questo progetto. UnrealEd (Ued) è il software per creare livelli per Unreal e i giochi basati sul motore di Unreal. E’ stata utilizzata la versione gratuita dell’editor. Il risultato finale del progetto è un ambiente virtuale navigabile raffigurante una ricostruzione accurata della Conceria Fiorio ai tempi della Resistenza. L’utente può visitare l’edificio e visualizzare informazioni specifiche su alcuni punti di interesse. La navigazione viene effettuata in prima persona, un processo di “spettacolarizzazione” degli ambienti visitati attraverso un arredamento consono permette all'utente una maggiore immersività rendendo l’ambiente più credibile e immediatamente codificabile. L’architettura Unreal Technology ha permesso di ottenere un buon risultato in un tempo brevissimo, senza che fossero necessari interventi di programmazione. Questo motore è, quindi, particolarmente adatto alla realizzazione rapida di prototipi di una discreta qualità, La presenza di un certo numero di bug lo rende, però, in parte inaffidabile. Utilizzare un editor da videogame per questa ricostruzione auspica la possibilità di un suo impiego nella didattica, quello che le simulazioni in 3D permettono nel caso specifico è di permettere agli studenti di sperimentare il lavoro della ricostruzione storica, con tutti i problemi che lo storico deve affrontare nel ricreare il passato. Questo lavoro vuole essere per gli storici una esperienza nella direzione della creazione di un repertorio espressivo più ampio, che includa gli ambienti tridimensionali. Il rischio di impiegare del tempo per imparare come funziona questa tecnologia per generare spazi virtuali rende scettici quanti si impegnano nell'insegnamento, ma le esperienze di progetti sviluppati, soprattutto all’estero, servono a capire che sono un buon investimento. Il fatto che una software house, che crea un videogame di grande successo di pubblico, includa nel suo prodotto, una serie di strumenti che consentano all'utente la creazione di mondi propri in cui giocare, è sintomatico che l'alfabetizzazione informatica degli utenti medi sta crescendo sempre più rapidamente e che l'utilizzo di un editor come Unreal Engine sarà in futuro una attività alla portata di un pubblico sempre più vasto. Questo ci mette nelle condizioni di progettare moduli di insegnamento più immersivi, in cui l'esperienza della ricerca e della ricostruzione del passato si intreccino con lo studio più tradizionale degli avvenimenti di una certa epoca. I mondi virtuali interattivi vengono spesso definiti come la forma culturale chiave del XXI secolo, come il cinema lo è stato per il XX. Lo scopo di questo lavoro è stato quello di suggerire che vi sono grosse opportunità per gli storici impiegando gli oggetti e le ambientazioni in 3D, e che essi devono coglierle. Si consideri il fatto che l’estetica abbia un effetto sull’epistemologia. O almeno sulla forma che i risultati delle ricerche storiche assumono nel momento in cui devono essere diffuse. Un’analisi storica fatta in maniera superficiale o con presupposti errati può comunque essere diffusa e avere credito in numerosi ambienti se diffusa con mezzi accattivanti e moderni. Ecco perchè non conviene seppellire un buon lavoro in qualche biblioteca, in attesa che qualcuno lo scopra. Ecco perchè gli storici non devono ignorare il 3D. La nostra capacità, come studiosi e studenti, di percepire idee ed orientamenti importanti dipende spesso dai metodi che impieghiamo per rappresentare i dati e l’evidenza. Perché gli storici possano ottenere il beneficio che il 3D porta con sè, tuttavia, devono sviluppare un’agenda di ricerca volta ad accertarsi che il 3D sostenga i loro obiettivi di ricercatori e insegnanti. Una ricostruzione storica può essere molto utile dal punto di vista educativo non sono da chi la visita ma, anche da chi la realizza. La fase di ricerca necessaria per la ricostruzione non può fare altro che aumentare il background culturale dello sviluppatore. Conclusioni La cosa più importante è stata la possibilità di fare esperienze nell’uso di mezzi di comunicazione di questo genere per raccontare e far conoscere il passato. Rovesciando il paradigma conoscitivo che avevo appreso negli studi umanistici, ho cercato di desumere quelle che potremo chiamare “leggi universali” dai dati oggettivi emersi da questi esperimenti. Da punto di vista epistemologico l’informatica, con la sua capacità di gestire masse impressionanti di dati, dà agli studiosi la possibilità di formulare delle ipotesi e poi accertarle o smentirle tramite ricostruzioni e simulazioni. Il mio lavoro è andato in questa direzione, cercando conoscere e usare strumenti attuali che nel futuro avranno sempre maggiore presenza nella comunicazione (anche scientifica) e che sono i mezzi di comunicazione d’eccellenza per determinate fasce d’età (adolescenti). Volendo spingere all’estremo i termini possiamo dire che la sfida che oggi la cultura visuale pone ai metodi tradizionali del fare storia è la stessa che Erodoto e Tucidide contrapposero ai narratori di miti e leggende. Prima di Erodoto esisteva il mito, che era un mezzo perfettamente adeguato per raccontare e dare significato al passato di una tribù o di una città. In un mondo post letterario la nostra conoscenza del passato sta sottilmente mutando nel momento in cui lo vediamo rappresentato da pixel o quando le informazioni scaturiscono non da sole, ma grazie all’interattività con il mezzo. La nostra capacità come studiosi e studenti di percepire idee ed orientamenti importanti dipende spesso dai metodi che impieghiamo per rappresentare i dati e l’evidenza. Perché gli storici possano ottenere il beneficio sottinteso al 3D, tuttavia, devono sviluppare un’agenda di ricerca volta ad accertarsi che il 3D sostenga i loro obiettivi di ricercatori e insegnanti. Le esperienze raccolte nelle pagine precedenti ci portano a pensare che in un futuro non troppo lontano uno strumento come il computer sarà l’unico mezzo attraverso cui trasmettere conoscenze, e dal punto di vista didattico la sua interattività consente coinvolgimento negli studenti come nessun altro mezzo di comunicazione moderno.

Design of optical networks for advanced applications

Nowadays, computing is migrating from traditional high performance and distributed computing to pervasive and utility computing based on heterogeneous networks and clients. The current trend suggests that future IT services will rely on distributed resources and on fast communication of heterogeneous contents. The success of this new range of services is directly linked to the effectiveness of the infrastructure in delivering them. The communication infrastructure will be the aggregation of different technologies even though the current trend suggests the emergence of single IP based transport service. Optical networking is a key technology to answer the increasing requests for dynamic bandwidth allocation and configure multiple topologies over the same physical layer infrastructure, optical networks today are still “far” from accessible from directly configure and offer network services and need to be enriched with more “user oriented” functionalities. However, current Control Plane architectures only facilitate efficient end-to-end connectivity provisioning and certainly cannot meet future network service requirements, e.g. the coordinated control of resources. The overall objective of this work is to provide the network with the improved usability and accessibility of the services provided by the Optical Network. More precisely, the definition of a service-oriented architecture is the enable technology to allow user applications to gain benefit of advanced services over an underlying dynamic optical layer. The definition of a service oriented networking architecture based on advanced optical network technologies facilitates users and applications access to abstracted levels of information regarding offered advanced network services. This thesis faces the problem to define a Service Oriented Architecture and its relevant building blocks, protocols and languages. In particular, this work has been focused on the use of the SIP protocol as a inter-layers signalling protocol which defines the Session Plane in conjunction with the Network Resource Description language. On the other hand, an advantage optical network must accommodate high data bandwidth with different granularities. Currently, two main technologies are emerging promoting the development of the future optical transport network, Optical Burst and Packet Switching. Both technologies respectively promise to provide all optical burst or packet switching instead of the current circuit switching. However, the electronic domain is still present in the scheduler forwarding and routing decision. Because of the high optics transmission frequency the burst or packet scheduler faces a difficult challenge, consequentially, high performance and time focused design of both memory and forwarding logic is need. This open issue has been faced in this thesis proposing an high efficiently implementation of burst and packet scheduler. The main novelty of the proposed implementation is that the scheduling problem has turned into simple calculation of a min/max function and the function complexity is almost independent of on the traffic conditions.

Singularity-Free Fully-Isotropic Translational Parallel Manipulators

Parallel mechanisms show desirable characteristics such as a large payload to robot weight ratio, considerable stiffness, low inertia and high dynamic performances. In particular, parallel manipulators with fewer than six degrees of freedom have recently attracted researchers’ attention, as their employ may prove valuable in those applications in which a higher mobility is uncalled-for. The attention of this dissertation is focused on translational parallel manipulators (TPMs), that is on parallel manipulators whose output link (platform) is provided with a pure translational motion with respect to the frame. The first part deals with the general problem of the topological synthesis and classification of TPMs, that is it identifies the architectures that TPM legs must possess for the platform to be able to freely translate in space without altering its orientation. The second part studies both constraint and direct singularities of TPMs. In particular, special families of fully-isotropic mechanisms are identified. Such manipulators exhibit outstanding properties, as they are free from singularities and show a constant orthogonal Jacobian matrix throughout their workspace. As a consequence, both the direct and the inverse position problems are linear and the kinematic analysis proves straightforward.

Optical Design for Automatic Identification and Portable Systems

This thesis proposes design methods and test tools, for optical systems, which may be used in an industrial environment, where not only precision and reliability but also ease of use is important. The approach to the problem has been conceived to be as general as possible, although in the present work, the design of a portable device for automatic identification applications has been studied, because this doctorate has been funded by Datalogic Scanning Group s.r.l., a world-class producer of barcode readers. The main functional components of the complete device are: electro-optical imaging, illumination and pattern generator systems. For what concerns the electro-optical imaging system, a characterization tool and an analysis one has been developed to check if the desired performance of the system has been achieved. Moreover, two design tools for optimizing the imaging system have been implemented. The first optimizes just the core of the system, the optical part, improving its performance ignoring all other contributions and generating a good starting point for the optimization of the whole complex system. The second tool optimizes the system taking into account its behavior with a model as near as possible to reality including optics, electronics and detection. For what concerns the illumination and the pattern generator systems, two tools have been implemented. The first allows the design of free-form lenses described by an arbitrary analytical function exited by an incoherent source and is able to provide custom illumination conditions for all kind of applications. The second tool consists of a new method to design Diffractive Optical Elements excited by a coherent source for large pattern angles using the Iterative Fourier Transform Algorithm. Validation of the design tools has been obtained, whenever possible, comparing the performance of the designed systems with those of fabricated prototypes. In other cases simulations have been used.

Cosmic-Lab: Optical companions to binary Millisecond Pulsars

Millisecond Pulsars (MSPs) are fast rotating, highly magnetized neutron stars. According to the "canonical recycling scenario", MSPs form in binary systems containing a neutron star which is spun up through mass accretion from the evolving companion. Therefore, the final stage consists of a binary made of a MSP and the core of the deeply peeled companion. In the last years, however an increasing number of systems deviating from these expectations has been discovered, thus strongly indicating that our understanding of MSPs is far to be complete. The identification of the optical companions to binary MSPs is crucial to constrain the formation and evolution of these objects. In dense environments such as Globular Clusters (GCs), it also allows us to get insights on the cluster internal dynamics. By using deep photometric data, acquired both from space and ground-based telescopes, we identified 5 new companions to MSPs. Three of them being located in GCs and two in the Galactic Field. The three new identifications in GCs increased by 50% the number of such objects known before this Thesis. They all are non-degenerate stars, at odds with the expectations of the "canonical recycling scenario". These results therefore suggest either that transitory phases should also be taken into account, or that dynamical processes, as exchange interactions, play a crucial role in the evolution of MSPs. We also performed a spectroscopic follow-up of the companion to PSRJ1740-5340A in the GC NGC 6397, confirming that it is a deeply peeled star descending from a ~0.8Msun progenitor. This nicely confirms the theoretical expectations about the formation and evolution of MSPs.

Characterization of optical transduction-based molecular systems and nanoparticles for the development of chemical sensors

With the increasing importance that nanotechnologies have in everyday life, it is not difficult to realize that also a single molecule, if properly designed, can be a device able to perform useful functions: such a chemical species is called chemosensor, that is a molecule of abiotic origin that signals the presence of matter or energy. Signal transduction is the mechanism by which an interaction of a sensor with an analyte yields a measurable form of energy. When dealing with the design of a chemosensor, we need to take into account a “communication requirement” between its three component: the receptor unit, responsible for the selective analyte binding, the spacer, which controls the geometry of the system and modulates the electronic interaction between the receptor and the signalling unit, whose physico-chemical properties change upon complexation. A luminescent chemosensor communicates a variation of the physico-chemical properties of the receptor unit with a luminescence output signal. This thesis work consists in the characterization of new molecular and nanoparticle-based system which can be used as sensitive materials for the construction of new optical transduction devices able to provide information about the concentration of analytes in solution. In particular two direction were taken. The first is to continue in the development of new chemosensors, that is the first step for the construction of reliable and efficient devices, and in particular the work will be focused on chemosensors for metal ions for biomedical and environmental applications. The second is to study more efficient and complex organized systems, such as derivatized silica nanoparticles. These system can potentially have higher sensitivity than molecular systems, and present many advantages, like the possibility to be ratiometric, higher Stokes shifts and lower signal-to-noise ratio.