Labyrinthum capellae. Le "Annotationes in Marcianum" di Giovanni Scoto Eriugena e la fortuna del neoplatonismo cristiano

The labyrinthum Capella quoted in the title (from a Prudentius of Troyes epistle) represents the allegory of the studium of the liberal arts and the looking for knowledge in the early middle age. This is a capital problem in the early Christianity and, in general, for all the western world, concerning the relationship between faith and science. I studied the evolution of this subject from its birth to Carolingian age, focusing on the most relevant figures, for the western Europe, such Saint Augustine (De doctrina christiana), Martianus Capella (De Nuptiis Philologiae et Mercurii) and Iohannes Scotus Eriugena (Annotationes in Marcianum). Clearly it emerges that there were two opposite ways about this relatioship. According to the first, the human being is capable of get a knowledge about God thanks to its own reason and logical thought processes (by the analysis of the nature as a Speculum Dei); on the other way, only the faith and the grace could give the man the possibility to perceive God, and the Bible is the only book men need to know. From late antiquity to Iohannes Scotus times, a few christian and pagan authors fall into line with first position (the neoplatonic one): Saint Augustine (first part of his life, then he retracted some of his views), Martianus, Calcidius and Macrobius. Other philosophers were not neoplatonic bat believed in the power of the studium: Boethius, Cassiodorus, Isidorus of Seville, Hrabanus Maurus and Lupus of Ferriéres. In order to get an idea of this conception, I finally focused the research on Iohannes Scotus Eriugena's Annotationes in Marcianum. I commented Eriugena's work phrase by phrase trying to catch the sense of his words, the reference, philosophical influences, to trace antecedents and its clouts to later middle age and Chartres school. In this scholastic text Eriugena comments the Capella's work and poses again the question of the studium to his students. Iohannes was a magister in schola Palatina during the time of Carl the Bald, he knew Saint Augustine works, and he knew Boethius, Calcidius, Macrobius, Isidorus and Cassiodorus ones too. He translated Pseudo-Dionysius the Areopagite and Maximus the Confessor. He had a neoplatonic view of Christianity and tried to harmonize the impossibility to know God to man's intellectual capability to get a glimpse of God through the study of the nature. According to this point of view, Eriugena's comment of Martianus Capella was no more a secondary work. It gets more and more importance to understand his research and his mystic, and to understand and really grasp the inner sense of his chief work Periphyseon.

Controllo dell'atto di prensione: coinvolgimento dell'area V6A nell'orientamento del polso

Prehension in an act of coordinated reaching and grasping. The reaching component is concerned with bringing the hand to object to be grasped (transport phase); the grasping component refers to the shaping of the hand according to the object features (grasping phase) (Jeannerod, 1981). Reaching and grasping involve different muscles, proximal and distal muscles respectively, and are controlled by different parietofrontal circuit (Jeannerod et al., 1995): a medial circuit, involving area of superior parietal lobule and dorsal premotor area 6 (PMd) (dorsomedial visual stream), is mainly concerned with reaching; a lateral circuit, involving the inferior parietal lobule and ventral premotor area 6 (PMv) (dorsolateral visual stream), with grasping. Area V6A is located in the caudalmost part of the superior parietal lobule, so it belongs to the dorsomedial visual stream; it contains neurons sensitive to visual stimuli (Galletti et al. 1993, 1996, 1999) as well as cells sensitive to the direction of gaze (Galletti et al. 1995) and cells showing saccade-related activity (Nakamura et al. 1999; Kutz et al. 2003). Area V6A contains also arm-reaching neurons likely involved in the control of the direction of the arm during movements towards objects in the peripersonal space (Galletti et al. 1997; Fattori et al. 2001). The present results confirm this finding and demonstrate that during the reach-to-grasp the V6A neurons are also modulated by the orientation of the wrist. Experiments were approved by the Bioethical Committee of the University of Bologna and were performed in accordance with National laws on care and use of laboratory animals and with the European Communities Council Directive of 24th November 1986 (86/609/EEC), recently revised by the Council of Europe guidelines (Appendix A of Convention ETS 123). Experiments were performed in two awake Macaca fascicularis. Each monkey was trained to sit in a primate chair with the head restrained to perform reaching and grasping arm movements in complete darkness while gazing a small fixation point. The object to be grasped was a handle that could have different orientation. We recorded neural activity from 163 neurons of the anterior parietal sulcus; 116/163 (71%) neurons were modulated by the reach-to-grasp task during the execution of the forward movements toward the target (epoch MOV), 111/163 (68%) during the pulling of the handle (epoch HOLD) and 102/163 during the execution of backward movements (epoch M2) (t_test, p ≤ 0.05). About the 45% of the tested cells turned out to be sensitive to the orientation of the handle (one way ANOVA, p ≤ 0.05). To study how the distal components of the movement, such as the hand preshaping during the reaching of the handle, could influence the neuronal discharge, we compared the neuronal activity during the reaching movements towards the same spatial location in reach-to-point and reach-to-grasp tasks. Both tasks required proximal arm movements; only the reach-to-grasp task required distal movements to orient the wrist and to shape the hand to grasp the handle. The 56% of V6A cells showed significant differences in the neural discharge (one way ANOVA, p ≤ 0.05) between the reach-to-point and the reach-to-grasp tasks during MOV, 54% during HOLD and 52% during M2. These data show that reaching and grasping are processed by the same population of neurons, providing evidence that the coordination of reaching and grasping takes place much earlier than previously thought, i.e., in the parieto-occipital cortex. The data here reported are in agreement with results of lesions to the medial posterior parietal cortex in both monkeys and humans, and with recent imaging data in humans, all of them indicating a functional coupling in the control of reaching and grasping by the medial parietofrontal circuit.

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.

Il consenso informato come strumento di esercizio del diritto alla salute per i pazienti stranieri?

L’elaborato propone una riflessione rispetto all’atto giuridico del consenso informato quale strumento garante dell’esercizio del diritto alla salute per i migranti. Attraverso una riflessione antropologica rispetto alla natura, alla costruzione e alla logica dei diritti universali, verranno analizzate le normative nazionali, europee ed internazionali a tutela del diritto alla salute per i migranti; l’obiettivo della ricerca è indagare l’eventuale scarto tra normative e politiche garantiste nei confronti della salute migrante e l’esistenza di barriere strutturali che impediscono un pieno esercizio del diritto alla salute. L’ipotesi di ricerca si basa sulla reale capacità performativa del consenso informato, proposto solitamente sia come strumento volto ad assicurare la piena professionalità dell’operatore sanitario nell’informare il paziente circa i rischi e i benefici di un determinato trattamento sanitario, sia come garante del principio di autonomia. La ricerca, attraverso un’analisi quanti-qualitativa, ha interrogato il proprio campo, rappresentato da un reparto di ginecologia ed ostetrica, rispetto alle modalità pratiche di porre in essere la firma nei moduli del consenso informato, con particolare attenzione alle specificità proprie delle pazienti migranti. Attraverso l’osservazione partecipante è stato quindi possibile riflettere su aspetti rilevanti, quali le dinamiche quotidiane che vengono a crearsi tra personale sanitario e pazienti, le caratteristiche e i limiti del servizio di mediazione sanitaria, le azioni pratiche della medicina difensiva. In questo senso il tema del “consenso informato”, indagato facendo interagire discipline quali l’antropologia, la bioetica, la filosofia e la sociologia, si è posto sia come lente di lettura privilegiata per comprendere le dinamiche relazionali ad oggi esistenti tra professionisti sanitari e popolazione migrante, ancora vittima di diseguaglianze strutturali, ma altresì come “innesco potenziale” di nuove modalità di intendere la relazione medico-paziente.

Design and Control of Robotic Hands

The application of dexterous robotic hands out of research laboratories has been limited by the intrinsic complexity that these devices present. This is directly reflected as an economically unreasonable cost and a low overall reliability. Within the research reported in this thesis it is shown how the problem of complexity in the design of robotic hands can be tackled, taking advantage of modern technologies (i.e. rapid prototyping), leading to innovative concepts for the design of the mechanical structure, the actuation and sensory systems. The solutions adopted drastically reduce the prototyping and production costs and increase the reliability, reducing the number of parts required and averaging their single reliability factors. In order to get guidelines for the design process, the problem of robotic grasp and manipulation by a dual arm/hand system has been reviewed. In this way, the requirements that should be fulfilled at hardware level to guarantee successful execution of the task has been highlighted. The contribution of this research from the manipulation planning side focuses on the redundancy resolution that arise in the execution of the task in a dexterous arm/hand system. In literature the problem of coordination of arm and hand during manipulation of an object has been widely analyzed in theory but often experimentally demonstrated in simplified robotic setup. Our aim is to cover the lack in the study of this topic and experimentally evaluate it in a complex system as a anthropomorphic arm hand system.

Functional heterogeneity of medial posterior parietal cortex of macaque monkey

The posterior parietal cortex (PPC) of primates represents a remarkable platform that has evolved over time to solve some of the computational challenges that we face in the everyday life, such as sensorimotor integration, spatial attention, and motor planning. With the aim of further investigating the multifaceted functional characteristics of medial PPC, we conducted three studies to explore the visuomotor, somatic, visual, and attention-related properties of two PPC areas: V6A, a visuomotor area part of the dorsomedial visual stream, and PE, an area strongly dominated by somatomotor input, residing mainly on the exposed surface of the superior parietal lobule. In the first study, we tested the impact of visual feedback on V6A grasp-related activity during arm movements towards objects of different shapes. Our results demonstrate that V6A is modulated by both grip type and visual information during grasping preparation and execution, with a predominance of cells influenced by grip type. In the second study, we explored the influence of depth and direction information on reach-related activity of neurons in the so far largely neglected medial part of area PE. We observed a remarkable trend in medial PPC, going from the joint coding of depth and direction signals caudally, in area V6A, to a largely segregated processing of the two signals rostrally, in area PE. In the third study, we used a combined fMRI-electrophysiology experiment to investigate the neuronal mechanisms underlying covert shift of attention processes in area V6A. Our preliminary results reveal that half of the cells showed shift-selective activity when the monkey covertly shifted its attention towards the receptive field. All together these findings highlight the role of the medial PPC in integrating information coming from different sources (vision, somatosensory and motor) and emphasize the involvement of action-related regions of the dorsomedial visual stream in higher level cognitive functions.

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

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

Pues no soy mujer. The Upheaval of Singularity in Sor Juana Inés de la Cruz.

This thesis titled Pues no soy mujer: The Upheaval of Singularity in Sor Juana Inés de la Cruz centers on the revolution that sor Juana (San Miguel Nepantla 1648?- Mexico City 1695) started in the debate about singularity, sexedness, and in-betweenness—not only in the field of literary studies and literary criticism, but also in the broad landscape of feminist and gender studies. By defining herself neither as a woman, nor as a stable subject belonging to a fixed homogeneous group or genre, sor Juana opens an interesting debate about difference and non-binarism. In sor Juana’s literary corpus identities are endless and impossible to grasp in their ultimate meaning. They remain forever impossible to place, neither fully present nor fully absent. They exist in a dangerous balance between (nepantla) life and death, dancing and moving, following the chaotic geometry of points, folding the ordinate symmetry of lines, and subverting the hegemonic order of the patriarchal and colonial world.

Forma e critica del reale in Siegfried Kracauer (1925-1937): Immagine, citta, modernita

Siegfried Kracauer (1889-1966) fu di formazione ingegnere-architetto, giornalista. Egli fu un instancabile osservatore critico della superficie della realtà, convinto quale era che solo dall’osservazione dei fenomeni superficiali si potesse davvero intuire la realtà di un’epoca. L’obiettivo della tesi è cercare di cogliere il rapporto tra forma e critica della realtà attraverso saggi, articoli di giornale, recensioni di libri e film, biografie e autobiografie. All’interno di questo lavoro si sono isolate alcune immagini e opere che permettono, a nostro parere, di cogliere il senso della decifrazione della modernità in Kracauer. La luce come figura ambigua della fantasmagoria e della metropoli, il mito e la razionalizzazione capitalistica, la figura di Ginster, personaggio letterario chiaramente autobiografico incaricato di descrivere le tensioni nel passaggio dall’esperienza della prima guerra mondale al mondo moderno dell’improvvisazione e della perdita dei confini e, infine, Jacques Offenbach e l’operetta, incursione storica di Kracauer alla ricerca di una biografia sociale della città di Parigi come archeologia della modernità sviluppando un parallelo tra l’epoca del Secondo Impero di Napoleone III e l’avvento del nazismo. A ognuno di questi momenti è dedicato un capitolo che cerca di sviluppare continuità e discontinuità del pensiero di Kracauer nei confronti delle eredità filosofiche e metodologiche di György Lukács, Georg Simmel, Karl Marx. mL’attenzione è stata rivolta alle testimonianze dei rapporti e dei confronti, talora aspri, con i suoi colleghi e amici a partire da quelli complicati con Benjamin e Adorno che restituiscono un’immagine di un pensatore originale e complesso alla ricerca e, paradossalmente sulla soglia, di una via per pensare l’irruzione della cultura di massa e del potere assoggettante delle immagini.

Myanmar higher education in transition: the interplay between state authority, student politics and international actors.

The Myanmar “period of transition” (2011-2021) has often been described as a puzzle. Various scholars have begun to engage with the Myanmar context in an effort to grasp the essence of the transition it underwent during President Thein Sein’s USPD and Aung San Suu Kyi’s NLD governments. My work focuses on a specific policy sector, higher education, with a view to contributing to this scholarly debate regarding what was actually happening inside this complex country “transition”, especially in terms of collective participation in the process of political and social change. Reviewing existing scholarly literature on the politics of higher education, my study employs a triangle of analysis in which higher education reform is framed as the interplay of action on the part of “state authority”, “student politics” and “international actors”. What does this interplay lens reveal if we consider Myanmar’s “period of transition”? I argue that it shows the ambiguity and contradiction of tangible pushes for progressive social change that coexisted with authoritarian currents and the reinforcement of the societal position of dominant elites. At the policy level, ultimately, a convergence of interests between international actors and state authority served as the force driving the new higher education reform towards a neo-liberal model of governance and autonomy. This work unpacks the higher education reform process thanks to qualitative data gathered through extensive participant observation, in-depth interviewing and critical discourse analysis, shedding light on the rich narratives of those involved in the politics of higher education in Myanmar.

Beyond weaponry and socialist internationalism: Soviet engagement with postcolonial state-building in the Arab Middle East, 1954-1966

This research investigates the Soviet Union’s role in guiding state-building processes of postcolonial Arab countries of the Middle East, leading them to adopt economic and political elements of the socialist-Leninist models of development. The widespread narrative depicts the Soviets as having failed to export communism in those states and, therefore, as having failed to bring them closer to Moscow’s sphere of influence and values. However, various Soviet archives suggest a different reality. As the Cold War burst forth, between the mid-1950s and mid-1960s, contacts between Soviet and Arab officials were not just incredibly frequent but they went to the core of all main issues of socio-economic development of these transforming countries: party politics, institution building, agrarian reforms, industrialisation, security sector reforms, etc. The research focuses on a period that may be labelled as ‘the launching phase’ of the Soviet Middle East policy, which established a long-lasting framework for the Soviet-Arab dialogue. It also places significant attention on the ‘personal dimension’ of such a dialogue, showing how Moscow’s influence went hand in hand with the ability of Soviet leaders and diplomats to establish relations of personal trust with postcolonial Arab élites. A selected number of Arab countries are examined: Egypt, Iraq and Syria. For each of these countries, a limited period of time will be taken into consideration, when Soviet influence reached its peak and state-building policies might have drawn from the Soviet model (for Egypt 1954-1958; for Iraq 1958-1963; for Syria 1961-1966). On the one hand, the analysis of specific case-studies will allow to investigate the relationship between Moscow and each of these new Arab regimes; on the other, such a large geographical scope will permit to grasp the elements and the objectives of the broader Soviet policy towards the Middle East region.

La codificazione del danno ambientale. La sfida del diritto privato tra interessi individuali e interessi collettivi

La tesi ha ad oggetto la tutela dell’ambiente e il ruolo svolto dal diritto privato. In particolare, si affrontano gli aspetti che caratterizzano il danno all’ambiente e, ancor più nel dettaglio, si fa emergere la dimensione plurioffensiva. Si risolvono alcuni nodi e alcune problematiche che si manifestano in relazione alla legittimazione ad agire per danno all’ambiente e, di conseguenza, si focalizza l’attenzione sull’individuazione delle situazioni giuridiche soggettive ad esso correlate: termini come diritto soggettivo, interessi collettivi, interessi diffusi, legittimazione soggettiva e legittimazione oggettiva costituiscono il leitmotiv dell’indagine. Al fine di poter inquadrare sistematicamente il tema ambientale nella sfera del diritto privato, si analizzano i fondamenti del costituzionalismo e del diritto privato moderno, le ragioni dell’esistenza della dicotomia pubblico-privato e della separazione di interessi ad essa corrispondente. Quest’indagine, contenuta nel primo capitolo della tesi, è necessaria per cogliere le motivazioni della tendenziale estromissione (soprattutto nell’ambito delle categorie civilistiche) degli interessi superindividuali, degli interessi collettivi e dei corpi intermedi che ne sono portatori. Nel secondo capitolo si ripercorre, nell’intervallo temporale che va dagli anni ’70 sino alla fine degli anni ’90, l’evoluzione normativa e le principali teorie relative al danno all’ambiente. L’analisi di questi stessi temi, nel periodo intercorrente tra l’inizio del nuovo Millennio e i giorni nostri, è oggetto di indagine anche del terzo ed ultimo capitolo, in cui l’attenzione si sposta inevitabilmente sulla legislazione europea e sulla tutela multilivello dei diritti. Nelle conclusioni del lavoro, infine, ci si interroga sulla funzione giudiziaria e sulla separazione dei poteri nella gestione del problema ambientale, nonché sulla valenza attuale dei diritti soggettivi e dei diritti fondamentali dell’uomo nel costituzionalismo democratico. In questa sede, si illustra e si propone una dimensione istituzionale del diritto soggettivo, declinato in termini di partecipazione democratica.

Comprendere la lingua dell'economia: un'analisi multidisciplinare di terminologia, comprensione e pianificazione

La tesi si concentra sull'analisi del linguaggio economico, prestando particolare attenzione alla sua terminologia. L'importanza della terminologia economica risiede nella sua capacità di facilitare una comunicazione efficace nel campo dell'economia e di permettere una comprensione più ampia dei fenomeni economici da parte del pubblico. Tuttavia, a causa della sua complessità e specificità, essa può risultare difficile da comprendere per il pubblico laico. La ricerca affronta tre questioni chiave: definire la natura della terminologia economica e l'approccio più adatto per descriverla, determinare il livello di comprensione della terminologia economica e le variabili sociali ad essa correlate, e individuare le strategie migliori per diffondere la terminologia economica nella società. Per rispondere a queste domande, l'indagine si avvale di un approccio multidisciplinare che fonde linguistica, sociolinguistica e terminologia. Il risultato è un'analisi profonda del lessico economico e delle sue collocazioni, della comprensione della terminologia da parte del pubblico e delle strategie per migliorare tale comprensione e la sua diffusione.

R.P.C.M. Apulia (Reconstructing Prehistoric Communities’ Mobility in Apulia)

The research originates in the necessity to bring a new systematic archaeological perspective to the prehistoric background of northern Apulia. Therefore, the aim of the R.P.C.M. Apulia project is to shed new light on a specific chronological arch, from the Neolithic to Early Bronze Age, of the northern part of the Apulia, because the related studies resulted updated to the 70-80’s with some sporadic exception. Moreover, addressing the investigation to the relationship between the communities and the landscape, so how they could exploit the lands and how they could move into this area keeping in touch. To reconstruct the Prehistorical dynamics, it has been necessary first of all to create a database containing all the information about the sites thus to validate them and classifying them according to a model specifically built. The storing operation has been conducted with the software ArcGIS v.10.1 and the sites have been georeferenced on the map as points. It provided the basis on which developing the analysis concerning the mobility (Least Cost Path) and landscape perception (Fuzzy Viewshed Analysis). The first one has been considered to evaluate the mobility into the study area. Therefore, to generate sample paths on the base of the time in reaching a specific point and the terrain trend. The gained information has been collected to hypothesize how they could keep in touch across the chronological changes for purposes related to trading/idea/people exchanges. The visibility analysis has been led to grasp how the groups perceived the landscape through the sight. This datum covered an important role, especially from the Copper Age, concerning the domain and control of the trading ways. The data coming from the mentioned analysis have been used to read into the settlement choices according to the development of the new socio-economic relationships and plan survey activity.