Path planning for image based visual servoing

This thesis deals with Visual Servoing and its strictly connected disciplines like projective geometry, image processing, robotics and non-linear control. More specifically the work addresses the problem to control a robotic manipulator through one of the largely used Visual Servoing techniques: the Image Based Visual Servoing (IBVS). In Image Based Visual Servoing the robot is driven by on-line performing a feedback control loop that is closed directly in the 2D space of the camera sensor. The work considers the case of a monocular system with the only camera mounted on the robot end effector (eye in hand configuration). Through IBVS the system can be positioned with respect to a 3D fixed target by minimizing the differences between its initial view and its goal view, corresponding respectively to the initial and the goal system configurations: the robot Cartesian Motion is thus generated only by means of visual informations. However, the execution of a positioning control task by IBVS is not straightforward because singularity problems may occur and local minima may be reached where the reached image is very close to the target one but the 3D positioning task is far from being fulfilled: this happens in particular for large camera displacements, when the the initial and the goal target views are noticeably different. To overcame singularity and local minima drawbacks, maintaining the good properties of IBVS robustness with respect to modeling and camera calibration errors, an opportune image path planning can be exploited. This work deals with the problem of generating opportune image plane trajectories for tracked points of the servoing control scheme (a trajectory is made of a path plus a time law). The generated image plane paths must be feasible i.e. they must be compliant with rigid body motion of the camera with respect to the object so as to avoid image jacobian singularities and local minima problems. In addition, the image planned trajectories must generate camera velocity screws which are smooth and within the allowed bounds of the robot. We will show that a scaled 3D motion planning algorithm can be devised in order to generate feasible image plane trajectories. Since the paths in the image are off-line generated it is also possible to tune the planning parameters so as to maintain the target inside the camera field of view even if, in some unfortunate cases, the feature target points would leave the camera images due to 3D robot motions. To test the validity of the proposed approach some both experiments and simulations results have been reported taking also into account the influence of noise in the path planning strategy. The experiments have been realized with a 6DOF anthropomorphic manipulator with a fire-wire camera installed on its end effector: the results demonstrate the good performances and the feasibility of the proposed approach.

Enabling a direct path from end-user specifications to executable protocols in a biology laboratory environment

Biomedical analyses are becoming increasingly complex, with respect to both the type of the data to be produced and the procedures to be executed. This trend is expected to continue in the future. The development of information and protocol management systems that can sustain this challenge is therefore becoming an essential enabling factor for all actors in the field. The use of custom-built solutions that require the biology domain expert to acquire or procure software engineering expertise in the development of the laboratory infrastructure is not fully satisfactory because it incurs undesirable mutual knowledge dependencies between the two camps. We propose instead an infrastructure concept that enables the domain experts to express laboratory protocols using proper domain knowledge, free from the incidence and mediation of the software implementation artefacts. In the system that we propose this is made possible by basing the modelling language on an authoritative domain specific ontology and then using modern model-driven architecture technology to transform the user models in software artefacts ready for execution in a multi-agent based execution platform specialized for biomedical laboratories.

La costruzione identitaria fuori e dentro un percorso di welfare to work. Una ricerca sugli informatori scientifici del farmaco in Italia.

L’idea generale da cui parte l’attività di analisi e di ricerca della tesi è che l’identità non sia un dato acquisito ma un processo aperto. Processo che è portato avanti dall’interazione tra riconoscimento sociale del proprio ruolo lavorativo e rappresentazione soggettiva di sé. La categoria di lavoratori che è stata scelta è quella degli informatori scientifici del farmaco, in virtù del fatto che la loro identificazione con il ruolo professionale e la complessa costruzione identitaria è stata duramente messa alla prova negli ultimi anni a seguito di una profonda crisi che ha coinvolto la categoria. Per far fronte a questa crisi nel 2008 è stato creato un dispositivo, che ha visto il coinvolgimento di aziende, lavoratori, agenzie per il lavoro e organizzazioni sindacali, allo scopo di ricollocare il personale degli informatori scientifici del farmaco coinvolto in crisi e/o ristrutturazioni aziendali.

Understanding Recent Developments in the Turkish Labor Market: Empirical Essays with a Gender Focus

This dissertation comprises three essays on the Turkish labor market. The first essay characterizes the distinctive characteristics of the Turkish labor market with the aim of understanding the factors lying behind its long-standing poor performance relative to its European counterparts. The analysis is based on a cross-country comparison among selected European Union countries. Among all the indicators of labor market flexibility, non-wage cost rigidities are regarded as one of the most important factors in slowing down employment creation in Turkey. The second essay focuses on an employment subsidy policy which introduces a reduction in non-wage costs through social security premium incentives granted to women and young men. Exploiting a difference-in-difference-in differences strategy, I evaluate the effectiveness of this policy in creating employment for the target group. The results, net of the recent crisis effect, suggest that the policy accounts for a 1.4% to 1.6% increase in the probability of being hired for women aged 30 to 34 above men of the same age group in the periods shortly after the announcement of the policy. In the third essay of the dissertation, I analyze the labor supply response of married women to their husbands' job losses (AWE). I empirically test the hypothesis of added worker effect for the global economic crisis of 2008 by relying on the Turkey context. Identification is achieved by exploiting the exogenous variation in the output of male-dominated sectors hard-hit by the crisis and the gender-segmentation that characterizes the Turkish labor market. Findings based on the instrumental variable approach suggest that the added worker effect explains up to 64% of the observed increase in female labor force participation in Turkey. The size of the effect depends on how long it takes for wives to adjust their labor supply to their husbands' job losses.

Flessibilità e controllo sindacale nel mercato del lavoro contemporaneo: il caso del contratto a tempo determinato

Il lavoro di ricerca che si presenta è suddiviso in tre capitoli nei quali, da altrettanti punti di osservazione, è analizzato il tema della instabilità del lavoro. Nel primo capitolo, il candidato evidenzia le cause che hanno determinato il vorticoso aumento di utilizzo dei contratti di lavoro flessibili e, a tal proposito, da un prospettiva extra-nazionale, analizza le direttive europee e, i principi comuni e le guidelines che, nel percorso di sviluppo della strategia europea per l’occupazione, hanno posto la flexicurity come modello di mercato europeo tipico; dalla medesima prospettiva, prendendo spunto dai cambiamenti del mercato globale, si pone attenzione all’analisi economica del diritto del lavoro e, in particolare, alle conseguenze che le trasformazioni economiche generano sulla capacità di questa materia di tenere elevato il grado di sicurezza occupazionale connesso alla stipula dei contratti di lavoro. Il secondo capitolo è dedicato al ruolo svolto in Italia dai sindacati sul tema della flessibilità. In tal senso, l’autore evidenzia come la funzione “istituzionale” cui sono chiamate anche le organizzazioni dei lavoratori abbia caratterizzato le scelte di politica sindacale in materia di lavori temporanei; è così preso in esame il concetto di flessibilità “contrattata”, come già emerso in dottrina, e si teorizza la differenza tra rinvii “aperti” e rinvii “chiusi”, quali differenti forme di delega di potere normativo alle parti sociali in materia di flessibilità. Nel terzo ed ultimo capitolo l’autore tenta di evidenziare i vantaggi e le funzioni che derivano dall’utilizzo del contratto a termine, quale principale forma di impiego flessibile del nostro mercato del lavoro. Premessi tali benefici viene formulato un giudizio critico rispetto al grado di liberalizzazione che, con le ultime riforme, è stato ammesso per questo istituto sempre più strumento di arbitrio del datore di lavoro nella scelta della durata e delle condizioni di svolgimento della prestazione di lavoro.

Essays in Applied and Labor Economics

This thesis consists of three self-contained papers. In the first paper I analyze the labor supply behavior of Bologna Pizza Delivery Vendors. Recent influential papers analyze labor supply behavior of taxi drivers (Camerer et al., 1997; and Crawford and Meng, 2011) and suggest that reference-dependence preferences have an important influence on drivers’ labor-supply decisions. Unlike previous papers, I am able to identify an exogenous and transitory change in labor demand. Using high frequency data on orders and rainfall as an exogenous demand shifter, I invariably find that reference-dependent preferences play no role in their labor’ supply decisions and the behavior of pizza vendors is perfectly consistent with the predictions of the standard model of labor’ supply. In the second paper, I investigate how the voting behavior of Members of Parliament is influenced by the Members seating nearby. By exploiting the random seating arrangements in the Icelandic Parliament, I show that being seated next to Members of a different party increases the probability of not being aligned with one’s own party. Using the exact spatial orientation of the peers, I provide evidence that supports the hypothesis that interaction is the main channel that explain these results. In the third paper, I provide an estimate of the trade flows that there would have been between the UK and Europe if the UK had joined the Euro. As an alternative approach to the standard log-linear gravity equation I employ the synthetic control method. I show that the aggregate trade flows between Britain and Europe would have been 13% higher if the UK had adopted the Euro.