Modelling, simulation and control of rotary-wing aircraft in multi-agent scenario

The topic of this thesis is the design and the implementation of mathematical models and control system algorithms for rotary-wing unmanned aerial vehicles to be used in cooperative scenarios. The use of rotorcrafts has many attractive advantages, since these vehicles have the capability to take-off and land vertically, to hover and to move backward and laterally. Rotary-wing aircraft missions require precise control characteristics due to their unstable and heavy coupling aspects. As a matter of fact, flight test is the most accurate way to evaluate flying qualities and to test control systems. However, it may be very expensive and/or not feasible in case of early stage design and prototyping. A good compromise is made by a preliminary assessment performed by means of simulations and a reduced flight testing campaign. Consequently, having an analytical framework represents an important stage for simulations and control algorithm design. In this work mathematical models for various helicopter configurations are implemented. Different flight control techniques for helicopters are presented with theoretical background and tested via simulations and experimental flight tests on a small-scale unmanned helicopter. The same platform is used also in a cooperative scenario with a rover. Control strategies, algorithms and their implementation to perform missions are presented for two main scenarios. One of the main contributions of this thesis is to propose a suitable control system made by a classical PID baseline controller augmented with L1 adaptive contribution. In addition a complete analytical framework and the study of the dynamics and the stability of a synch-rotor are provided. At last, the implementation of cooperative control strategies for two main scenarios that include a small-scale unmanned helicopter and a rover.

Progetto e realizzazione del sistema di gestione autonoma del volo e controllo in remoto per un velivolo UAV ad ala rotante

This PhD thesis presents the results, achieved at the Aerospace Engineering Department Laboratories of the University of Bologna, concerning the development of a small scale Rotary wing UAVs (RUAVs). In the first part of the work, a mission simulation environment for rotary wing UAVs was developed, as main outcome of the University of Bologna partnership in the CAPECON program (an EU funded research program aimed at studying the UAVs civil applications and economic effectiveness of the potential configuration solutions). The results achieved in cooperation with DLR (German Aerospace Centre) and with an helicopter industrial partners will be described. In the second part of the work, the set-up of a real small scale rotary wing platform was performed. The work was carried out following a series of subsequent logical steps from hardware selection and set-up to final autonomous flight tests. This thesis will focus mainly on the RUAV avionics package set-up, on the onboard software development and final experimental tests. The setup of the electronic package allowed recording of helicopter responses to pilot commands and provided deep insight into the small scale rotorcraft dynamics, facilitating the development of helicopter models and control systems in a Hardware In the Loop (HIL) simulator. A neested PI velocity controller1 was implemented on the onboard computer and autonomous flight tests were performed. Comparison between HIL simulation and experimental results showed good agreement.

New target tracking and monitoring guidance laws for UAV

A pursuer UAV tracking and loitering around a target is the problem analyzed in this thesis. The UAV is assumed to be a fixed-wing vehicle and constant airspeed together with bounded lateral accelerations are the main constraints of the problem. Three different guidance laws are designed for ensuring a continuos overfly on the target. Different proofs are presented to demonstrate the stability properties of the laws. All the algorithms are tested on a 6DoF Pioneer software simulator. Classic control design methods have been adopted to develop autopilots for implementig the simulation platform used for testing the guidance laws.

Roles of Ecdysone signaling in cell survival and epithelium morphogenesis during Drosophila melanogaster development

In Drosophila the steroid hormone ecdysone regulates a wide range of developmental and physiological responses, including reproduction, embryogenesis, postembryonic development and metamorphosis. Drosophila provides an excellent system to address some fundamental questions linked to hormone actions. In fact, the apparent relative simplicity of its hormone signaling pathways taken together with well-established genetic and genomic tools developed to this purpose, defines this insect as an ideal model system for studying the molecular mechanisms through which steroid hormones act. During my PhD research program I’ve analyzed the role of ecdysone signaling to gain insight into the molecular mechanisms through which the hormone fulfills its pleiotropic functions in two different developmental stages: the oogenesis and the imaginal wing disc morphogenesis. To this purpose, I performed a reverse genetic analysis to silence the function of two different genes involved in ecdysone signaling pathway, EcR and ecd.

Genetic analysis of tumour initiation and progression in a Drosophila model of epithelial cancer

Neoplastic overgrowth depends on the cooperation of several mutations ultimately leading to major rearrangements in cellular behaviour. The molecular crosstalk occurring between precancerous and normal cells strongly influences the early steps of the tumourigenic process as well as later stages of the disease. Precancerous cells are often removed by cell death from normal tissues but the mechanisms responsible for such fundamental safeguard processes remain in part elusive. To gain insight into these phenomena I took advantage of the clonal analysis methods available in Drosophila for studying the phenotypes due to loss of function of the neoplastic tumour suppressor lethal giant larvae (lgl). I found that lgl mutant cells growing in wild-type imaginal wing discs are subject to the phenomenon of cell competition and are eliminated by JNK-dependent cell death because they express very low levels of dMyc oncoprotein compared to those in the surrounding tissue. Indeed, in non-competitive backgrounds lgl mutant clones are able to overgrow and upregulate dMyc, overwhelming the neighbouring tissue and forming tumourous masses that display several cancer hallmarks. These phenotypes are completely abolished by reducing dMyc abundance within mutant cells while increasing it in lgl clones growing in a competitive context re-establishes their tumourigenic potential. Similarly, the neoplastic growth observed upon the oncogenic cooperation between lgl mutation and activated Ras/Raf/MAPK signalling was found to be characterised by and dependent on the ability of cancerous cells to upregulate dMyc with respect to the adjacent normal tissue, through both transcriptional and post-transcriptional mechanisms, thereby confirming its key role in lgl-induced tumourigenesis. These results provide first evidence that the dMyc oncoprotein is required in lgl mutant tissue to promote invasive overgrowth in developing and adult epithelial tissues and that dMyc abundance inside versus outside lgl mutant clones plays a key role in driving neoplastic overgrowth.

Labour, LGBT* rights, and Europe. Discourses in Italy and Serbia

At the time of writing, all three elements that are evoked in the title – emancipation and social inclusion of sexual minorities, labour and labour activism, and the idea and substance of “Europe” – are being invested by deep, long-term, and – to varied degrees – radical processes of social transformation. The meaning of words like “equality”, “rights”, “inclusion”, and even “democracy” is as precarious and uncertain as are the lives of those European citizens who are marginalised by intersecting conditions of gender, sexuality, ethnicity, and class – in a constellation of precarities that is both unifying and fragmented (fragmenting). Conflicts are played, in hidden or explicit ways, over material processes of redistribution as well as discursive practices that revolve around these words. Against this backdrop, and roughly ten years after the European Union provided an input for institutional commitment to the protection of LGBT* workers' rights with the Council Directive 2000/78/EC, the dissertation contrasts discourses on workplace equality for LGBT* persons produced by a plurality of actors, seeking to identify values, semantics, and agendas framing and informing organisations’ views and showing how each actor has incorporated LGBT* rights into its own discourse, each time in a way that is functional to the construction and/or confirmation of its organisational identity: transnational union networks, by presenting LGBT* rights as a natural, neutral commitment within the framework of universal human rights protection; left-wing organisations, by collocating activism for LGBT* rights within a wider project of social emancipation that is for all the marginalised, yet is not neutral, but attached to specific values and opposed to specific political adversaries (the right-wing, the nationalists); business networks, by acknowledging diversity as a path to better performance and profits, thus encouraging inclusion and non-discrimination of “deserving” LGBT* workers.

The language of others mirrored in thy face: The role of political affiliation in automatic facial effects of language

People tend to automatically mimic facial expressions of others. If clear evidence exists on the effect of non-verbal behavior (emotion faces) on automatic facial mimicry, little is known about the role of verbal behavior (emotion language) in triggering such effects. Whereas it is well-established that political affiliation modulates facial mimicry, no evidence exists on whether this modulation passes also through verbal means. This research addressed the role of verbal behavior in triggering automatic facial effects depending on whether verbal stimuli are attributed to leaders of different political parties. Study 1 investigated the role of interpersonal verbs, referring to positive and negative emotion expressions and encoding them at different levels of abstraction, in triggering corresponding facial muscle activation in a reader. Study 2 examined the role of verbs expressing positive and negative emotional behaviors of political leaders in modulating automatic facial effects depending on the matched or mismatched political affiliation of participants and politicians of left-and right-wing. Study 3 examined whether verbs expressing happiness displays of ingroup politicians induce a more sincere smile (Duchenne) pattern among readers of same political affiliation relative to happiness expressions of outgroup politicians. Results showed that verbs encoding facial actions at different levels of abstraction elicited differential facial muscle activity (Study 1). Furthermore, political affiliation significantly modulated facial activation triggered by emotion verbs as participants showed more congruent and enhanced facial activity towards ingroup politicians’ smiles and frowns compared to those of outgroup politicians (Study 2). Participants facially responded with a more sincere smile pattern towards verbs expressing smiles of ingroup compared to outgroup politicians (Study 3). Altogether, results showed that the role of political affiliation in modulating automatic facial effects passes also through verbal channels and is revealed at a fine-grained level by inducing quantitative and qualitative differences in automatic facial reactions of readers.

Essays in Industrial Organization and Information Technology

Chapter 1 studies how consumers’ switching costs affect the pricing and profits of firms competing in two-sided markets such as Apple and Google in the smartphone market. When two-sided markets are dynamic – rather than merely static – I show that switching costs lower the first-period price if network externalities are strong, which is in contrast to what has been found in one-sided markets. By contrast, switching costs soften price competition in the initial period if network externalities are weak and consumers are more patient than the platforms. Moreover, an increase in switching costs on one side decreases the first-period price on the other side. Chapter 2 examines firms’ incentives to invest in local and flexible resources when demand is uncertain and correlated. I find that market power of the monopolist providing flexible resources distorts investment incentives, while competition mitigates them. The extent of improvement depends critically on demand correlation and the cost of capacity: under social optimum and monopoly, if the flexible resource is cheap, the relationship between investment and correlation is positive, and if it is costly, the relationship becomes negative; under duopoly, the relationship is positive. The analysis also sheds light on some policy discussions in markets such as cloud computing. Chapter 3 develops a theory of sequential investments in cybersecurity. The regulator can use safety standards and liability rules to increase security. I show that the joint use of an optimal standard and a full liability rule leads to underinvestment ex ante and overinvestment ex post. Instead, switching to a partial liability rule can correct the inefficiencies. This suggests that to improve security, the regulator should encourage not only firms, but also consumers to invest in security.

Studio anatomico dei muscoli della spalla e del braccio in Pernis apivorus, Accipiter gentilis ed Accipiter nisus

Recentemente, vari ricercatori si sono concentrati sulle proprietà funzionali dei muscoli, sulla meccanica e sulla cinematica legata al volo, ma senza la possibilità di consultare un’adeguata letteratura poiché assente o incompleta. Si è quindi ritenuto utile studiare la miologia della regione della spalla e del braccio di specie non in precedenza esaminate e che mostrassero differenti stili di volo, al fine di creare una base di informazioni per futuri studi funzionali. Tutte le specie prese in esame sono membri della famiglia degli Accipitridae e nello specifico si sono selezionati: il Falco pecchiaiolo (Pernis apivorus Linnaeus, 1758), l’Astore comune (Accipiter gentilis Linnaeus, 1758) e lo Sparviero eurasiatico (Accipiter nisus Linnaeus, 1758). Questi animali attuano stili di volo differenti e sono stati pertanto scelti per capire se diverse performance di volo potessero indurre una differenziazione dell’apparato muscolare. La comparazione dei dati raccolti durante questo studio con quelli presenti in letteratura in altre specie aviarie ha evidenziato che, mentre alcuni muscoli non sembrano andare incontro a grandi modificazioni nei rapaci, altri invece presentano una grande eterogeneità. In particolare, grazie alle caratteristiche dei diversi muscoli, si è potuto raggruppare questi ultimi in base a possibili funzioni comuni: a) muscoli che concorrono a stabilizzare l’ala rispetto al tronco e che assorbono le forze generate durante il volo; b) muscoli con possibile ruolo nel controllo della rotazione dell’omero; c) muscoli con possibile funzione propriocettiva. Il presente studio ha inoltre evidenziato, nei muscoli esaminati, alcune similitudini e molteplici peculiarità anatomiche non precedentemente segnalate in letteratura. Si ritiene che questo studio macroscopico possa rappresentare un punto di partenza per futuri studi microscopici o elettrofisiologici, a dimostrazione dell’importanza della dissezione quale primo strumento di indagine.

Il discorso politico culturale del Deutscher Geist in Gefahr di Ernst Robert Curtius

Nel 1932 Ernst Robert Curtius pubblica il pamphlet politico culturale Deutscher Geist in Gefahr nel quale chiarisce il suo pensiero di fronte alla grave crisi in cui versa la Germania. Egli si schiera contro le posizioni di destra del suo tempo, delle quali critica apertamente la boria nazionalista, il rozzo antisemitismo e la creazione di un mito nazionale elaborato come strumento di manipolazione dell’opinione pubblica. Ritiene inoltre inaccettabili le posizioni rivoluzionarie, tanto di destra quanto di sinistra, che vogliono liberarsi della tradizione umanistica europea e disprezzano la Zivilisation francese; allo stesso modo rifiuta l’ideale di un germanesimo eroico avulso dalla storia europea e respinge infine tutte le forme di nichilismo che si risolvono in un atteggiamento di indifferenza nei confronti della realtà, dei valori e della storia. Curtius accetta il sistema democratico come unica soluzione e ritiene che le decisioni politiche debbano mirare al bene di tutti i ceti sociali indipendentemente dagli interessi di partiti e di singoli gruppi. Rifiuta qualunque forma, anche culturale, di supremazia della Germania, aspira a un’Europa cosmopolita, le cui nazioni siano valorizzate nelle loro caratteristiche specifiche, ed è convinto che per la costruzione della pace gli europei debbano vivere, studiare e lavorare insieme imparando gli uni le lingue degli altri. Per Curtius l’Umanesimo della tradizione classica e la letteratura del Medioevo sono parte integrante della vita di ogni europeo e fonte di energie spirituali per affrontare in modo creativo il presente e il futuro.

Sinistra extraparlamentare e Partito comunista in italia 1968-1976

La ricerca affronta il rapporto tra il Partito comunista italiano e le organizzazioni della sinistra extraparlamentare nate nel biennio 1968-1969. Sulla base di documentazione d’archivio e fonti a stampa, vengono ricostruite ed analizzate le relazioni tra questi due soggetti nel periodo compreso tra la fine degli anni Sessanta e la metà del decennio successivo, quando i principali gruppi politici della sinistra extraparlamentare si dotarono di una struttura organizzativa più stabile che segnava una discontinuità con l’esperienza precedente. Nel corso della prima metà degli anni Settanta, i rapporti tra il PCI e queste organizzazioni furono complessi e talvolta contraddittori. Il conflitto si consumò prevalentemente sulla reciproca pretesa di possedere l’esclusiva rappresentanza politica del fermento sociale che attraversava il paese in quegli anni: il PCI rappresentando se stesso come l’unica forza politica capace di mediare tra movimenti sociali e istituzioni; i gruppi della sinistra parlamentare come «avanguardie» di un irrealizzabile progetto «rivoluzionario».