Structural design, manufacturing and testing of the new wing for the CSIR's Modular UAS in composite materials

In the framework of an international collaboration with South Africa CSIR, the structural design, manufacturing and testing of the new wing for the Modular UAS in composite materials has been performed.

A study of two Languages for Active Objects with Futures

In computer systems, specifically in multithread, parallel and distributed systems, a deadlock is both a very subtle problem - because difficult to pre- vent during the system coding - and a very dangerous one: a deadlocked system is easily completely stuck, with consequences ranging from simple annoyances to life-threatening circumstances, being also in between the not negligible scenario of economical losses. Then, how to avoid this problem? A lot of possible solutions has been studied, proposed and implemented. In this thesis we focus on detection of deadlocks with a static program analysis technique, i.e. an analysis per- formed without actually executing the program. To begin, we briefly present the static Deadlock Analysis Model devel- oped for coreABS−− in chapter 1, then we proceed by detailing the Class- based coreABS−− language in chapter 2. Then, in Chapter 3 we lay the foundation for further discussions by ana- lyzing the differences between coreABS−− and ASP, an untyped Object-based calculi, so as to show how it can be possible to extend the Deadlock Analysis to Object-based languages in general. In this regard, we explicit some hypotheses in chapter 4 first by present- ing a possible, unproven type system for ASP, modeled after the Deadlock Analysis Model developed for coreABS−−. Then, we conclude our discussion by presenting a simpler hypothesis, which may allow to circumvent the difficulties that arises from the definition of the ”ad-hoc” type system discussed in the aforegoing chapter.

Statistical analysis of written languages

La tesi presenta una serie di risultati dell'analisi quantitativa sulla linguistica. Inizialmente sono studiate due fra le leggi empiriche più famose di questo campo, le leggi di Zipf e Heaps, e vengono esposti vari modelli sullo sviluppo del linguaggio. Nella seconda parte si giunge alla discussione di risultati più specifici sulla presenza di fenomeni di burstiness e di correlazioni a lungo raggio nei testi. Tutti questi studi teorici sono affiancati da analisi sperimentali, svolte utilizzando varie traduzioni del libro "Guerra e pace" di Leo Tolstoj e concentrate principalmente sulle eventuali differenze riscontrabili tra le diverse lingue.

The languages of postcolonial ireland and their potential for cultural expression

Ireland is a country in which two languages are spoken: English and Irish. This thesis analyzes the historical relationship between the languages, the cultural codes and meanings attached to each of them, as well as how much of the culture of its speakers each is able to carry. Beyond that, the influence the two languages have exercised on one another and their mutual entwinement is taken into closer examination.

Acknowledging linguistic diversity in a multicultural society: the issue of indigenous languages in Colombia.

Nowadays, modern society is gradually becoming multicultural. However, only in the last few years awareness on its importance has been raised. In the case of Colombia, multiculturalism has existed since the pre-Columbian period and today there are more than 80 ethnic groups and 65 indigenous languages in the country. The aim of this work is to illustrate the status of indigenous languages in Colombia and to enlighten about the importance of recognizing, protecting and strengthening the use of these native languages. Subsequent to this, it will be point out that linguistic diversity should be considered a resource and not a barrier to achieve unity in diversity. Finally, ethno-education will be presented as an adequate educational program that may guarantee an equal linguistic representation in the country.

Modular catalyst: from the tiling of a water plane to the design of a floating structure

La tesi nasce dalla volontà di agire sull’area della Darsena di Ravenna, strategica in quanto via d’acqua navigabile che congiunge il mare con il centro città ma dal potenziale ancora poco sfruttato. Il progetto è studiato per essere inserito come catalizzatore urbano, creando spazi di interazione attraverso elementi modulari galleggianti e riconfigurabili per adattarsi a programmi d’uso flessibili; tali elementi si aggregano formando un sistema che ristruttura lo spazio dell’attuale banchina, cambiandone la percezione da barriera a waterfront urbano. La necessità di ottenere una struttura con capacità di crescita e flessibilità programmatica sfocia in un approccio modulare seguendo il principio massima variazione/minimo numero di elementi i cui principi aggregativi si basano sulla tassellazione “Cairo”. Vengono studiate le possibilità di incorporare variazione ed eterogeneità all’interno del sistema senza comprometterne la modularità fino ad integrare percorsi multilivello. La definizione delle morfologie delle parti che compongono i moduli si basano sullo studio dei principi di galleggiamento, stabilità e yacht design: a partire dalla forma dello scafo adatta ai principi di tiling definiti in precedenza, tutte le parti che compongono le varie tipologie di modulo sono progettate cercando continuità e integrazione tettonica (geometrica, strutturale, funzionale e percettiva). Vengono proposte soluzioni integrate sia per le problematiche tipiche delle strutture galleggianti sia per l’inserimento di attività all’interno della soluzione architettonica. Vengono prototipati di una serie di moduli, scelti in modo da dimostrare i principi di ricombinazione, continuità, modularità e tiling.

Elementary properties of Modular curves and Modular forms

Lo scopo di questa tesi è introdurre in breve le prime proprietà delle curve modulari e delle forme modulari, per poi mostrarne alcune applicazioni archetipiche. Per farlo, dopo aver richiamato alcune nozioni utili nel primo capitolo, sviluppiamo, nel secondo capitolo, la teoria di base delle curve modulari compatte come superfici di Riemann, calcolandone il genere nel caso dei sottogruppi principali di congruenza. Dunque, nel terzo capitolo, dopo un estesa trattazione dell'esempio delle forme modulari rispetto al gruppo modulare, viene calcolata la dimensione degli spazi delle forme intere e delle forme cuspidali rispetto a un sottogruppo di indice finito del gruppo modulare. Questo capitolo si conclude con tre esempi di applicazione della teoria esposta, tra i quali spiccano la dimostrazione del Grande Teorema di Picard e del Teorema dei quattro quadrati di Jacobi.

Design and specification of a modular automatic testing solution

Electric vehicles and electronic components inside the vehicle are becoming increasingly important. The software as well starts to have a significant impact on modern high-end cars therefore a careful validation process needs to be implemented with the aim of having a bug free product when it is released. The software complexity increases and thus also the testing phases is more demanding. Test can be troublesome and, in some cases, boring and easy. The intelligence can be moved in test definition and writing rather than on test execution. The aim of this document is to start the definition of an automatic modular testing system capable to execute test cycles on systems that interacts with the CAN networks and with DUT that can be touched with a robotic arm. The document defines a first version of the system, in particular the hardware interface part with the aim of taking logs and execute test in an automated fashion with the test engineer can have a higher focus on the test definition and analysis rather than execution.

Robotic grasping: State of the art and modular real-world implementation

Robotic Grasping is an important research topic in robotics since for robots to attain more general-purpose utility, grasping is a necessary skill, but very challenging to master. In general the robots may use their perception abilities like an image from a camera to identify grasps for a given object usually unknown. A grasp describes how a robotic end-effector need to be positioned to securely grab an object and successfully lift it without lost it, at the moment state of the arts solutions are still far behind humans. In the last 5–10 years, deep learning methods take the scene to overcome classical problem like the arduous and time-consuming approach to form a task-specific algorithm analytically. In this thesis are present the progress and the approaches in the robotic grasping field and the potential of the deep learning methods in robotic grasping. Based on that, an implementation of a Convolutional Neural Network (CNN) as a starting point for generation of a grasp pose from camera view has been implemented inside a ROS environment. The developed technologies have been integrated into a pick-and-place application for a Panda robot from Franka Emika. The application includes various features related to object detection and selection. Additionally, the features have been kept as generic as possible to allow for easy replacement or removal if needed, without losing time for improvement or new testing.