Erasure error correcting codes applied to DTN communications.

The space environment has always been one of the most challenging for communications, both at physical and network layer. Concerning the latter, the most common challenges are the lack of continuous network connectivity, very long delays and relatively frequent losses. Because of these problems, the normal TCP/IP suite protocols are hardly applicable. Moreover, in space scenarios reliability is fundamental. In fact, it is usually not tolerable to lose important information or to receive it with a very large delay because of a challenging transmission channel. In terrestrial protocols, such as TCP, reliability is obtained by means of an ARQ (Automatic Retransmission reQuest) method, which, however, has not good performance when there are long delays on the transmission channel. At physical layer, Forward Error Correction Codes (FECs), based on the insertion of redundant information, are an alternative way to assure reliability. On binary channels, when single bits are flipped because of channel noise, redundancy bits can be exploited to recover the original information. In the presence of binary erasure channels, where bits are not flipped but lost, redundancy can still be used to recover the original information. FECs codes, designed for this purpose, are usually called Erasure Codes (ECs). It is worth noting that ECs, primarily studied for binary channels, can also be used at upper layers, i.e. applied on packets instead of bits, offering a very interesting alternative to the usual ARQ methods, especially in the presence of long delays. A protocol created to add reliability to DTN networks is the Licklider Transmission Protocol (LTP), created to obtain better performance on long delay links. The aim of this thesis is the application of ECs to LTP.

Semantic publishing: analisi di Linked Open Dataset

Il presente lavoro si occupa di fare una rassegna esaustiva di alcuni Linked Open Dataset nel contesto delle pubblicazioni scientifiche, cercando di inquadrare la loro eterogeneità ed identificando i principali pregi e difetti di ciascuno. Inoltre, descriviamo il nostro prototipo GReAT (Giorgi's Redundant Authors Tool), creato per il corretto riconoscimento e disambiguazione degli autori.

Integration of robotic inverse kinematic routines in an algorithmic 3D modeling software

An industrial manipulator equipped with an automatic clay extruder is used to realize a machine that can manufacture additively clay objects. The desired geometries are designed by means of a 3D modeling software and then sliced in a sequence of layers with the same thickness of the extruded clay section. The profiles of each layer are transformed in trajectories for the extruder and therefore for the end-effector of the manipulator. The goal of this thesis is to improve the algorithm for the inverse kinematic resolution and the integration of the routine within the development software that controls the machine (Rhino/Grasshopper). The kinematic model is described by homogeneous transformations, adopting the Denavit-Hartenberg standard convention. The function is implemented in C# and it has been preliminarily tested in Matlab. The outcome of this work is a substantial reduction of the computation time relative to the execution of the algorithm, which is halved.

A ROS-based Workspace Control and Trajectory Planner for a seven degrees of freedom Robotic arm

In this Bachelor Thesis I want to provide readers with tools and scripts for the control of a 7DOF manipulator, backed up by some theory of Robotics and Computer Science, in order to better contextualize the work done. In practice, we will see most common software, and developing environments, used to cope with our task: these include ROS, along with visual simulation by VREP and RVIZ, and an almost "stand-alone" ROS extension called MoveIt!, a very complete programming interface for trajectory planning and obstacle avoidance. As we will better appreciate and understand in the introduction chapter, the capability of detecting collision objects through a camera sensor, and re-plan to the desired end-effector pose, are not enough. In fact, this work is implemented in a more complex system, where recognition of particular objects is needed. Through a package of ROS and customized scripts, a detailed procedure will be provided on how to distinguish a particular object, retrieve its reference frame with respect to a known one, and then allow navigation to that target. Together with technical details, the aim is also to report working scripts and a specific appendix (A) you can refer to, if desiring to put things together.