949 resultados para cog humanoid robot embodied learning phd thesis metaphor pancake reaching vision


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In recent years, the use of Reverse Engineering systems has got a considerable interest for a wide number of applications. Therefore, many research activities are focused on accuracy and precision of the acquired data and post processing phase improvements. In this context, this PhD Thesis deals with the definition of two novel methods for data post processing and data fusion between physical and geometrical information. In particular a technique has been defined for error definition in 3D points’ coordinates acquired by an optical triangulation laser scanner, with the aim to identify adequate correction arrays to apply under different acquisition parameters and operative conditions. Systematic error in data acquired is thus compensated, in order to increase accuracy value. Moreover, the definition of a 3D thermogram is examined. Object geometrical information and its thermal properties, coming from a thermographic inspection, are combined in order to have a temperature value for each recognizable point. Data acquired by an optical triangulation laser scanner are also used to normalize temperature values and make thermal data independent from thermal-camera point of view.

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Beständig werden Spurenstoffe in die Atmosphäre emittiert, die ihren Ursprung in biogenen oder anthropogenen Quellen haben. Daß es dennoch im allgemeinen nicht zu einer Anreicherung bis hin zu toxischen Konzentrationen kommt, liegt an dem Vermögen der Atmosphäre sich durch Oxidationsprozesse selbst zu reinigen. Eine wichtige Aufgabe kommt dabei dem Hydroxylradikal OH zu, welches tagsüber die Oxidationskapazität der Atmosphäre bestimmt. Hierbei spielen die tropischen Regionen mit einer der höchsten OH-Produktionsraten eine zentrale Rolle. Gleichzeitig sind die tropischen Regenwälder eine bedeutende globale Quelle für Kohlenwasserstoffe, die durch Reaktion mit OH-Radikalen dessen Konzentration und damit die Oxidationskapazität der Atmosphäre herabsetzen. Während der GABRIEL-Meßkampagne 2005 im äquatorialen Südamerika wurde der Einfluß der Regenwaldemissionen auf das HOx-Budget (HOx = OH+HO2) untersucht. Zu diesem Zweck wurde das Radikalmeßinstrument HORUS entwickelt. Im Rahmen dieser Arbeit wurden unterschiedliche Komponenten des Gerätes optimiert, der Meßaufbau ins Flugzeug integriert und Methoden zur Kalibrierung entwickelt. Bei der internationalen Vergleichskampagne HOxComp2005 zeigte HORUS seine Eignung zur Messung von troposphärischen OH- und HO2-Radikalen.rnrnDie durchgeführten HOx-Messungen während der GABRIEL-Meßkampagne sind die ersten ihrer Art, die über einem tropischen Regenwald stattgefunden haben. Im Gegensatz zu den Vorhersagen globaler Modelle wurden unerwartet hohe OH- und HO2-Konzentrationen in der planetaren Grenzschicht des tropischen Regenwalds beobachtet. Der Vergleich der berechneten OH-Produktions- und Verlustraten, die aus dem umfangreichen Datensatz von GABRIEL ermittelt wurden, zeigte, daß hierbei eine wichtige OH-Quelle unberücksichtigt blieb. Mit Hilfe des Boxmodells MECCA, in welchem die gemessenen Daten als Randbedingungen in die Simulationen eingingen, wurden die modellierten OH- und HO2- Konzentrationen im Gleichgewichtszustand den beobachteten Konzentrationen gegenübergestellt. Luftmassen der freien Troposphäre und der maritimen Grenzschicht zeigten eine gute Übereinstimmung zwischen Messung und Modell. Über dem tropischen Regenwald jedoch wurden die beobachteten HOx-Konzentrationen in der planetaren Grenzschicht durch das Modell, vor allem am Nachmittag, signifikant unterschätzt. Dabei lag die Diskrepanz zwischen den beobachteten und simulierten Konzentrationen bei einem mittleren Wert von OHobs/OHmod = 12.2 ± 3.5 und HO2obs/HO2mod = 4.1 ± 1.4. Die Abweichung zwischen Messung und Modell korrelieren hierbei mit der Isoprenkonzentration. Während für niedrige Isoprenmischungsverhältnisse, wie sie über dem Ozean oder in Höhen > 3 km vorherrschten, die Beobachtungen mit den Simulationen innerhalb eines Faktors 1.6±0.7 übereinstimmten, nahm die Unterschätzung durch das Modell für steigende Isoprenmischungsverhältnisse > 200 pptV über dem tropischen Regenwald zu.rnrnDer kondensierte chemische Mechanismus von MECCA wurde mit der ausführlichen Isoprenchemie des ”Master Chemical Mechanism“ überprüft, welches vergleichbare HOx-Konzentrationen lieferte. OH-Simulationen, durchgeführt mit der gemessenen HO2-Konzentration als zusätzliche Randbedingung, zeigten, daß die Konversion zwischen HO2 und OH innerhalb des Modells nicht ausreichend ist. Durch Vernachlässigung der gesamten Isoprenchemie konnte dagegen eine Übereinstimmung zwischen Modell und Messung erreicht werden. Eine OH-Quelle in der gleichen Größenordnung wie die OH-Senke durch Isopren, ist somit zur Beschreibung der beobachteten OH-Konzentration notwendig. Reaktionsmechanismen, die innerhalb der Isoprenchemie die gleiche Anzahl an OH-Radikalen erzeugen wie sie verbrauchen, könnten eine mögliche Ursache sein. Unterschiedliche zusätzliche Reaktionen wurden in die Isoprenabbaumechanismen des Modells implementiert, die zur Erhöhung der OH-Quellstärke führen sollten. Diese bewirkten eine Zunahme der simulierten HO2-Konzentrationen um einen maximalen Faktor von 5 für OH und 2 für HO2. Es wird eine OH-Zyklierungswahrscheinlichkeit r von bis zu 94% gefordert, wie sie für die GABRIEL-Messungen erreicht wurde. Die geringe OH-Zyklierungswahrscheinlichkeit von 38% des Modells zeigte, daß wichtige Zyklierungsvorgänge im chemischen Mechanismus bislang nicht berücksichtigt werden. Zusätzliche Zyklierungsreaktionen innerhalb des Isoprenmechanismus, die auch unter niedrigen NO-Konzentrationen zur Rückbildung von OHRadikalen führen, könnten eine Erklärung für die über dem Regenwald beobachteten hohen OH-Konzentration liefern.rn

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The goal of many plant scientists’ research is to explain natural phenotypic variation in term of simple changes in DNA sequence. DNA-based molecular markers are extensively used for the construction of genome-wide molecular maps and to perform genetic analysis for simple and complex traits. The PhD thesis was divided into two main research lines according to the different approaches adopted. The first research line is to analyze the genetic diversity in an Italian apple germplasm collection for the identification of markers tightly linked to targeted genes by an association genetic method. This made it possible to identify synomym and homonym accessions and triploids. The fruit red skin color trait has been used to test the reliability of the genetic approaches in this species. The second line is related to the development of molecular markers closely linked to the Rvi13 and Rvi5 scab resistance genes, previously mapped on apple’s chromosome 10 and 17 respectively by using the traditional linkage mapping method. Both region have been fine-mapped with various type of markers that could be used for marker-assisted selection in future breeding programs and to isolate the two resistance genes.

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Diese Dissertation untersucht den Einfluss von Eiskristallform und räumlicher Inhomogenität von Zirren auf das Retrieval von optischer Wolkendicke und effektivem Eispartikelradius. Zu diesem Zweck werden flugzeuggetragene spektrale Messungen solarer Strahlung sowie solare und langwellige Strahlungstransfersimulationen durchgeführt. Flugzeuggetragene spektrale aufwärtsgerichtete Radianzen (Strahldichten) sind mit dem SMART-Albedometer (Spectral Modular Airborne Radiation measurement sysTem) während des CIRCLE-2 (CIRrus CLoud Experiment-2) Feldexperiments im Mai 2007 gemessen worden. Basierend auf diesen Radianzdaten werden mittels eines Wolkenretrievalalgorithmus optische Wolkendicken und effektive Eispartikelradien anhand von eindimensionalen Strahlungstransferrechnungen bestimmt. Die Auswirkung der Annahme unterschiedlicher Eiskristallformen auf die retrievten Parameter wird durch Variation der Einfachstreueigenschaften der Eispartikel untersucht. Darüber hinaus wird mittels Strahlungstransferrechnungen auch der Einfluss der Eiskristallform auf den Strahlungsantrieb von Eiswolken ermittelt. Die Frage nach dem relativen Einfluss von räumlicher Wolkeninhomogenität und Eiskristallform wird anhand von dreidimensionalen und independent pixel approximation (IPA) Strahlungssimulationen untersucht. Die Analyse basiert auf einer Modelleiswolke, die aus Daten des NASA (National Aeronautics and Space Administration) TC4 (Tropical Composition, Cloud, and Climate Coupling) Feldexperiments im Sommer 2007 in Costa Rica erzeugt wurde. Lokal gesehen können beide Effekte - Eiskristallform und räumliche Eiswolkeninhomogenität - die gleiche Grössenordnung haben und zu einer Unter- bzw. Überschätzung der retrievten Parameter um 40 – 60% führen. Gemittelt über die ganze Wolke ist jedoch der Einfluss der Eiskristallform viel bedeutender als der von räumlichen Inhomogenitäten.

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L’elaborato finale presentato per la tesi di Dottorato analizza e riconduce a unitarietà, per quanto possibile, alcune delle attività di ricerca da me svolte durante questi tre anni, il cui filo conduttore è l'impatto ambientale delle attività umane e la promozione dello sviluppo sostenibile. Il mio filone di ricerca è stato improntato, dal punto di vista di politica economica, sull'analisi storica dello sviluppo del settore agricolo dall'Unità d'Italia ai giorni nostri e dei cambiamenti avvenuti in contemporanea nel contesto socio-economico e territoriale nazionale, facendo particolare riferimento alle tematiche legate ai consumi e alla dipendenza energetica ed all'impatto ambientale. Parte della mia ricerca è stata, infatti, incentrata sull'analisi dello sviluppo della Green Economy, in particolare per quanto riguarda il settore agroalimentare e la produzione di fonti di energia rinnovabile. Enfasi viene posta sia sulle politiche implementate a livello comunitario e nazionale, sia sul cambiamento dei consumi, in particolare per quanto riguarda gli acquisti di prodotti biologici. La Green Economy è vista come fattore di sviluppo e opportunità per uscire dall'attuale contesto di crisi economico-finanziaria. Crisi, che è strutturale e di carattere duraturo, affiancata da una crescente problematica ambientale dovuta all'attuale modello produttivo, fortemente dipendente dai combustibili fossili. Difatti la necessità di cambiare paradigma produttivo promuovendo la sostenibilità è visto anche in ottica di mitigazione del cambiamento climatico e dei suoi impatti socio-economici particolare dal punto di vista dei disastri ambientali. Questo punto è analizzato anche in termini di sicurezza internazionale e di emergenza umanitaria, con riferimento al possibile utilizzo da parte delle organizzazioni di intervento nei contesti di emergenza di tecnologie alimentate da energia rinnovabile. Dando così una risposta Green ad una problematica esacerbata dall'impatto dello sviluppo delle attività umane.

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The diameters of traditional dish concentrators can reach several tens of meters, the construction of monolithic mirrors being difficult at these scales: cheap flat reflecting facets mounted on a common frame generally reproduce a paraboloidal surface. When a standard imaging mirror is coupled with a PV dense array, problems arise since the solar image focused is intrinsically circular. Moreover, the corresponding irradiance distribution is bell-shaped in contrast with the requirement of having all the cells under the same illumination. Mismatch losses occur when interconnected cells experience different conditions, in particular in series connections. In this PhD Thesis, we aim at solving these issues by a multidisciplinary approach, exploiting optical concepts and applications developed specifically for astronomical use, where the improvement of the image quality is a very important issue. The strategy we propose is to boost the spot uniformity acting uniquely on the primary reflector and avoiding the big mirrors segmentation into numerous smaller elements that need to be accurately mounted and aligned. In the proposed method, the shape of the mirrors is analytically described by the Zernike polynomials and its optimization is numerically obtained to give a non-imaging optics able to produce a quasi-square spot, spatially uniform and with prescribed concentration level. The freeform primary optics leads to a substantial gain in efficiency without secondary optics. Simple electrical schemes for the receiver are also required. The concept has been investigated theoretically modeling an example of CPV dense array application, including the development of non-optical aspects as the design of the detector and of the supporting mechanics. For the method proposed and the specific CPV system described, a patent application has been filed in Italy with the number TO2014A000016. The patent has been developed thanks to the collaboration between the University of Bologna and INAF (National Institute for Astrophysics).

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In the race to obtain protons with higher energies, using more compact systems at the same time, laser-driven plasma accelerators are becoming an interesting possibility. But for now, only beams with extremely broad energy spectra and high divergence have been produced. The driving line of this PhD thesis was the study and design of a compact system to extract a high quality beam out of the initial bunch of protons produced by the interaction of a laser pulse with a thin solid target, using experimentally reliable technologies in order to be able to test such a system as soon as possible. In this thesis, different transport lines are analyzed. The first is based on a high field pulsed solenoid, some collimators and, for perfect filtering and post-acceleration, a high field high frequency compact linear accelerator, originally designed to accelerate a 30 MeV beam extracted from a cyclotron. The second one is based on a quadruplet of permanent magnetic quadrupoles: thanks to its greater simplicity and reliability, it has great interest for experiments, but the effectiveness is lower than the one based on the solenoid; in fact, the final beam intensity drops by an order of magnitude. An additional sensible decrease in intensity is verified in the third case, where the energy selection is achieved using a chicane, because of its very low efficiency for off-axis protons. The proposed schemes have all been analyzed with 3D simulations and all the significant results are presented. Future experimental work based on the outcome of this thesis can be planned and is being discussed now.

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This PhD thesis presents two measurements of differential production cross section of top and anti-top pairs tt ̅ decaying in a lepton+jets final state. The normalize cross section is measured as a function of the top transverse momentum and the tt ̅ mass, transverse momentum and rapidity using the full 2011 proton-proton (pp) ATLAS data taking at a center of mass energy of √s=7 TeV and corresponding to an integrated luminosity of L=4.6 〖fb〗^(-1). The cross section is also measured at the particle level as a function of the hadronic top transverse momentum for highly energetic events using the full 2012 data taking at √s=8 TeV and with L=20 〖fb〗^(-1). The measured spectra are fully corrected for detector efficiency and resolution effects and are compared to several theoretical predictions showing a quite good agreement, depending on different spectra.

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After the development of power electronics converters, the number of transformers subjected to non-sinusoidal stresses (including DC) has increased in applications such as HVDC links and traction (electric train power cars). The effects of non-sinusoidal voltages on transformer insulation have been investigated by many researchers, but still now, there are some issues that must be understood. Some of those issues are tackled in this Thesis, studying PD phenomena behavior in Kraft paper, pressboard and mineral oil at different voltage conditions like AC, DC, AC+DC, notched AC and square waveforms. From the point of view of converter transformers, it was found that the combined effect of AC and DC voltages produces higher stresses in the pressboard that those that are present under pure DC voltages. The electrical conductivity of the dielectric systems in DC and AC+DC conditions has demonstrated to be a critical parameter, so, its measurement and analysis was also taken into account during all the experiments. Regarding notched voltages, the RMS reduction caused by notches (depending on firing and overlap angles) seems to increase the PDIV. However, the experimental results show that once PD activity has incepted, the notches increase PD repetition rate and magnitude, producing a higher degradation rate of paper. On the other hand, the reduction of mineral oil stocks, their relatively low flash point as well as environmental issues, are factors that are pushing towards the use of esters as transformer insulating fluids. This PhD Thesis also covers the study of two different esters with the scope to validate their use in traction transformers. Mineral oil was used as benchmark. The complete set of dielectric tests performed in the three fluids, show that esters behave better than mineral oil in practically all the investigated conditions, so, their application in traction transformers is possible and encouraged.

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Analysis of the peak-to-peak output current ripple amplitude for multiphase and multilevel inverters is presented in this PhD thesis. The current ripple is calculated on the basis of the alternating voltage component, and peak-to-peak value is defined by the current slopes and application times of the voltage levels in a switching period. Detailed analytical expressions of peak-to-peak current ripple distribution over a fundamental period are given as function of the modulation index. For all the cases, reference is made to centered and symmetrical switching patterns, generated either by carrier-based or space vector PWM. Starting from the definition and the analysis of the output current ripple in three-phase two-level inverters, the theoretical developments have been extended to the case of multiphase inverters, with emphasis on the five- and seven-phase inverters. The instantaneous current ripple is introduced for a generic balanced multiphase loads consisting of series RL impedance and ac back emf (RLE). Simplified and effective expressions to account for the maximum of the output current ripple have been defined. The peak-to-peak current ripple diagrams are presented and discussed. The analysis of the output current ripple has been extended also to multilevel inverters, specifically three-phase three-level inverters. Also in this case, the current ripple analysis is carried out for a balanced three-phase system consisting of series RL impedance and ac back emf (RLE), representing both motor loads and grid-connected applications. The peak-to-peak current ripple diagrams are presented and discussed. In addition, simulation and experimental results are carried out to prove the validity of the analytical developments in all the cases. The cases with different phase numbers and with different number of levels are compared among them, and some useful conclusions have been pointed out. Furthermore, some application examples are given.

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La tesi di dottorato ha come oggetto di studio gli aspetti sostanziali della vendita giudiziale da un punto di vista comparatistico tra Spagna e Italia. Si tratta di un tema che non è stato analizzato profondamente dalle più recenti dottrine spagnola e italiana, che è caratterizzato da una notevole complessità tecnica visto il suo forte carattere interdisciplinare (in particolare, processuale-sostanziale) e la cui vigenza attuale è stata intensificata dalla grande quantità di processi di esecuzione che in questo periodo di instabilità economica sono una constante nei Tribunali spagnoli e italiani. Il fatto che costituisca un’istituzione giuridica inquadrata nell’ambito del processo di espropriazione forzata fa sì che questa possieda un accentuato carattere processuale e, infatti, è il legislatore processuale che si occupa per la maggior parte del suo regime giuridico. Tuttavia, al di là di questa sua natura evidentemente processuale, essa produce una serie di effetti sostanziali di enorme importanza, che sono proprio l’oggetto della tesi di dottorato, nello specifico ambito dei beni immobili (considerando la grande importanza economica e pratica dei diritti di questa natura nella nostra realtà socio-economica).

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This PhD Thesis includes five main parts on diverse topics. The first two parts deal with the trophic ecology of wolves in Italy consequently to a recent increase of wild ungulates abundance. Data on wolf diet across time highlighted how wild ungulates are important food resource for wolves in Italy. Increasing wolf population, increasing numbers of wild ungulates and decreasing livestock consume are mitigating wolf-man conflicts in Italy in the near future. In the third part, non-invasive genetic sampling techniques were used to obtain genotypes and genders of about 400 wolves. Thus, wolf packs were genetically reconstructed using diverse population genetic and parentage software. Combining the results on pack structure and genetic relatedness with sampling locations, home ranges of wolf packs and dispersal patterns were identified. These results, particularly important for the conservation management of wolves in Italy, illustrated detailed information that can be retrieved from genetic identification of individuals. In the fourth part, wolf locations were combined with environmental information obtained as GIS-layers. Modern species distribution models (niche models) were applied to infer potential wolf distribution and predation risk. From the resulting distribution maps, information pastures with the highest risk of depredation were derived. This is particularly relevant as it allows identifying those areas under danger of carnivore attack on livestock. Finally, in the fifth part, habitat suitability models were combined with landscape genetic analysis. On one side landscape genetic analyses on the Italian wolves provided new information on the dynamics and connectivity of the population and, on the other side, a profound analysis of the effects that habitat suitability methods had on the parameterization of landscape genetic analyses was carried out to contributed significantly to landscape genetic theory.

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In recent years, thanks to the technological advances, electromagnetic methods for non-invasive shallow subsurface characterization have been increasingly used in many areas of environmental and geoscience applications. Among all the geophysical electromagnetic methods, the Ground Penetrating Radar (GPR) has received unprecedented attention over the last few decades due to its capability to obtain, spatially and temporally, high-resolution electromagnetic parameter information thanks to its versatility, its handling, its non-invasive nature, its high resolving power, and its fast implementation. The main focus of this thesis is to perform a dielectric site characterization in an efficient and accurate way studying in-depth a physical phenomenon behind a recent developed GPR approach, the so-called early-time technique, which infers the electrical properties of the soil in the proximity of the antennas. In particular, the early-time approach is based on the amplitude analysis of the early-time portion of the GPR waveform using a fixed-offset ground-coupled antenna configuration where the separation between the transmitting and receiving antenna is on the order of the dominant pulse-wavelength. Amplitude information can be extracted from the early-time signal through complex trace analysis, computing the instantaneous-amplitude attributes over a selected time-duration of the early-time signal. Basically, if the acquired GPR signals are considered to represent the real part of a complex trace, and the imaginary part is the quadrature component obtained by applying a Hilbert transform to the GPR trace, the amplitude envelope is the absolute value of the resulting complex trace (also known as the instantaneous-amplitude). Analysing laboratory information, numerical simulations and natural field conditions, and summarising the overall results embodied in this thesis, it is possible to suggest the early-time GPR technique as an effective method to estimate physical properties of the soil in a fast and non-invasive way.

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The present PhD thesis exploits the design skills I have been improving since my master thesis’ research. A brief description of the chapters’ content follows. Chapter 1: the simulation of a complete front–end is a very complex problem and, in particular, is the basis upon which the prediction of the overall performance of the system is possible. By means of a commercial EM simulation tool and a rigorous nonlinear/EM circuit co–simulation based on the Reciprocity Theorem, the above–mentioned prediction can be achieved and exploited for wireless links characterization. This will represent the theoretical basics of the entire present thesis and will be supported by two RF applications. Chapter 2: an extensive dissertation about Magneto–Dielectric (MD) materials will be presented, together with their peculiar characteristics as substrates for antenna miniaturization purposes. A designed and tested device for RF on–body applications will be described in detail. Finally, future research will be discussed. Chapter 3: this chapter will deal with the issue regarding the exploitation of renewable energy sources for low–energy consumption devices. Hence the problem related to the so–called energy harvesting will be tackled and a first attempt to deploy THz solar energy in an innovative way will be presented and discussed. Future research will be proposed as well. Chapter 4: graphene is a very promising material for devices to be exploited in the RF and THz frequency range for a wide range of engineering applications, including those ones marked as the main research goal of the present thesis. This chapter will present the results obtained during my research period at the National Institute for Research and Development in Microtechnologies (IMT) in Bucharest, Romania. It will concern the design and manufacturing of antennas and diodes made in graphene–based technology for detection/rectification purposes.

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In recent years the need for the design of more sustainable processes and the development of alternative reaction routes to reduce the environmental impact of the chemical industry has gained vital importance. Main objectives especially regard the use of renewable raw materials, the exploitation of alternative energy sources, the design of inherently safe processes and of integrated reaction/separation technologies (e.g. microreactors and membranes), the process intensification, the reduction of waste and the development of new catalytic pathways. The present PhD thesis reports results derived during a three years research period at the School of Chemical Sciences of Alma Mater Studiorum-University of Bologna, Dept. of Industrial Chemistry and Materials (now Dept. of Industrial Chemistry “Toso Montanari”), under the supervision of Prof. Fabrizio Cavani (Catalytic Processes Development Group). Three research projects in the field of heterogeneous acid catalysis focused on potential industrial applications were carried out. The main project, regarding the conversion of lignocellulosic materials to produce monosaccharides (important intermediates for production of biofuels and bioplatform molecules) was financed and carried out in collaboration with the Italian oil company eni S.p.A. (Istituto eni Donegani-Research Center for non-Conventional Energies, Novara, Italy) The second and third academic projects dealt with the development of green chemical processes for fine chemicals manufacturing. In particular, (a) the condensation reaction between acetone and ammonia to give triacetoneamine (TAA), and (b) the Friedel-Crafts acylation of phenol with benzoic acid were investigated.