Design and implementation of motorbike lean angle observers

This thesis focuses on the investigation and the implementation of different observers for the estimation of the roll angle of a motorbike. The central core of the activity is applying a Model-Based design in order to outline, simulate and implement the filters with the aim of a final comparison of the performances. This approach is crucially underlined among the chapters that articulate this document: first the design and tuning of an Extended Kalman Filter and a Complementary Filter in a pure simulation environment emphasize the most accurate choice for the particular problem. After this, several steps were performed in order to move from the aforementioned simulation environment to a real hardware application. In conclusion, several sensor configurations were tested and compared in order to highlight which sensor suite gives the best performances.

Long-period oscillations in GPS Up time series. Study over the European/Mediterranean area

The surface of the Earth is subjected to vertical deformations caused by geophysical and geological processes which can be monitored by Global Positioning System (GPS) observations. The purpose of this work is to investigate GPS height time series to identify interannual signals affecting the Earth’s surface over the European and Mediterranean area, during the period 2001-2019. Thirty-six homogeneously distributed GPS stations were selected from the online dataset made available by the Nevada Geodetic Laboratory (NGL) on the basis of the length and quality of the data series. The Principal Component Analysis (PCA) is the technique applied to extract the main patterns of the space and time variability of the GPS Up coordinate. The time series were studied by means of a frequency analysis using a periodogram and the real-valued Morlet wavelet. The periodogram is used to identify the dominant frequencies and the spectral density of the investigated signals; the second one is applied to identify the signals in the time domain and the relevant periodicities. This study has identified, over European and Mediterranean area, the presence of interannual non-linear signals with a period of 2-to-4 years, possibly related to atmospheric and hydrological loading displacements and to climate phenomena, such as El Niño Southern Oscillation (ENSO). A clear signal with a period of about six years is present in the vertical component of the GPS time series, likely explainable by the gravitational coupling between the Earth’s mantle and the inner core. Moreover, signals with a period in the order of 8-9 years, might be explained by mantle-inner core gravity coupling and the cycle of the lunar perigee, and a signal of 18.6 years, likely associated to lunar nodal cycle, were identified through the wavelet spectrum. However, these last two signals need further confirmation because the present length of the GPS time series is still too short when compared to the periods involved.

Tipicita e offensivita nei reati contro la pubblica amministrazione

Il lavoro affronta lo statuto penale della pubblica amministrazione, osservandolo attraverso moduli interpretativi costituzionalmente orientati e, segnatamente, quelli conformi ai principi di tassatività, offensività e proporzione. A questi se ne aggiunge un altro, ritenuto criterio immanente al titolo, dato dalla funzione amministrativa, che gioca un ruolo centrale nell’economia offensiva all’interno di tutte le fattispecie penali. L’indagine si divide in tre parti. Nella prima, si intende analizzare l’evoluzione diacronica dei modelli istituzionali di amministrazione, dovuta al mutamento radicale del rapporto tra autorità e individuo: a seguito dell’avvento dello Stato sociale e costituzionale di diritto, all’affermarsi di una concezione orizzontale del suddetto rapporto corrisponde un paradigma di amministrazione civil servant, finalisticamente orientata al soddisfacimento dei beni della vita, trovando copertura costituzionale negli articoli 97, 2 e 3 Cost. Queste vicende rappresentano il punto di partenza per ogni riflessione di sistema su questa branca di parte speciale, non potendosi pretendere di calibrare in maniera corretta l’offensività di un reato o la ragionevolezza di un’incriminazione prescindendo da un confronto con il ruolo dell’amministrazione e dalla funzione che essa svolge. Successivamente, dopo aver chiarito il significato di buon andamento e imparzialità, strumentali alla ‘buona amministrazione’, si vuole trovare un punto di equilibrio tra l’esercizio della discrezionalità, che funge da mezzo rispetto al fine del risultato amministrativo, che è ciò che qualifica oggi il modello vigente di amministrazione ‘di risultato’, e alcune disposizioni incriminatrici che possono intersecarsi con lo svolgimento fisiologico del potere discrezionale. Infine, prendendo spunto anche dal recente corso della giurisprudenza costituzionale, si vuole applicare un metodo ermeneutico costituzionalmente conforme ad una serie di fattispecie del titolo. In questo modo si eviterà di costruire un corpus di reati esangue, che riporta il diritto penale ad una superata concezione sanzionatoria, provocando un “effetto di congelamento” dell’efficienza amministrativa con pregiudizio dei diritti sottostanti.

Diritto penale e questioni di fine vita: il suicidio assistito e l'eutanasia.

Il presente elaborato si propone di esaminare il tema del fine vita, con specifico riferimento al suicidio assistito e all’eutanasia. Dopo aver evidenziato la netta distinzione tra rifiuto/rinuncia del trattamento sanitario anche salva vita, aiuto al suicidio ed eutanasia, ci si sofferma, in primo luogo, sull’analisi della legge n. 219/2017, rubricata “Norme in materia di consenso informato e di disposizioni anticipate di trattamento”, che riconosce la massima ampiezza all’autodeterminazione terapeutica nell’ambito della relazione medico-paziente. In secondo luogo, si esamina il tema del suicidio assistito, soffermandosi sulle pronunce della giurisprudenza costituzionale e di merito. Successivamente, in una prospettiva comparata, viene fornita un’ampia analisi delle discipline della morte medicalmente assistita attualmente vigente in diversi ordinamenti. Infine, si esamina il tema dell’eutanasia, in particolare concentrandosi sulla donazione di organi post eutanasia, sul rischio della slippery slope e sulla necessità di tutelare i soggetti vulnerabili.

Application of Deep Learning techniques in the search for BSM Higgs bosons in the $\mu\mu$ final state in CMS

The Standard Model (SM) of particle physics predicts the existence of a Higgs field responsible for the generation of particles' mass. However, some aspects of this theory remain unsolved, supposing the presence of new physics Beyond the Standard Model (BSM) with the production of new particles at a higher energy scale compared to the current experimental limits. The search for additional Higgs bosons is, in fact, predicted by theoretical extensions of the SM including the Minimal Supersymmetry Standard Model (MSSM). In the MSSM, the Higgs sector consists of two Higgs doublets, resulting in five physical Higgs particles: two charged bosons $H^{\pm}$, two neutral scalars $h$ and $H$, and one pseudoscalar $A$. The work presented in this thesis is dedicated to the search of neutral non-Standard Model Higgs bosons decaying to two muons in the model independent MSSM scenario. Proton-proton collision data recorded by the CMS experiment at the CERN LHC at a center-of-mass energy of 13 TeV are used, corresponding to an integrated luminosity of $35.9\ \text{fb}^{-1}$. Such search is sensitive to neutral Higgs bosons produced either via gluon fusion process or in association with a $\text{b}\bar{\text{b}}$ quark pair. The extensive usage of Machine and Deep Learning techniques is a fundamental element in the discrimination between signal and background simulated events. A new network structure called parameterised Neural Network (pNN) has been implemented, replacing a whole set of single neural networks trained at a specific mass hypothesis value with a single neural network able to generalise well and interpolate in the entire mass range considered. The results of the pNN signal/background discrimination are used to set a model independent 95\% confidence level expected upper limit on the production cross section times branching ratio, for a generic $\phi$ boson decaying into a muon pair in the 130 to 1000 GeV range.

Mechanical design and hybrid control strategies for overconstrained cable-driven parallel robots

Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. They are attractive for many industrial tasks to be performed on a large scale, such as handling and manufacturing, without a substantial increase in costs and mechanical complexity with respect to a small-scale application. However, since cables can only sustain tensile stresses, cable tensions must be kept within positive limits during the end-effector motion. This problem can be managed by overconstraining the end-effector and controlling cable tensions. Tension control is typically achieved by mounting a load sensor on all cables, and using specific control algorithms to avoid cable slackness or breakage while the end-effector is controlled in a desired position. These algorithms require multiple cascade control loops and they can be complex and computationally demanding. To simplify the control of overconstrained cable-driven parallel robots, this Thesis proposes suitable mechanical design and hybrid control strategies. It is shown how a convenient design of the cable guidance system allows kinematic modeling to be simplified, without introducing geometric approximations. This guidance system employs swiveling pulleys equipped with position and tension sensors and provides a parallelogram arrangement of cables. Furthermore, a hybrid force/position control in the robot joint space is adopted. According to this strategy, a particular set of cables is chosen to be tension-controlled, whereas the other cables are length-controlled. The force-controlled cables are selected based on the computation of a novel index called force-distribution sensitivity to cable-tension errors. This index aims to evaluate the maximum expected cable-tension error in the length-controlled cables if a unit tension error is committed in the force-controlled cables. In practice, the computation of the force-distribution sensitivity allows determining which cables are best to be force-controlled, to ensure the lowest error in the overall force distribution when a hybrid force/position joint-space strategy is used.

Phenotypic and molecular investigation of circulating tumor cells (CTCs) isolated from breast cancer patients at single cell resolution

Despite the paramount advances in cancer research, breast cancer (BC) still ranks one of the leading causes of cancer-related death worldwide. Thanks to the screening campaign started in developed countries, BC is often diagnosed at early stages (non-metastatic BC, nmBC), but disease relapse occurrence even after decades and at distant sites is not an uncommon phenomenon. Conversely, metastatic BC (mBC) is considered an incurable disease. The major perpetrators of tumor spread to secondary organs are circulating tumor cells (CTCs), a rare population of cells detectable in the peripheral blood of oncologic patients. In this study, CTCs from patients diagnosed with luminal nmBC and mBC (hormone receptor positive, Human Epidermal Growth Factor Receptor 2 (HER2) negative) were characterized at both phenotypic and molecular levels. To better understand the molecular mechanisms underlying their biology and their metastatic potential, next-generation sequencing (NGS) analyses were performed at single-cell resolution to assess copy number aberrations (CNAs), single nucleotide variants (SNVs) and gene expression profiling. The findings of this study arise hints in CTC detection, and pave the way to new application in CTC research.

Design, preparazione e studio applicativo di nuovi metallopolimeri luminescenti a base di complessi ciclometallati di Ir(III)

The research project of my experimental thesis deals with the design, synthesis and characterization of a new series of luminescent metallapolymers to be exploited for their peculiar photophysical and opto-electronic properties. To this end, our design strategy consisted in the incorporation of brightly luminescent and colour tuneable Ir(III) cyclometalated complexes with general formula [Ir(C^N)2(N^N)]+, where C^N represents various phenyl piridine based cyclometalating ligands and N^N is an aromatic chelating N-heterocyle, into methyl methacrylate (MMA) based copolymers. Whereas the choice of the cyclometalating ligands was driven by the possibility to obtain different emission colours, the design of the N^N ligands was aimed to obtain a molecule capable of providing the chelate coordination to the metal centre and, at the same time, of being susceptible to polymerisation reactions. To fulfil these requirements, a new molecule (abbreviated as L) consisting in an alkylated 2-pyrydyl tetrazole structure equipped with a styryl unit was designed and successfully prepared. The preparation of the target cationic metallapolymers was accomplished by the complexation of the preformed MMA-L copolymers with different amounts of an appropriate Ir(III) dimeric precursor [(Ir(C^N)2Cl)2]. The investigation of the photophysical features of the new hybrid compounds in the solid state at r.t. suggested how these metallapolymers displayed brightly intense phosphorescent emissions, whose colour was found to span from blue to yellow according to the nature of the cyclometalating ligands. In all cases, the emissive performances were superior to those displayed by the corresponding mononuclear “model” complexes. These promising results pave the way for the application of this new class of metallapolymers as Luminescent Solar Concentrators for the photovoltaic technology and/or to solid state lighting.

Life cycle assessment (LCA) of a bio-fuel cell fed with waste biomass: potential for scale-up and process optimization

In this Thesis, a life cycle analysis (LCA) of a biofuel cell designed by a team from the University of Bologna was done. The purpose of this study is to investigate the possible environmental impacts of the production and use of the cell and a possible optimization for an industrial scale-up. To do so, a first part of the paper was devoted to studying the present literature on biomass, and fuel cell treatments and then LCA studies on them. The experimental part presents the work done to create the Life Cycle Inventory and Life Cycle Impact Assessment. Several alternative scenarios were created to study process optimization. Reagents and energy supply were changed. To examine whether this technology can be competitive, a comparison was made with some biofuel cell use scenarios with traditional biomass treatment technologies. The result of this study is that this technology is promising from an environmental point of view in case it is possible to recover nutrients in output, without excessive energy consumption, and to minimize the use of energy used to prepare the solution.

Development and testing of a safety module for diagnostics and protection from hazards in secondary woodworking machinery

The main theme covered by this dissertation is safety, set in the context of automatic machinery for secondary woodworking. The thesis describes in detail the project of a software module for CNC machining centers to protect the operator against hazards and to report errors in the machine safety management. Its design has been developed during an internship at SCM Group technical department. The development of the safety module is addressed step by step in a detailed way: first the company and the reference framework are introduced and then all the design choices are explained and justified. The discussion begins with a detailed analysis of the standards concerning woodworking machines and safety-related software. In this way, a clear and linear procedure can be established to develop and implement the internal structure of the module, its interface, and its application to specific safety-critical conditions. Afterwards, particular attention is paid to software testing, with the development of a comprehensive test procedure for the module, and to diagnostics, especially oriented towards signal management in IoT mode. Finally, the safety module is used as an anti-regression tool to initiate a design improvement of the machine control program. The refactoring steps performed in the process are explained in detail and the SCENT approach is introduced to test the result.

Spatio-Temporal Tracking and Phylodynamics of an Urban Dengue 3 Outbreak in Sao Paulo, Brazil

The dengue virus has a single-stranded positive-sense RNA genome of similar to 10.700 nucleotides with a single open reading frame that encodes three structural (C, prM, and E) and seven nonstructural (NS1, NS2A, NS2B, NS3, NS4A, NS4B, and NS5) proteins. It possesses four antigenically distinct serotypes (DENV 1-4). Many phylogenetic studies address particularities of the different serotypes using convenience samples that are not conducive to a spatio-temporal analysis in a single urban setting. We describe the pattern of spread of distinct lineages of DENV-3 circulating in Sao Jose do Rio Preto, Brazil, during 2006. Blood samples from patients presenting dengue-like symptoms were collected for DENV testing. We performed M-N-PCR using primers based on NS5 for virus detection and identification. The fragments were purified from PCR mixtures and sequenced. The positive dengue cases were geo-coded. To type the sequenced samples, 52 reference sequences were aligned. The dataset generated was used for iterative phylogenetic reconstruction with the maximum likelihood criterion. The best demographic model, the rate of growth, rate of evolutionary change, and Time to Most Recent Common Ancestor (TMRCA) were estimated. The basic reproductive rate during the epidemics was estimated. We obtained sequences from 82 patients among 174 blood samples. We were able to geo-code 46 sequences. The alignment generated a 399-nucleotide-long dataset with 134 taxa. The phylogenetic analysis indicated that all samples were of DENV-3 and related to strains circulating on the isle of Martinique in 2000-2001. Sixty DENV-3 from Sao Jose do Rio Preto formed a monophyletic group (lineage 1), closely related to the remaining 22 isolates (lineage 2). We assumed that these lineages appeared before 2006 in different occasions. By transforming the inferred exponential growth rates into the basic reproductive rate, we obtained values for lineage 1 of R(0) = 1.53 and values for lineage 2 of R(0) = 1.13. Under the exponential model, TMRCA of lineage 1 dated 1 year and lineage 2 dated 3.4 years before the last sampling. The possibility of inferring the spatio-temporal dynamics from genetic data has been generally little explored, and it may shed light on DENV circulation. The use of both geographic and temporally structured phylogenetic data provided a detailed view on the spread of at least two dengue viral strains in a populated urban area.

Lightweight composite concrete produced with water treatment sludge and sawdust: Thermal properties and potential application

The main objective of this study was to evaluate the potential application of a lightweight concrete produced with lightweight coarse aggregate made of the water treatment sludge and sawdust (lightweight composite), by determining the thermal properties and possible environmental impact of future residue of this concrete. Two types of concrete were prepared: concrete produced with the lightweight composite dosed with cement/sand/composite/water in a mass ratio of 1:2.5:0.67:0.6 and conventional concrete dosed with cement/sand/crushed stone/water in a mass ratio of 1:4.8:5.8:0.8. The thermal properties were determined by the hot wire parallel technique. The possible environmental impact was measured using the procedures and guidelines of the Brazilian Association of Technical Standards - ABNT. The concrete produced with the lightweight composite presented a 23% lower thermal conductivity than the conventional concrete. The concrete produced with the lightweight composite presented a set of thermal properties suitable for the application of this concrete in non-structural sealing elements. The concentration of aluminum in the solubilized extract of the concrete produced with the lightweight composite was much lower than the concentration of aluminum in the water treatment sludge, confirming the possible reduction of environmental impact of this composite for use in concrete. (C) 2010 Elsevier Ltd. All rights reserved.

New simple and efficient heuristics for the uncapacitated single allocation hub location problem

Hub-and-spoke networks are widely studied in the area of location theory. They arise in several contexts, including passenger airlines, postal and parcel delivery, and computer and telecommunication networks. Hub location problems usually involve three simultaneous decisions to be made: the optimal number of hub nodes, their locations and the allocation of the non-hub nodes to the hubs. In the uncapacitated single allocation hub location problem (USAHLP) hub nodes have no capacity constraints and non-hub nodes must be assigned to only one hub. In this paper, we propose three variants of a simple and efficient multi-start tabu search heuristic as well as a two-stage integrated tabu search heuristic to solve this problem. With multi-start heuristics, several different initial solutions are constructed and then improved by tabu search, while in the two-stage integrated heuristic tabu search is applied to improve both the locational and allocational part of the problem. Computational experiments using typical benchmark problems (Civil Aeronautics Board (CAB) and Australian Post (AP) data sets) as well as new and modified instances show that our approaches consistently return the optimal or best-known results in very short CPU times, thus allowing the possibility of efficiently solving larger instances of the USAHLP than those found in the literature. We also report the integer optimal solutions for all 80 CAB data set instances and the 12 AP instances up to 100 nodes, as well as for the corresponding new generated AP instances with reduced fixed costs. Published by Elsevier Ltd.

Targeting of a cholecystokinin-DNA complex to pancreatic cells in vitro and in vivo

The carboxy terminal octapeptide of cholecystokinin (CCK8) is a hormone that binds high affinity receptors in a number of tissues including pancreas and pancreatic tumours. As part of our studies to develop effective gene therapy for the treatment of pancreatic cancers, we have investigated various gene delivery systems that depend on CCK8 receptor targeting. In this paper,we describe the synthesis of a CCK8-DNA complex designed to deliver foreign DNA to cholecystokinin receptor-positive cells. CCK8 was ligated to avidin and then complexed to linearis biotinylated DNA (pSV-CAT). The uptake of P-32-labelled CCK8-DNA complex by rat pancreatic acini was linear with time over 4 h with 65-70% of uptake inhibited by 100 nM CCK8. The complex appeared to be internalised since it could not be removed by acid wash. When administered intra-arterially, the complex was rapidly removed from the circulation with no evidence of targeted delivery to the pancreas, However, following a single intraperitoneal dose, the pancreas accumulated-5- 8% of the total administered complex by 24 h. These results suggest that peptide-dependent gene delivery to CCK receptor positive cells in vivo is feasible but, when administered directly into the circulation, diffusional barriers across the endothelium may limit distribution to peripheral tissues. Intraperitoneal administration therefore may be a useful alternative for targeting the pancreas.

Increasing the efficiency of solute leaching: impacts of flow interruption with drainage of the "preferential flow paths"

Most soils contain preferential flow paths that can impact on solute mobility. Solutes can move rapidly down the preferential flow paths with high pore-water velocities, but can be held in the less permeable region of the soil matrix with low pore-water velocities, thereby reducing the efficiency of leaching. In this study, we conducted leaching experiments with interruption of the flow and drainage of the main flow paths to assess the efficiency of this type of leaching. We compared our experimental results to a simple analytical model, which predicts the influence of the variations in concentration gradients within a single spherical aggregate (SSA) surrounded by preferential flow paths on leaching. We used large (length: 300 mm, diameter: 216 mm) undisturbed field soil cores from two contrasting soil types. To carry out intermittent leaching experiments, the field soil cores were first saturated with tracer solution (CaBr2), and background solution (CaCl2) was applied to mimic a leaching event. The cores were then drained at 25- to 30-cm suction to empty the main flow paths to mimic a dry period during which solutes could redistribute within the undrained region. We also conducted continuous leaching experiments to assess the impact of the dry periods on the efficiency of leaching. The flow interruptions with drainage enhanced leaching by 10-20% for our soils, which was consistent with the model's prediction, given an optimised equivalent aggregate radius for each soil. This parameter quantifies the time scales that characterise diffusion within the undrained region of the soil, and allows us to calculate the duration of the leaching events and interruption periods that would lead to more efficient leaching. Application of these methodologies will aid development of strategies for improving management of chemicals in soils, needed in managing salts in soils, in improving fertiliser efficiency, and in reclaiming contaminated soils. (C) 2000 Elsevier Science B.V. All rights reserved.