Estudio sobre la viabilidad de la implementación del jurado de conciencia en el ordenamiento colombiano

El objeto del presente trabajo final de grado es analizar la viabilidad de la implementación de la figura del jurado de conciencia en el sistema penal colombiano, que fue suprimida mediante el Decreto 1861 de 1989. A su vez, hacer un análisis de derecho comparado con el fin de determinar los aspectos positivos y negativos de la implementación de los jurados en otros sistemas jurídicos. El resultado del análisis propuesto pretende determinar si es procedente la implementación de los jurados de conciencia en Colombia.

Unveiling the molecular mechanism of BRCA2-RAD51 interaction to tackle cancer onset

Different kinds of lesions can occur to DNA, and among them, one of the most dangerous is the double strand breaks (DSBs). Actually, DSBs can result in mutations, chromosome translocation or deletion. For this kind of lesions, depending on cell cycle phase as well as DNA-end resection, cells have developed specific repair pathways. Among these the error-free homologous recombination (HR) plays a crucial role. HR takes place during S/G2 phases, since the sister chromatids can be used as homologous templates. In this process, hRAD51 and BRCA2 are key players. hRAD51 is a recombinase of 339 amino-acids highly conserved through evolution which displays an intrinsic tendency to form oligomeric structures. BRCA2 is a very large protein of 3418 amino-acids, essential for the recruitment and accumulation of hRAD51 in the nucleus repairing-foci. BRCA2 interacts with hRAD51 through eight, so-called, BRC repeats, composed of 35-40 amino-acids. Mutations within this region have been linked to an increased risk of ovarian cancer development. In particular, several reports highlighted that missense mutations within one BRC repeat can hamper BRCA2 activity. Considering the close homology between the BRC repeats, it is striking how these mutations cannot be counterbalanced by the other non-mutated repeats preserving the function and the interactions of BRCA2 with hRAD51. To date the only interaction that has been structurally elucidated, is the one taking place amid the fourth BRC repeat and hRAD51. Only very little biophysical information is available on the interaction of the other BRC repeats with hRAD51. This thesis aims at elucidating the mechanism of hRAD51-BRCA2 interaction, by means of biophysical and structural approaches.

Development of a robotic system for switchgear cabling

Industrial robots are an inalienable part of modern automated production. Typical applications of robots include welding, painting, (dis)assembly, packaging, labeling, palletizing, pick and place and others. Many of that applications includes object manipulation. If the shape and position of the object are known in advance, it is possible to design the trajectory of the robot’s end-effector to take and place. Such a strategy is applicable for rigid objects and widely used in the manufacturing field. But flexible (deformable) objects can change their shape and position upon contact with the robot’s end-effector or environment. That is the reason why the general approach is unacceptable. It means that the robot can fail to grasp such an object and can’t place it in the desired position. This thesis has addressed the problem of cable manipulation by bilateral robotic setup for the industrial manufacturing of electrical switchgear. The considered solution is based on the idea of tensioned cable. If the cable was grasped by the ends and tensioned, it has a line shape. Since the position of the robot’s end-effectors known, the position of the cable is known as well. Such an approach is capable to place cable in cable ducts of switchgear. The considered solution has been tested experimentally on a real bilateral robotic setup.

Robotic Manipulation of DLOs for Wiring Harness Assembly: a Machine Learning Approach

In recent times, a significant research effort has been focused on how deformable linear objects (DLOs) can be manipulated for real world applications such as assembly of wiring harnesses for the automotive and aerospace sector. This represents an open topic because of the difficulties in modelling accurately the behaviour of these objects and simulate a task involving their manipulation, considering a variety of different scenarios. These problems have led to the development of data-driven techniques in which machine learning techniques are exploited to obtain reliable solutions. However, this approach makes the solution difficult to be extended, since the learning must be replicated almost from scratch as the scenario changes. It follows that some model-based methodology must be introduced to generalize the results and reduce the training effort accordingly. The objective of this thesis is to develop a solution for the DLOs manipulation to assemble a wiring harness for the automotive sector based on adaptation of a base trajectory set by means of reinforcement learning methods. The idea is to create a trajectory planning software capable of solving the proposed task, reducing where possible the learning time, which is done in real time, but at the same time presenting suitable performance and reliability. The solution has been implemented on a collaborative 7-DOFs Panda robot at the Laboratory of Automation and Robotics of the University of Bologna. Experimental results are reported showing how the robot is capable of optimizing the manipulation of the DLOs gaining experience along the task repetition, but showing at the same time a high success rate from the very beginning of the learning phase.

The molecular gas content of star-forming galaxies in the ALPINE fields.

In this thesis, I aim to study the evolution with redshift of the gas mass fraction of a sample of 53 sources (from z ∼ 0.5 to z > 5) serendipitously detected in ALMA band 7 as part of the ALMA Large Program to INvestigate C II at Early Times (ALPINE). First, I used SED-fitting software CIGALE, which is able to implement energy balancing between the optical and the far infrared part, to produce a best-fit template of my sources and to have an estimate of some physical properties, such as the star formation rate (SFR), the total infrared luminosity and the total stellar mass. Then, using the tight correlation found by Scoville et al. (2014) between the ISM molecular gas mass and the rest-frame 850 μm luminosity, I used the latter, extrapolating it from the best-fit template using a code that I wrote in Python, as a tracer for the molecular gas. For my sample, I then derived the most important physical properties, such as molecular gas mass, gas mass fractions, specific star formation rate and depletion timescales, which allowed me to better categorize them and find them a place within the evolutionary history of the Universe. I also fitted our sources, via another code I wrote again in Python, with a general modified blackbody (MBB) model taken from the literature (Gilli et al. (2014), D’Amato et al. (2020)) to have a direct method of comparison with similar galaxies. What is evident at the end of the paper is that the methods used to derive the physical quantities of the sources are consistent with each other, and these in turn are in good agreement with what is found in the literature.

Virtualization of Wiring Harness Manipulation Tasks through the PyChrono Simulation Engine

The purpose of this thesis work is the study and creation of a harness modelling system. The model needs to simulate faithfully the physical behaviour of the harness, without any instability or incorrect movements. Since there are various simulation engines that try to model wiring's systems, this thesis work focused on the creation and test of a 3D environment with wiring and other objects through the PyChrono Simulation Engine. Fine-tuning of the simulation parameters were done during the test to achieve the most stable and correct simulation possible, but tests showed the intrinsic limits of the Engine regarding the collisions' detection between the various part of the cables, while collisions between cables and other physical objects such as pavement, walls and others are well managed by the simulator. Finally, the main purpose of the model is to be used to train Artificial Intelligence through Reinforcement Learnings techniques, so we designed, using OpenAI Gym APIs, the general structure of the learning environment, defining its basic functions and an initial framework.

Spectral distortions of the cosmic microwave background and small-scale gravitational waves as new windows on the Early Universe

In this thesis, we explore constraints which can be put on the primordial power spectrum of curvature perturbations beyond the scales probed by anisotropies of the cosmic microwave background and galaxy surveys. We exploit present and future measurements of CMB spectral distortions, and their synergy with CMB anisotropies, as well existing and future upper limits on the stochastic background of gravitational waves. We derive for the first time phenomenological templates that fit small-scale bumps in the primordial power spectrum generated in multi-field models of inflation. By using such templates, we study for the first time imprints of primordial peaks on anisotropies and spectral distortions of the cosmic microwave background and we investigate their contribution to the stochastic background of gravitational waves. Through a Monte Carlo Markov Chain analysis we infer for the first time the constraints on the amplitude, the width and the location of such bumps using Planck and FIRAS data. We also forecast how a future spectrometer like PIXIE could improve FIRAS boundaries. The results derived in this thesis have implications for the possibility of primordial black holes from inflation.