Archivio della ricerca - Fondazione Bruno Kessler
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Adaptive GNSS–UWB Sensor Fusion for Reliable Localization in Precision Agriculture
No full textAccurate and reliable localization is essential for precision agriculture, where operations such as autonomous navigation, mapping, and agriculture-oriented applications demand centimeter- or even sub-centimeter accuracy. However, satellite-based systems, whether ground-corrected or not, often experience reduced performance in agricultural settings due to canopy cover, multi-path, and Non-Line-of-Sight (NLOS) conditions. This paper presents an adaptive sensor fusion framework that integrates GNSS and Ultra-Wideband (UWB) ranging within an Extended Kalman Filter (EKF). The proposed method explicitly models UWB bias under NLOS, introduces a GNSS health score based on raw measurements and estimates acquired by the receiver for data-driven covariance adaptation, and employs a learning-based approach to tune UWB measurement uncertainty dynamically. Experimental validation in agricultural field settings demonstrates that the adaptive EKF achieves centimeter-level accuracy in open-sky conditions and maintains 2D horizontal RMSE below 6 cm in the partially obstructed (NLOS) field tests, outperforming standard fusion approaches by more than 40% in RMSE. The results demonstrate the potential of adaptive multi-sensor fusion to deliver robust and cost-effective localization for agricultural automation
Atti dei notai ai “Confini italiani”: il giudizio di Strigno – Banca dati (1511-1895)
No full textIl fondo Atti dei notai, conservato presso l’Archivio di Stato di Trento, raccoglie protocolli notarili, rilegati o occasionalmente sciolti, contenenti gli atti redatti dai notai, riportati sostanzialmente per intero, quasi sempre sottoscritti dal notaio e talvolta accompagnati dal segno di tabellionato. Durante il periodo della Restaurazione, i notai furono organizzati secondo il distretto (giudizio) in cui esercitavano la propria attività.
Sin dal Medioevo si trova traccia del notariato tanto nel principato vescovile di Trento quanto nella contea del Tirolo. Tuttavia, a partire dalla seconda metà del Quattrocento, nelle giurisdizioni del Tirolo di lingua tedesca, la fides e la certezza giuridica furono assicurate principalmente tramite documenti con sigillo e dai libri di archiviazione (Verfachbücher), redatti e conservati in ogni giudizio (Gericht). Mentre nei giudizi trentino-tirolesi del quartiere dei Confini italiani della contea continuarono a operare i notai, dove solo nel 1773 vennero varate nuove norme per uniformare queste giurisdizioni al resto della contea e fu imposto l’obbligo di registrare gli atti notarili privati in appositi Libri di Archiviazione (Verfachbücher) tenuti dai giudizi come avveniva nel resto della contea.
Durante il progetto sono state censite 151 unità di conservazione, contenenti i protocolli dei notai residenti nel giudizio di Strigno, uno dei giudizi trentino-tirolesi appartenenti al quartiere dei Confini italiani, attivi tra il 1511 e il 1895. I dati raccolti sono confluiti in una banca dati online.
Ogni scheda fornisce informazioni su: cognome e sue variazioni, nome e sue variazioni, paternità e residenza, fondo, giudizio, anno di inizio e fine attività, segnatura, subscriptio e note. I dati sono consultabili tramite più chiavi di accesso.
Il database permette inoltre di visualizzare le immagini dei segni tabellionali, contrassegni unici tracciati a mano dal notaio accanto alla propria sottoscrizione, che ne garantivano l’autenticità
Silver Tech, the “eternal new”: Understanding an ageing society through technology and Chaos Theory
No full textAging can be regarded as one of the most significant innovations of our time. Over the past
one hundred years, global life expectancy has increased by thirty-six years, meaning that
humanity is living longer and, consequently, experiencing aging more fully. Contemporary
narratives, however, tend to describe aging as the linear outcome of advances in healthcare,
medicine, and lifestyle. Yet, as a widespread social phenomenon, aging resembles less a
linear trajectory than a complex, unpredictable, chaotic process.
This study applies chaos theory to the social sciences to examine the non-linearity of later life
through ethnographic and sociological analysis. Observations of a small group of older adults
reveal the Silver Age as a generative phase in which individuals reinterpret their
environments and technologies. Rather than a one-directional force acting upon older users,
digital innovation becomes a site of mutual transformation, giving rise to new temporalities
and “ages within age”. Within this context, the EUFACETS project was conceived as a
multidisciplinary exploration of aging and technology. Its outcome, SAY (Souls Are Young),
developed through ethnography, participatory design, and semiotic analysis, invited older
adults to digitize analog photographs and enrich them with personal narratives. By fostering
slow, reflective engagement, SAY demonstrates how older adults actively reshape digital
media, reaffirming the Silver Age as an “eternal new”
The High-Energy Particle Detector on Board the CSES-02 Satellite
No full textAbstract
The China Seismo-Electromagnetic Satellite (CSES) mission is a joint China-Italy initiative focused on investigating Earth’s geophysical environment through non-imaging remote sensing from space. Its primary objective is to establish a constellation of satellites capable of continuously monitoring global electromagnetic fields, particle fluxes, and plasma parameters within the iono-magnetospheric system. Goals of this space program are the investigation of possible lithosphere-atmosphere-ionosphere-magnetosphere coupling mechanisms and their role in inducing perturbations in the upper ionosphere and the lower boundary of the radiation belts. Additionally, CSES contributes to space weather studies, including investigations of the magnetosphere, heliosphere, and galactic cosmic rays. Each satellite in the constellation carries multiple instruments to measure charged particles, electromagnetic fields, and plasma properties. CSES-01, launched in February 2018, remains operational. The second satellite, CSES-02, was launched on June 14, 2025, marking the transition to a multi-point observation capability. Italy contributed the High-Energy Particle Detector to both missions—HEPD-01 for CSES-01 and the upgraded HEPD-02 for CSES-02. These detectors are designed for precise measurements of electrons, protons, light nuclei, and transient gamma rays in the multi-MeV range. HEPD-02 significantly enhances energy resolution and extends the detection range when combined with the lower-energy instruments aboard CSES-02, enabling continuous coverage from 100 keV to 200 MeV. This article presents the scientific goals of the CSES program, with a focus on the role of HEPD-02 in energetic particle studies, both as a standalone detector and in synergy with the mission’s multi-instrument, multi-satellite framework
Measurement of the re-entrant all-electron spectrum by the High-Energy Particle Detector on board the China Seismo-Electromagnetic Satellite
No full textInteractions of primary cosmic rays with residual atmospheric nuclei produce secondary leptons through the decay chain of short-lived pions. Even though generated with an upward direction, a fraction of these secondary electrons and positrons is bent back downward towards the Earth by the geomagnetic field lines (hence they are called re-entrant albedo). In this paper, we report on a new measurement of the re-entrant all-electron differential flux in the energy range 10-100 MeV, performed by the High-Energy Particle Detector (HEPD-01) on board the China Seismo-Electromagnetic Satellite (CSES-01) in the near-equatorial region at about 500 km altitude between 2018 and 2022. This analysis focuses on the re-entrant all-electron spectrum that covers the low energy interval in a geographical region characterized by a substantial lack of recent experimental data and can contribute to a more accurate definition of secondary electron and positron population distribution and refine the radiation models in the Earth’s magnetosphere
Bi-Temporal to Time Series Data Analysis
No full textMultitemporal data analysis is a hot topic in remote sensing. In this chapter, literature is revised about (i) non-deep learning and (ii) deep learning-based for both bi-temporal and time series image analysis. The bi-temporal image analysis mainly exploits comparison of two images only techniques for the detection of presence/absence of changes and rely on classification methods for detecting land-cover transitions. The time series analysis makes use of multi-temporal images (more than two) for land-cover monitoring and change detection in long time series. Images acquired by multispectral optical systems at medium, high and very high spatial resolution are considered
An Adaptive Pseudo-Labeled Sample Generation Approach to Unsupervised Multiclass Change Detection in Bitemporal Remote Sensing Images
No full text3DGeoRef: an automated framework for georeferencing heritage 3D models
No full textGeolocalization is the process of determining the precise geographical coordinates and orientation of a device or person or object. Georeferencing is the same process but referred to images, maps or 3D models. Pinpointing where in the world an image was acquired or a 3D model is located, down to a decimetre or meter error, remains a challenge in photogrammetry and computer vision, especially when no priors are available or not touristic locations are considered. Methods have evolved from simple GNSS tagging to complex computer vision and AI-driven spatial reasoning, including the recent LLM/VLM/MLLM approaches. This work presents an automated pipeline to georeference heritage 3D models lacking geolocation metadata. The developed method combines synthetic views generation of a not-georeferenced 3D model, VLM and multimodal-based location estimation, satellite imagery retrieval and learning-based image matching techniques to determine the transformation to align the 3D model with real-world coordinates. Results are below the meter accuracy if a substantial amount of surrounding data is available to support the inference of the initial rough location. The final aim of the presented pipeline is to supplement the Cultural Heritage European Data Space with enriched 3D models
Towards annotation-less semantic segmentation of aerial point clouds
No full textThe ability to automatically recognize a wide variety of objects in complex 3D urban environments without relying on predefined categories or annotated training data is becoming increasingly important for end-users of large-scale geospatial 3D datasets. Given that objects in urban scenes noticeably vary across locations, users and applications, flexible annotation-free methods for 3D semantic segmentation are getting desirable. In this work, we present and compare two approaches for classifying aerial photogrammetric point clouds. The first employs conventional supervised 3D neural networks trained on annotated datasets and predefined object classes. The second adopts a training-free, open-vocabulary strategy that detects objects directly in images and subsequently projects and refines them within 3D space. Approaches are evaluated through quantitative metrics and qualitative analysis, providing insights into their respective capabilities and limitations over 3D urban areas