121 research outputs found
Fluid Inclusion Constraints In Thermal History Modelling: Example from the Dolomitized Calcari Grigi Group (Asiago Plateau, Northern Italy)
No full textModeling diagenetic evolution and dolomitization mechanisms in a lower Jurassic partially dolomitized sequence: the Calcari Grigi Group (Asiago Plateu, northern Italy)
No full textLo Stato Sociale: oltre la redistribuzione
No full textIl contributo analizza in maniera critica la letteratura teorica sul ruolo dello Stato sociale e rilegge le proposte di riforma dello Stato sociale, sottolineandone aspetti qualificanti e limiti
SLAM con camera omnidirezionale all'interno del framework MoonSlam
No full textLAUREA SPECIALISTICALa capacità di orientamento di un robot è una caratteristica di fondamentale importanza affinché esso possa svolgere i propri compiti in totale autonomia. Nel caso in cui l'ambiente sia sconosciuto, lo SLAM (Simultaneous Localization and Mapping), attraverso l'elaborazione delle misure provenienti dai sensori del robot durante la fase di esplorazione, permette di stimare probabilisticamente la traiettoria percorsa dal robot, congiuntamente alla costruzione di una mappa dell'ambiente.
L'utilizzo di una camera omnidirezionale come unico sensore (Monocular SLAM), grazie a un campo visivo di 360o, permette di osservare le caratteristiche rilevanti dell'ambiente molto più a lungo di una camera prospettica, ottenendo una mappa e una traiettoria del robot di qualità superiore. Le immagini ottenute con una camera omnidirezionale sono però affette da forte distorsione e questo rende particolarmente problematico il tracking dei punti caratteristici, ossia l'acquisizione delle misure.
Nel presente lavoro di tesi sono state sviluppate due nuove tecniche di tracking per camere omnidirezionali: la prima trasforma le immagini in panoramiche e su queste applica un metodo di patch tracking classico per camere prospettiche; la seconda effettua invece una trasformazione prospettica delle aree nell'intorno dei punti caratteristici, eliminando ogni fattore di distorsione.
È stato inoltre applicato al caso omnidirezionale il metodo del patch warping omografico, già utilizzato con successo nel caso prospettico. Per quanto riguarda gli aspetti relativi allo SLAM è stato invece introdotto un metodo che inizializza la posizione dei punti caratteristici del mondo sul piano del terreno sul quale il robot si muove, in alternativa all'inizializzazione classica a distanza costante. Tutti i metodi sviluppati sono stati implementati all'interno del framework MoonSlam, un congiunto di librerie per la realizzazione di applicazioni Visual SLAM basate sul filtro di Kalman esteso, realizzato da Simone Ceriani all'interno del Laboratorio di Intelligenza Artificiale e Robotica (AIRLab) del Politecnico di Milano.
I risultati ottenuti dimostrano le potenzialità della camera omnidirezionale quando applicata allo SLAM, nonché la validità dei metodi sviluppati.The orientation ability of a robot is a fundamental characteristic that allows the robot to perform its tasks in complete independence. If the environment is unknown, the SLAM (Simultaneous Localization and Mapping), by processing the measures of the robot sensors during the exploration
phase, allows for the estimate of the trajectory followed by the robot, along with the construction of a map of the environment.
The use of an omnidirectional camera as a unique sensor (Monocular SLAM), thanks to a 360o visual eld, allows for the observation of the relevant features of the environment for a longer time compared to a perspective camera, thus obtaining a map and a robot trajectory of higher quality. On the other hand, images obtained from an omnidirectional camera have a strong distortion, which makes it diffi cult to track the characteristic points, therefore the acquisition of the measures.
In this dissertation, two new tracking techniques for omnidirectional cameras are developed: the former transforms the omnidirectional images into panoramic ones, applying to them a classic patch tracking method for perspective cameras; the latter operates a perspective transformation of the areas around tracked features, removing any distortion factor. The homographic patch warping method, already used successfully with perspective cameras, is also applied to omnidirectional ones. As for the SLAM, a method to initialize the position of the characteristic points of the world on the ground plane on which the robot moves has been introduced, as an alternative to the classical
initialization at a constant distance. All developed methods have been implemented within the MoonSlam framework, a set of libraries for the development of Visual SLAM applications based on the extended Kalman filter, developed by Simone Ceriani at the Laboratorio di Intelligenza
Arti ciale e Robotica (AIRLab) of Politecnico di Milano. Results achieved by this work demonstrate the potentialities of an omnidirectional camera when applied to SLAM, as well as the validity of the methods developed
Introducing LURCH: a Shared Autonomy Robotic Wheelchair with Multimodal Interfaces
No full textThe LURCH project aims at the development of an autonomous wheelchair capable of avoiding obstacles, selflocalize and explore indoor environments in a safe way. To meet disabled people requirements, we have designed the user interface to the autonomous wheelchair in such a way that it can be simply modified and adapted to the users needs. In particular, the user has the opportunity to choose among several autonomy levels (from simple obstacle avoidance to complete autonomous navigation) and different interfaces: a classical joystick, a touch-screen, an electro miographic interface, and a brain-computer interface (BCI), i.e., a system that allows the user to convey intentions by analyzing brain signals
Single and Multi Camera Simultaneous Localization and Mapping Using the Extended Kalman Filter
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Exploring efficient hardware support for applications with irregular memory patterns on multinode manycore architectures
No full textWith computing systems becoming ubiquitous, numerous data sets of extremely large size are becoming available for analysis. Often the data collected have complex, graph based structures, which makes them difficult to process with traditional tools. Moreover, the irregularities in the data sets, and in the analysis algorithms, hamper the scaling of performance in large distributed highperformance systems, optimized for locality exploitation and regular data structures. In this paper we present an approach to system design that enable efficient execution of applications with irregular memory patterns on a distribute, many-core architecture, based on off-the-shelf cores. We introduce a set of hardware and software components, which provide a distributed global address space, fine-grained synchronization and transparently hide the latencies of remote accesses with multithreading. An FPGA prototype has been implemented to explore the design with a set of typical irregular kernels. We finally present an analytical model that highlights the benefits of the approach and help identifying the bottlenecks in the prototypes. The experimental evaluation on graph based applications demonstrates the scalability of the architecture for different configurations of the whole system
L’architettura di palazzo Francesconi. Peruzzi tra Roma e Siena
No full textOn the basis of new documents and a detailed analysis of its fabric, the article examines the architecture of the Palazzo Francesconi at Siena, one of the many buildings traditionally attributed to Baldassarre Peruzzi in his hometown, but never yet subjected to any detailed study. After a summary discussion of the chronology of the building, closely linked to the fortunes of its patron, and after firmly establishing that the work began in 1520, the author examines its architecture in detail. She points out the close links with architectural research in Rome, and especially in the circle of Leo X, in the second decade of the sixteenth century, but also the differences and similarities with the contemporary context in Siena itself, from the viewpoint of plan, use of materials, design of the main façade and type of arcaded courtyard.
In the second part of her article the author presents some hypotheses on the configuration of the initial project, which was only partially put into practice, and reviews the successive changes in programme. The regular plan and the façade with superimposed orders – a case unique of its kind in Siena in the first half of the sixteenth century –, the patron Bernardino Francesconi’s network of political and family contacts, the dating, personal relations with the Sienese artistic environment, and the traces identified in other projects of the architect and in some of his drawings, permit the author to argue convincingly for the project’s attribution to Peruzzi. A less schematic division of the chronology of Peruzzi’s activity as an architect, traditionally separated into an ante 1527 in Rome and a post 1527 in Siena, results from this. The article thus suggests a greater mobility of Baldassarre and lends force to the idea that he continued to have relations with Siena throughout his career, as would also be confirmed by other episodes recalled in the article
Il violino di Gianmorte: Sui sonetti di Marco Ceriani (e in particolare su uno)
No full textIl presente articolo intende apportare un contributo, nel panorama della poesia cosiddetta ‘neometrica’, alla conoscenza di un caso piuttosto singolare: la sonettistica di Marco Ceriani. In particolare si prenderà in considerazione la raccolta Gianmorte violinista (2014) e la sezione di sonetti in essa contenuta, alla ricerca della formula dell’«eteroritmica» di Ceriani (espressione dell’autore). A questo scopo l’analisi si focalizzerà, in particolare, sul sonetto d’esordio della sezione, che verrà sottoposto a una close lecture integrale: partendo ovviamente da un’ipotesi sulle strutture metriche ivi impiegate. Si passerà poi a un’analisi semantica e, infine, ad alcune proposte ermeneutiche. Ma prima, si tenterà di delineare per sommi capi una ‘poetica’ dell’Autore considerato, prendendo le mosse soprattutto dalle poesie in esergo di Osip Mandel´štam (poeta d’elezione di Ceriani) e da una disamina critica sul concetto di ‘nonsense’.
English title: Gianmorte’s Violin: On the Sonnets of Marco Ceriani (and One in Particular)
English abstract: This article aims to contribute to the study of so-called neometric poetry by examining a particularly singular case: the sonnet writing of Marco Ceriani. Specifically, it will focus on the collection Gianmorte violinista (2014) and the section of sonnets it contains, in search of Ceriani’s formula of "eteroritmica" (a term coined by the author). To this end, the analysis will concentrate on the opening sonnet of the section, which will undergo a close reading, beginning with a hypothesis on the metrical structures employed. The study will then proceed to a semantic analysis and, finally, to some interpretative proposals. Before this, however, an attempt will be made to outline, in broad strokes, the poet’s poetics, drawing primarily from the epigraph poems by Osip Mandel´štam (Ceriani’s chosen poet) and a critical examination of the concept of nonsense
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