Passar el sarrampió

Passar el sarrampi

Traffic Management System for the combined optimal routing, scheduling and motion planning of self-driving vehicles inside reserved smart road networks

The topic discussed in this thesis belongs to the field of automation of transport systems, which has grown in importance in the last decade, both in the innovation field (where different automation technologies have been gradually introduced in different sectors of road transport, in the promising view of making it more efficient, safer, and greener) and in the research field (where different research activities and publications have addressed the problem under different points of view). More in detail, this work addresses the problem of autonomous vehicles coordina tion inside reserved road networks by proposing a novel Traffic Management System (TMS) for the combined routing, scheduling and motion planning of the vehicles. To this aim, the network is assumed to have a modular structure, which results from a certain number of roads and intersections assembled together. The way in which roads and intersections are put together defines the network layout. Within such a system architecture, the main tasks addressed by the TMS are: (1) at the higher level, the optimal routing of the vehicles in the network, exploiting the available information coming from the vehicles and the various elements of the network; (2) at a lower level, the modeling and optimization of the vehicle trajectories and speeds for each road and for each intersection in the network; (3) the coordination between the vehicles and the elements of the network, to ensure a combined approach that considers, in a recursive way, the scheduling and motion planning of the vehicles in the various elements when solving the routing problem. In particular, the routing and the scheduling and motion planning problems are formulated as MILP optimization problems, aiming to maximize the performance of the entire network (routing model) and the performance of its single elements - roads and intersections (scheduling and motion planning model) while guaranteeing the requested level of safety and comfort for the passengers. Besides, one of the main features of the proposed approach consists of the integration of the scheduling decisions and the motion planning computation by means of constraints regarding the speed limit, the acceleration, and the so-called safety dynamic constraints on incompatible positions of conflicting vehicles. In particular, thanks to these last constraints, it is possible to consider the real space occupancy of the vehicles avoiding collisions. After the theoretical discussion of the proposed TMS and of its components and models, the thesis presents and discusses the results of different numerical experiments, aimed at testing the TMS in some specific scenarios. In particular, the routing model and the scheduling and motion planning model are tested on different scenarios, which demonstrate the effectiveness and the validity of such approach in performing the addressed tasks, also compared with more traditional methods. Finally, the computational effort needed for the problem solution, which is a key element to take into account, is discussed both for the road element and the intersection element

Getting over the measles

Getting over the measle

Reazioni di Suzuki su alogenuri stirenici: un primo studio sistematico sulla fattibilita e l'applicabilita in presenza di semplici catalizzatori supportati commerciali.

La possibilità di utilizzare, in reazioni di cross-coupling C-C mediate da metalli di transizione, catalizzatori eterogenei a basso rilascio di metallo e possibilmente riciclabili è oggi considerata di grande interesse scientifico e applicativo, e può essere determinante da un punto di vista industriale. Infatti questi hanno numerosi vantaggi rispetto ai classici sistemi omogenei: di norma di uso molto più pratico e versatile, permettono di semplificare gli isolamenti dei prodotti e il recupero del catalizzatore, portano a prodotti contenenti quantità trascurabili di metallo e risultano quindi più economici, ambientalmente sostenibili e industrialmente accetabili. Però le loro applicazioni alla sintesi di prodotti naturali e/o bioattivi sono assai scarse e, nonostante il gran numero di sistemi eterogenei oggi sviluppati, sono praticamente usati/studiati solo con accettori arilici (ritenuti, almeno sulla carta, sistemi meno reattivi di quelli alchenilici o allilici nelle reazioni di cross-coupling), e quasi mai con alogenuri alchenilici; in particolare in letteratura sono riportati pochissimi casi di reazioni di cross-coupling su accettori α e/o β alo-stirenici promossi da catalizzatori supportati. Obiettivo di questo Lavoro di Tesi (come parte di una più ampia serie di studi condotta nel nostro laboratorio) vuole essere lo sviluppo di convenienti reazioni di cross-coupling C-C (scelte fra quelle intrinsecamente più pratiche e green quali la Suzuki Miyaura e/o la Sonogashira) mediate da catalizzatori supportati commerciali, di basso costo ma di concezione nuovi ed efficienti (quali PdEnCat, Fibrecat, PdCl2(PPh3)2 e Pd(PPh3)4 cross-linked su polistirene) su alogenuri alfa/beta alo-stirenici di varia natura (commerciali e/o preparati in laboratorio), con lo scopo di ottenere condizioni il più pratiche, economiche e green possibili. Il progetto comprenderà inoltre l’applicazione delle nuove metodologie eventualmente sviluppate in convenienti sintesi di composti di interesse applicativo, naturali e/o farmacologicamente attivi, di tipo contenenti frammenti stilbenici egruppi da questi ottenibili

Traffic management system for smart road networks reserved for self-driving cars

A model of a smart road network consisting of unsignalised intersections and smart roads connecting them is considered in this work with the aim of presenting a traffic management system for self-driving cars (or, more generally, autonomous vehicles) which travel the network. The proposed system repeatedly solves a set of mathematical programming problems (each of them relative to a single intersection or to a single road stretch of the network) within a decentralised control scheme in which each local intersection controller and each local road controller communicates with the fully autonomous vehicles in order to receive travel data from vehicles and to provide speed profiles to them once determined the optimal solution of the problem. In order to reduce the computational effort required to provide the optimal solution, a discrete-time approach is adopted so that, in each time interval, a limited number of vehicles are taken into consideration; in this way, solutions can be determined in a very short time thus making the proposed model compatible with a practical application to real traffic systems. The proposed model is general enough, and can be adapted to different scenarios of smart road networks reserved for self-driving cars

Superficies de placer: sexo, religión y música electrónica en los pliegues de la transición 1990-2010

El desarrollo de la música electrónica en los últimos 20 años revela ambigüedades y tensiones del proceso cultural vivido por la sociedad argentina. El caso de la música electrónica, en tanto construcción de un espacio eminentemente multisensorial que modula una experiencia en la que dialogan articulaciones técnicas, sonoras y químicas, junto ala centralidad del movimiento corporal, permite el encuentro, desarrollo y mutua redefinición de sexualidad y religión. Caracterizaremos ese encuentro posibilitado por la música electrónica como parte de la constitución renovada de las culturas juveniles. Por un lado describimos cómo el dispositivo de la música electrónica, dada la relevancia y trascendencia del baile, y dada la postulación de la unidad indisoluble entre cuerpo y mente, se articula con el sedimento cultural en el que opera la religiosidad de la Nueva Era. Por otro lado, pero en paralelo con lo anterior, mostramos que el de la música electrónica es un espacio de interrogación y construcción de comportamientos sexuales en que el repertorio sexual se vuelve más plural que el definido por otras escenas musicales.The development of electronic music in the past 20 years reveals ambiguities and tensions pf the cultural process experienced by Argentine society. Electronic music-in terms of an eminently multisensorial space that modulates an experience in which technical, sound, and chemical dimensions are in dialogue, together with the centrality of body movement-allows for the encounter, development and mutual redefinition of sexuality and religion. This article characterizes the encounter made possible by electronic music as part of the constitution of renewed youth cultures. On the one hand; it will describe how electronic music, given the relevance and significance of dance and the indissoluble unity of body and mind, articulates with the cultural sediment of New Age religiosity. On the other hand, and related to the above, it will demonstrate how electronic music is a space of interrogation and construction of sexual behavior in which the sexual repertoire becomes more pluralistic than that of other music scenes.Departamento de Sociologí

Superficies de placer: sexo, religión y música electrónica en los pliegues de la transición 1990-2010

El desarrollo de la música electrónica en los últimos 20 años revela ambigüedades y tensiones del proceso cultural vivido por la sociedad argentina. El caso de la música electrónica, en tanto construcción de un espacio eminentemente multisensorial que modula una experiencia en la que dialogan articulaciones técnicas, sonoras y químicas, junto ala centralidad del movimiento corporal, permite el encuentro, desarrollo y mutua redefinición de sexualidad y religión. Caracterizaremos ese encuentro posibilitado por la música electrónica como parte de la constitución renovada de las culturas juveniles. Por un lado describimos cómo el dispositivo de la música electrónica, dada la relevancia y trascendencia del baile, y dada la postulación de la unidad indisoluble entre cuerpo y mente, se articula con el sedimento cultural en el que opera la religiosidad de la Nueva Era. Por otro lado, pero en paralelo con lo anterior, mostramos que el de la música electrónica es un espacio de interrogación y construcción de comportamientos sexuales en que el repertorio sexual se vuelve más plural que el definido por otras escenas musicales.The development of electronic music in the past 20 years reveals ambiguities and tensions pf the cultural process experienced by Argentine society. Electronic music-in terms of an eminently multisensorial space that modulates an experience in which technical, sound, and chemical dimensions are in dialogue, together with the centrality of body movement-allows for the encounter, development and mutual redefinition of sexuality and religion. This article characterizes the encounter made possible by electronic music as part of the constitution of renewed youth cultures. On the one hand; it will describe how electronic music, given the relevance and significance of dance and the indissoluble unity of body and mind, articulates with the cultural sediment of New Age religiosity. On the other hand, and related to the above, it will demonstrate how electronic music is a space of interrogation and construction of sexual behavior in which the sexual repertoire becomes more pluralistic than that of other music scenes.Departamento de Sociologí

The anti-inflammatory properties of mesenchymal stem cells in epilepsy: possible treatments and future perspectives

Mesenchymal stem cells (MSCs) are multipotent adult cells with self-renewing capacities. MSCs display specific properties, such as the ability to repair damaged tissues, resulting in optimal candidates for cell therapy against degenerative diseases. In addition to the reparative functions of MSCs, growing evidence shows that these cells have potent immunomodulatory and anti-inflammatory properties. Therefore, MSCs are potential tools for treating inflammation-related neurological diseases, including epilepsy. In this regard, over the last decades, epilepsy has no longer been considered a purely neuronal pathology, since inflammatory events underlying the genesis of epilepsy have been demonstrated. This review assessed current knowledge on the use of MSCs in the treatment of epilepsy. Mostly, attention will be focused on the anti-inflammatory and immunological skills of MSCs. Understanding the mechanisms by which MSCs might modulate the severity of the disease will contribute to the development of new potential alternatives for both prophylaxis and treatment against epilepsy