The Protection of Cultural Heritage in the History of Italian Law

Il saggio ricostruisce le origini e gli sviluppi della normativa in materia di tutela del patrimonio culturale nella penisola italiana, a partire dalla Roma imperiale. Snodo fondamentale furono i secc. XV-XVII che videro i pontefici, con editti e bolle, invitare i cittadini a preservare gli edifici antichi; la normativa pontificia fu un modello per la maggior parte degli stati italiani di Antico Regime. Il XIX secolo, in conseguenza della tragica spoliazione compiuta da Napoleone, si segnala per una ripresa ed un irrobustimento della legislazione a salvaguardia dei beni culturali, che culminò nell’Editto Pacca (1820). Il contributo si conclude con un’analisi delle prime normative italiane successive all’unità, culminanti nella legge 1089 del 1939.The essay reconstructs the first legislation on the protection of cultural heritage in the Italian peninsula. Fundamental turning point were XVth-XVIIth centuries, which saw the popes, with edicts and bulls, invite citizens to preserve the ancient buildings; the pontifical legislation was a model for most of the Italian states of the Ancient Regime. The XIXth century, as a consequence of the tragic dispossession committed by Napoleon, is notable for a revival and strengthening of the legislation for the safeguard of cultural heritage, which culminated in the Pacca's Edict (1820). The essay ends with an analysis of the first Italian regulation laws subsequent to the political unit, culminating in the law 1089/1939

Improved Kinematics Calibration of Industrial Robots by Neural Networks

The paper presents a preliminary study on the feasibility of a Neural Networks based methodology for the calibration of Industrial Manipulators to improve their accuracy. A Neural Network is used to predict the pose inaccuracy due to general sources of error in the robot (e.g. geometrical inaccuracy, load deflection, stiffness and backlash of the mechanical members, etc. . . ). The network is trained comparing the ideal model of the robot with measures of the actual poses reached by the robot. A back-propagation learning algorithm is applied. The Neural Network output can be used by the robot controller to compensate for the errors in the pose. The proposed calibration technique appears extremely simple. It does not need any information on the pose errors nature, but only the ideal robot kinematics and a set of experimental pose measures. Different schemes of calibration procedures are applied to a simulated SCARA robot and to a Stewart Platform and compared, in order to select the most suitable. Results of the simulations are presented and discussed

Equipe multidisciplinar no IFPR Campus Foz do Iguaçu: perspectivas e contribuições na assistência ao aluno

A UNILA, a Prefeitura Municipal de Foz do Iguaçu, a Alfândega da Receita Federal em Foz do Iguaçu, a Universidade Estadual do Oeste do Paraná (Unioeste) e o Instituto Federal do Paraná (IFPR) promoverão conjuntamente, este ano, a Semana Integrada do Servidor Público. O evento pretende ser um espaço de análise e discussão sobre o tema “Valorização e integração: contribuições e desafios do servidor público na atualidade”. As atividades serão realizadas entre os dias 22 e 27 de outubro. O lançamento da Semana foi realizado nesta segunda-feira (27), no auditório da UnioesteEste estudo foi elaborado a partir da necessidade de reflexão sobre a atuação da equipe multidisciplinar em contexto escolar, uma vez que o trabalho desenvolvido contribui para a formação integral dos alunos, numa perspectiva inclusiva, principalmente, nas ações que visam buscar soluções para os problemas socioeducacionais que cada vez mais aparecem de forma determinante. O presente relato de experiência tem por objetivo apresentar o trabalho da Equipe Multidisciplinar do Instituto Federal do Paraná Campus Foz do Iguaçu. Considerando também compartilhar e refletir sobre as contribuições dos profissionais da equipe para a efetivação de uma educação de qualidade. Estudo de abordagem qualitativa, tendo como estratégia metodológica a observação direta e levantamento de bibliografia pertinente ao tema. Uma das principais características da equipe multidisciplinar é a capacidade de se inteirar e coordenar ações conjuntas caracterizadas como múltiplos profissionais, que necessitam de interações frequentes, com um objetivo comum. O que foi possível observar até o momento é que o trabalho da equipe multidisciplinar possibilita contribuições para o que os alunos possam ter acesso, permanência e êxito nos curso

Gain scheduling for hybrid force/velocity control in contour tracking task

In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique

Calibration of Parallel Kinematic Machines: theory and applications

Introduction As already stated in the chapter addressing the calibration of serial manipulators, kinematic calibration is a procedure for the identification and the consequent compensation of the geometrical pose errors of a robot. This chapter extends the discussion to Parallel Manipulators (also called PKM Parallel Kinematic Machines). As described in the following (Section 2) this extension is not obvious but requires special care. Although for serial manipulators some procedures for the calibration based on automatic generation of a MCPC (Minimum Complete Parametrically Continuos) model exist, for PKMs only methodologies for individual manipulators have been proposed but a general strategy has not been presented since now. A few examples of the numerous approaches for the calibration of individual PKMs are proposed in (Parenti-Castelli & Di Gregorio, 1995), (Jokiel et al., 2000) for direct calibration and (Neugebauer et al., 1999), (Smollett, 1996) for indirect or self calibration techniques. This paper makes one significant step integrating available results with new ones and reordering them in simple rules that can be automatically applied to any PKM with general kinematic chains. In all the cases a MCPC kinematic model for geometrical calibration is automatically obtained. In Section 2 the main features of PKMs calibration is pointed out and the total number of the necessary parameters is determined; this is an original contribution. In Sections 3 and 4 two novel approaches for the generation of a MCPC model are described. Sections 5 and 6 are dedicated to the analysis of the singular cases and to the procedure for the elimination of the redundant parameters respectively; actual cases are discussed. Section 7 presents several examples of application of the two proposed procedures to many existing PKMs. Section 8 eventually draws the conclusions

Modelling the temperature in joint friction of industrial manipulators

In this paper, a new model for joint dynamic friction of industrial robot manipulators is presented. In particular, the effects of the temperature in the joints are considered. A polynomial-based model is proposed and the parameter estimation is performed without the need of a joint temperature sensor. The use of an observer is then proposed to compensate for the uncertainty in the initial estimation of the temperature value. A large experimental campaign show that the model, in spite of the simplifying assumptions made, is effective in estimating the joint temperature and therefore the friction torque during the robot operations, even for values of velocities that have not been previously employed