Dirac Fields on Spacelike Hypersurfaces, Their Rest-Frame Description and Dirac Observables

Grassmann-valued Dirac fields together with the electromagnetic field (the pseudoclassical basis of QED) are reformulated on spacelike hypersurfaces in Minkowski spacetime and then restricted to Wigner hyperplanes to get their description in the rest-frame Wigner-covariant instant form of dynamics. The canonical reduction to the Wigner-covariant Coulomb gauge is done in the rest frame. It is shown, on the basis of a geometric incosistency, that the description of fermions is incomplete, because there is no bosonic carrier of the spin structure describing the trajectory of the electric current in Minkowski spacetime, as it was already emphasized in connection with the first quantization of spinning particles in a previous paper.Comment: 44 pages, revte

Development of Non Expensive Technologies for Precise Maneuvering of Completely Autonomous Unmanned Aerial Vehicles

In this paper, solutions for precise maneuvering of an autonomous small (e.g., 350-class) Unmanned Aerial Vehicles (UAVs) are designed and implemented from smart modifications of non expensive mass market technologies. The considered class of vehicles suffers from light load, and, therefore, only a limited amount of sensors and computing devices can be installed on-board. Then, to make the prototype capable of moving autonomously along a fixed trajectory, a “cyber-pilot”, able on demand to replace the human operator, has been implemented on an embedded control board. This cyber-pilot overrides the commands thanks to a custom hardware signal mixer. The drone is able to localize itself in the environment without ground assistance by using a camera possibly mounted on a 3 Degrees Of Freedom (DOF) gimbal suspension. A computer vision system elaborates the video stream pointing out land markers with known absolute position and orientation. This information is fused with accelerations from a 6-DOF Inertial Measurement Unit (IMU) to generate a “virtual sensor” which provides refined estimates of the pose, the absolute position, the speed and the angular velocities of the drone. Due to the importance of this sensor, several fusion strategies have been investigated. The resulting data are, finally, fed to a control algorithm featuring a number of uncoupled digital PID controllers which work to bring to zero the displacement from the desired trajectory

A Multilevel Architecture for Autonomous UAVs

In this paper, a multilevel architecture able to interface an on-board computer with a generic UAV flight controller and its radio receiver is proposed. The computer board exploits the same standard communication protocol of UAV flight controllers and can easily access additional data, such as: (i) inertial sensor measurements coming from a multi-sensor board; (ii) global navigation satellite system (GNSS) coordinates; (iii) streaming video from one or more cameras; and (iv) operator commands from the remote control. In specific operating scenarios, the proposed platform is able to act as a “cyber pilot” which replaces the role of a human UAV operator, thus simplifying the development of complex tasks such as those based on computer vision and artificial intelligence (AI) algorithms which are typically employed in autonomous flight operations

Fast Obstacle Detection System for UAS Based on Complementary Use of Radar and Stereoscopic Camera

Autonomous unmanned aerial systems (UAS) are having an increasing impact in the scientific community. One of the most challenging problems in this research area is the design of robust real-time obstacle detection and avoidance systems. In the automotive field, applications of obstacle detection systems combining radar and vision sensors are common and widely documented. However, these technologies are not currently employed in the UAS field due to the major complexity of the flight scenario, especially in urban environments. In this paper, a real-time obstacle-detection system based on the use of a 77 GHz radar and a stereoscopic camera is proposed for use in small UASs. The resulting system is capable of detecting obstacles in a broad spectrum of environmental conditions. In particular, the vision system guarantees a high resolution for short distances, while the radar has a lower resolution but can cover greater distances, being insensitive to poor lighting conditions. The developed hardware and software architecture and the related obstacle-detection algorithm are illustrated within the European project AURORA. Experimental results carried out employing a small UAS show the effectiveness of the obstacle detection system and of a simple avoidance strategy during several autonomous missions on a test site

Alia: Antropologia di una comunità dell'entroterra siciliano

In the spring of 1995, during works for the rehabilitation of a wall that closed the grotto of the Old Cemetery in the Sicilian village of Alia, the skeletal remains of the victims of the cholera outbreak of 1837 that had been rapidly interred here were brought to light. From that moment on, the Alia project was developed without interruption, analysing the biological evolution of the local population by exploiting study methods characteristic of different anthropological disciplines, such as skeletal biology, population genetics and biodemography. The book renders account of research completed and in progress carried out by academics from the Universities of Florence, Palermo, Parma, Cagliari, Turin and Göttingen

Spinning Particles on Spacelike Hypersurfaces and their Rest-Frame Description

A new spinning particle with a definite sign of the energy is defined on spacelike hypersurfaces after a critical discussion of the standard spinning particles. They are the pseudoclassical basis of the positive energy $({1\over 2},0)$ [or negative energy $(0,{1\over 2})$] parts of the $({1\over 2},{1\over 2})$ solutions of the Dirac equation. The study of the isolated system of N such spinning charged particles plus the electromagnetic field leads to their description in the rest-frame Wigner-covariant instant form of dynamics on the Wigner hyperplanes orthogonal to the total 4-momentum of the isolated system (when it is timelike). We find that on such hyperplanes these spinning particles have a nonminimal coupling only of the type "spin-magnetic field" like the nonrelativistic Pauli particles to which they tend in the nonrelativistic limit. The Lienard-Wiechert potentials associated with these charged spinning particles are found. Then, a comment on how to quantize the spinning particles respecting their fibered structure describing the spin structure is done.Comment: 70 pages, revte

The "Brunella" project: preparation and study of a mysticete from the Early Pliocene of Tuscany

• A project is being carried out at Poggio alle Mura that will allow the preparation and study of a balaenopterid whale from the early Pliocene of Tuscany together with its associated biota. • Up to now, the project resulted in the preparation of 18 vertebrae, the skull and an ulna of the whale. • The associated biota includes 18 mollusk species, 2 sea urchin species, 10 shark teeth and thousands of fish remains from the sediment surrounding the skull. • A wealth of educational activities is being carried out at the laboratory of Poggio alle Mura that are directed to schools and citizens

The York map as a Shanmugadhasan canonical transformation in tetrad gravity and the role of non-inertial frames in the geometrical view of the gravitational field

A new parametrization of the 3-metric allows to find explicitly a York map in canonical ADM tetrad gravity, the two pairs of physical tidal degrees of freedom and 14 gauge variables. These gauge quantities (generalized inertial effects) are all configurational except the trace ${}^3K(\tau ,\vec \sigma)$ of the extrinsic curvature of the instantaneous 3-spaces $\Sigma_{\tau}$ (clock synchronization convention) of a non-inertial frame. The Dirac hamiltonian is the sum of the weak ADM energy $E_{ADM} = \int d^3\sigma {\cal E}_{ADM}(\tau ,\vec \sigma)$ (whose density is coordinate-dependent due to the inertial potentials) and of the first-class constraints. Then: i) The explicit form of the Hamilton equations for the two tidal degrees of freedom in an arbitrary gauge: a deterministic evolution can be defined only in a completely fixed gauge, i.e. in a non-inertial frame with its pattern of inertial forces. ii) A general solution of the super-momentum constraints, which shows the existence of a generalized Gribov ambiguity associated to the 3-diffeomorphism gauge group. It influences: a) the explicit form of the weak ADM energy and of the super-momentum constraint; b) the determination of the shift functions and then of the lapse one. iii) The dependence of the Hamilton equations for the two pairs of dynamical gravitational degrees of freedom (the generalized tidal effects) and for the matter, written in a completely fixed 3-orthogonal Schwinger time gauge, upon the gauge variable ${}^3K(\tau ,\vec \sigma)$, determining the convention of clock synchronization. Therefore it should be possible (for instance in the weak field limit but with relativistic motion) to try to check whether in Einstein's theory the {\it dark matter} is a gauge relativistic inertial effect induced by ${}^3K(\tau ,\vec \sigma)$.Comment: 90 page