Human-Guided Learning and Control for Contact-Rich Robotic Manipulation: An Interoperable Toolchain

Continuous, contact-rich manipulation is increasingly relevant for industrial applications such as surface finishing and polishing, where value is created through sustained, controlled interaction between tool and workpiece. Despite its practical importance, reliable execution remains challenging because key process parameters can vary during operation, such as contact conditions, friction, surface properties, tool compliance, and wear, making purely model-based tuning brittle. This thesis in...

Cooperative Interaction and Manipulation in Human-Robot and Multi-Robot Systems

In the context of physical human–robot interaction, starting from the LuGre friction model, an elastoplastic admittance model is proposed that enables both elastic, reversible motion modifications and persistent offsets of the reference, allowing the operator to intuitively adapt the robot trajectory. The model is initially integrated into a variable-admittance control scheme compatible with non-redundant manipulators. To address collaborative transportation with mobile manipulators, an al...

Tutela giurisdizionale e ordinanze anticipatorie nella recente riforma del processo civile. Spunti di raffronto comparato

Il presente lavoro analizza l’evoluzione delle tutele anticipatorie e sommarie nel processo civile italiano, tracciandone lo sviluppo storico fino all’attuale assetto, delineato dalla Riforma Cartabia. Nello specifico, l’indagine si concentra sulle nuove ordinanze di accoglimento e rigetto della domanda ex artt. 183-ter e 183-quater c.p.c., analizzandone la ratio deflattiva ed acceleratoria connessa agli stringenti obiettivi del PNRR. Assumendo come parametro comparatistico i modelli del réfé...

Premesse a uno studio comparato dell'azione inibitoria per il clima

La tesi offre una prima ricostruzione comparata dell’azione inibitoria di tutela del clima, delineando alcune prospettive per l’ordinamento processuale italiano. Posta una generale introduzione storica, la ricerca muove dall’analisi necessariamente comparata di casi rivolti verso Stati e imprese, a partire dai principali problemi riscontrabili nella prassi globale in tema di contenzioso climatico.

Perazzo algebras, strongly Koszulness, Arithmetic Complexes, and Vasconcelos invariant

The following doctorate thesis is based on four different projects. They lie in the intersection between Commutative Algebra, Algebraic Geometry, and Combinatorics. The first project treats Perazzo $3$-folds and the weak Lefschetz property. We characterise the Hilbert function of Perazzo algebras proving that it has a maximum and a minimum. We use this classification to fully display the weak Lefschetz property for those algebras. A classification on minimal Perazzo $3$-folds is given toge...

Array detection enables large localization range for simple and robust MINFLUX

Fluorescence microscopy enables visualization of cellular structures with molecular specificity, yet conventional methods remain limited by diffraction to resolutions of ~250 nm. Super-resolution microscopy overcomes this resolution barrier, with minimal fluorescence photon fluxes microscopy (MINFLUX) representing the current state-of-the-art in point scanning microscopy. MINFLUX probes single emitters with an intensity minimum in a targeted coordinate pattern (TCP) and typically achieves 1 n...

Understanding Extreme Weather in a Warming European-Mediterranean Region: From Localized Convection to Organized Cyclones

Biotechnological exploitation of marine sponges: innovative technologies for an environmentally-friendly approach (BIOSPONFRI)

Marine sponges are the oldest Metazoan group living on earth. Since their discovery, these organisms have attracted increasing attention from the scientific community. Due to their apparent simplicity, sponges became a fascinating model for scientists of any discipline. From the chemical point of view, these animals are a gold mine of natural products with potential biotechnological applications. On the other hand, the diverse array of microbial hosts found on and within sponges fascinated mi...

Reconstruction and regularization approaches for image scanning microscopy

Confocal laser-scanning microscopy (CLSM), one of the most important imaging tools in biomedical and biological research, is undergoing a major transition towards image-scanning microscopy (ISM). In ISM, a fast detector array replaces the conventional single-element detector and pinhole of the confocal microscope, providing a true image of the region probed during laser scanning while collecting the majority of photons emitted by the specimen. By reconstructing this highly informative da...