Tesi di dottorato

Tesi di dottorato: [1911] Home page macrotipologia

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Tesi di dottorato 1911

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Probing the role of MgSiO3 polymorphs in deep mantle processes

This Ph.D. Thesis presents a completely theoretical study, based on state-of-the-art hybrid DFT calculations, on the thermodynamics and phase stability of candidate minerals that have been selected due to their relevant role in determining the mineralogical composition and physico-chemical properties of the Earth’s mantle. Such minerals are the polymorphs of MgSiO3, in particular the MgSiO3 pyroxenes. The choice of these minerals derives from their large stability field that spans the shallow...

Mars as analogue of terrestrial planets and exoplanets: a methodological approach based on geological, geophysical, and astrophysical principles

Rapid and continuous scientific and technological breakthroughs in space exploration allowed the scientific community to look in ever growing detail at the objects within the Solar System and beyond. The huge amount of data collected by multiple Earth-based and space missions allowed geoscientists to recognize an enormous variety of geological features shaping the surface of major and minor rocky bodies. Despite the increasing number of missions and experiments, tectonic and geodynamic invest...

Robotic Perception and Manipulation: Leveraging Deep Learning Methods for Efficient Instance Segmentation and Multi-fingered Grasping

The ability to adapt to perceive and manipulate novel objects is an important requirement for robots operating in unstructured dynamically-changing environments like the ones we live in. Autonomous perception and manipulation of objects in the environment surrounding the robot requires processing sensor data, including images, depth information and tactile feedback. Extracting meaningful semantic and geometric information from such data is per se a challenging open problem, which becomes even...

Neural bases and behavioural responses of vitality forms in human-human and human-robot interactions

The observation of actions performed by others allows us to understand what they are doing and why. Such ability is related to the existence of a set of neurons, "mirror neurons", that discharge both when individuals perform a goal-directed action and when they observe another person performing the same action. However, besides action goal and intention, there is a third fundamental component that an observer may capture when viewing an action: its form. Indeed, actions can be executed with d...

XAI in HRI: A Journey to the Centre of the Explainability

We are witnessing the global spread of artificial intelligence (AI) technology in people’s everyday lives. With the advent of the AI surge, the demand for explainable AI (XAI) techniques arose due to the growing intricacy of AI models. Users sought to comprehend the reasoning behind the decisions made by these models, a necessity that became more pressing as an expanding number of AI-driven robots interacted with people in real-world scenarios. Recent years have witnessed the XAI communi...

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