LEADER 01091nam a2200301 i 4500 001 991003031019707536 005 20021022144946.0 008 960610s1977 it ||| | ita 035 $ab11744728-39ule_inst 035 $aLE021FD224853$9ExL 040 $aDip. SSSC$bita 082 0 $a792 100 1 $aBettetini, Gianfranco$032971 245 10$aTeatro e comunicazione /$cGianfranco Bettetini, Marco De Marinis 260 $aFirenze ; Rimini :$bGuaraldi,$c1977 300 $a159 p. ;$c19 cm. 650 4$aComunicazione di massa 650 4$aLinguaggio teatrale 650 4$aSemiologia del teatro 650 4$aSemiologia dello spettacolo 650 4$aTeatro 700 1 $aDe Marinis, Marco$eauthor$4http://id.loc.gov/vocabulary/relators/aut$0220984 907 $a.b11744728$b21-09-06$c24-10-02 912 $a991003031019707536 945 $aLE021FD TG20C42$g1$iLE021FD-2182$lle023$nFondo D'Amico$o-$pE0.00$q-$rn$so $t0$u0$v0$w0$x0$y.i11984594$z24-10-02 996 $aTeatro e comunicazione$91337373 997 $aUNISALENTO 998 $ale021$b10-06-96$cm$da $e-$fita$git $h0$i1 LEADER 04235nam 2200721 a 450 001 9910971467503321 005 20250609110103.0 010 $a1-280-20541-5 010 $a9786610205417 010 $a0-306-46931-6 024 7 $a10.1007/0-306-46931-6 035 $a(CKB)111056486602274 035 $a(EBL)3035822 035 $a(SSID)ssj0000248509 035 $a(PQKBManifestationID)11208871 035 $a(PQKBTitleCode)TC0000248509 035 $a(PQKBWorkID)10202173 035 $a(PQKB)10781206 035 $a(DE-He213)978-0-306-46931-2 035 $a(Au-PeEL)EBL3035822 035 $a(CaPaEBR)ebr10060508 035 $a(CaONFJC)MIL20541 035 $a(OCoLC)923696791 035 $a(PPN)237932253 035 $a(MiAaPQ)EBC3035822 035 $a(MiAaPQ)EBC196709 035 $a(EXLCZ)99111056486602274 100 $a19960228d1996 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 00$aSolvent effects and chemical reactivity /$fedited by Orlando Tapia and Juan Bertran 205 $a1st ed. 2002. 210 $aDordrecht ;$aBoston $cKluwer Academic Publishers$dc1996 215 $a1 online resource (390 p.) 225 1 $aUnderstanding chemical reactivity ;$vv. 17 300 $aDescription based upon print version of record. 311 08$a1-4020-0417-6 311 08$a0-7923-3995-9 320 $aIncludes bibliographical references and index. 327 $aContinuum Solvation Models -- Theoretical Basis for the Treatment of Solvent Effects in the Context of Density Functional Theory -- Monte Carlo Simulations of Chemical Reactions in Solution -- Computer Simulation for Chemical Systems: from Vacuum to Solution -- Crossing the Transition State in Solution -- Valence Bond Multistate Approach to Chemical Reactions in Solution -- Quantum Theory of Solvent Effects and Chemical Reactions. 330 $aThis book gathers original contributions from a selected group of distinguished researchers that are actively working in the theory and practical applications of solvent effects and chemical reactions. The importance of getting a good understanding of surrounding media effects on chemical reacting system is difficult to overestimate. Applications go from condensed phase chemistry, biochemical reactions in vitro to biological systems in vivo. Catalysis is a phenomenon produced by a particular system interacting with the reacting subsystem. The result may be an increment of the chemical rate or sometimes a decreased one. At the bottom, catalytic sources can be characterized as a special kind of surrounding medium effect. The materials involving in catalysis may range from inorganic components as in zeolites, homogenous components, enzymes, catalytic antibodies, and ceramic materials. . With the enormous progress achieved by computing technology, an increasing number of models and phenomenological approaches are being used to describe the effects of a given surrounding medium on the electronic properties of selected subsystem. A number of quantum chemical methods and programs, currently applied to calculate in vacuum systems, have been supplemented with a variety of model representations. With the increasing number of methodologies applied to this important field, it is becoming more and more difficult for non-specialist to cope with theoretical developments and extended applications. For this and other reasons, it is was deemed timely to produce a book where methodology and applications were analyzed and reviewed by leading experts in the field. 410 0$aUnderstanding chemical reactivity ;$vv. 17. 606 $aReactivity (Chemistry) 606 $aSolution (Chemistry) 606 $aSolvation 606 $aSolvents 615 0$aReactivity (Chemistry) 615 0$aSolution (Chemistry) 615 0$aSolvation. 615 0$aSolvents. 676 $a541.3/4 701 $aTapia$b Orlando$f1938-$01822066 701 $aBertran$b J$g(Juan),$f1931-$01822067 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910971467503321 996 $aSolvent effects and chemical reactivity$94388126 997 $aUNINA LEADER 13241nam 22005893 450 001 9911018914703321 005 20240221214742.0 010 $a9781394162857 010 $a1394162855 010 $a9781394162871 010 $a1394162871 035 $a(MiAaPQ)EBC31015499 035 $a(Au-PeEL)EBL31015499 035 $a(CKB)29354685300041 035 $a(Perlego)4310682 035 $a(OCoLC)1414457559 035 $a(EXLCZ)9929354685300041 100 $a20231215d2023 uy 0 101 0 $aeng 135 $aurcnu|||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aInfrastructure Robotics $eMethodologies, Robotic Systems and Applications 205 $a1st ed. 210 1$aNewark :$cJohn Wiley & Sons, Incorporated,$d2024. 210 4$dİ2024. 215 $a1 online resource (435 pages) 225 1 $aIEEE Press Series on Systems Science and Engineering Series 311 08$aPrint version: Liu, Dikai Infrastructure Robotics Newark : John Wiley & Sons, Incorporated,c2023 9781394162840 327 $aCover -- Title Page -- Copyright -- Contents -- About the Editors -- Preface -- Acronyms -- Part I Methodologies -- Chapter 1 Infrastructure Robotics: An Introduction -- 1.1 Infrastructure Inspection and Maintenance -- 1.2 Infrastructure Robotics -- 1.2.1 Inspection and Maintenance of Steel Bridges -- 1.2.2 Climbing and Wheeled Robots for Inspection of Truss Structures -- 1.2.3 Robots for Underwater Infrastructure Maintenance -- 1.3 Considerations in Infrastructure Robotics Research -- 1.4 Opportunities and Challenges -- 1.5 Concluding Remarks -- Bibliography -- Chapter 2 Design of Infrastructure Robotic Systems -- 2.1 Special Features of Infrastructure -- 2.2 The Design Process -- 2.3 Types of Robots and Their Design and Operation -- 2.4 Software System Design -- 2.5 An Example: Development of the CROC Design Concept -- 2.6 Some Other Examples -- 2.7 Actuator Systems -- 2.8 Concluding Remarks -- Bibliography -- Chapter 3 Perception in Complex and Unstructured Infrastructure Environments -- 3.1 Introduction -- 3.2 Sensor Description -- 3.2.1 2D LiDAR -- 3.2.2 3D LiDAR -- 3.2.3 Sonar -- 3.2.4 Monocular Camera -- 3.2.5 Stereo Camera -- 3.2.6 GRB?D Camera -- 3.3 Problem Description -- 3.4 Theoretical Foundations -- 3.4.1 Extended Kalman Filter -- 3.4.2 Nonlinear Least Squares -- 3.4.3 Environment Representations -- 3.4.4 Mapping Techniques -- 3.4.5 Localization Techniques -- 3.4.6 SLAM Techniques -- 3.5 Implementation -- 3.5.1 Localization -- 3.5.2 SLAM -- 3.6 Case Studies -- 3.6.1 Mapping in Confined Space -- 3.6.2 Localization in Confined Space -- 3.6.3 SLAM in Underwater Bridge Environment -- 3.7 Conclusion and Discussion -- Bibliography -- Chapter 4 Machine Learning and Computer Vision Applications in Civil Infrastructure Inspection and Monitoring -- 4.1 Introduction -- 4.2 GNN?Based Pipe Failure Prediction -- 4.2.1 Background. 327 $a4.2.2 Problem Formulation -- 4.2.3 Data Preprocessing -- 4.2.4 GNN Learning -- 4.2.5 Failure Pattern Learning -- 4.2.6 Failure Predictor -- 4.2.7 Experimental Study -- 4.3 Computer Vision?Based Signal Aspect Transition Detection -- 4.3.1 Background -- 4.3.2 Signal Detection Model -- 4.3.3 Track Detection Model -- 4.3.4 Optimization for Target Locating -- 4.4 Conclusion and Discussion -- Bibliography -- Chapter 5 Coverage Planning and Motion Planning of Intelligent Robots for Civil Infrastructure Maintenance -- 5.1 Introduction to Coverage and Motion Planning -- 5.2 Coverage Planning Algorithms for a Single Robot -- 5.2.1 An Offline Coverage Planning Algorithm -- 5.2.2 A Real?Time Coverage Planning Algorithm -- 5.3 Coverage Planning Algorithms for Multiple Robots -- 5.3.1 Base Placement Optimization -- 5.3.2 Area Partitioning and Allocation -- 5.3.3 Adaptive Coverage Path Planning -- 5.4 Conclusion -- Bibliography -- Chapter 6 Methodologies in Physical Human-Robot Collaboration for Infrastructure Maintenance -- 6.1 Introduction -- 6.2 Autonomy, Tele?Operation, and pHRC -- 6.2.1 Autonomous Robots -- 6.2.2 Teleoperated Robots -- 6.2.3 Physical Human-Robot Collaboration -- 6.3 Control Methods -- 6.3.1 Motion Control -- 6.3.2 Force Control -- 6.4 Adaptive Assistance Paradigms -- 6.4.1 Manually Adapted Assistance -- 6.4.2 Assistance?As?Needed Paradigms -- 6.4.3 Performance?Based Assistance -- 6.4.4 Physiology?Based Assistance -- 6.5 Safety Framework for pHRC -- 6.6 Performance?Based Role Change -- 6.7 Case Study -- 6.8 Discussion -- Acknowledgements -- Bibliography -- Part II Robotic System Design and Applications -- Chapter 7 Steel Bridge Climbing Robot Design and Development -- 7.1 Introduction -- 7.2 Recent Climbing Robot Platforms Developed by the ARA Lab -- 7.3 Overall Design -- 7.3.1 Mechanical Design and Analysis -- 7.4 Overall Control Architecture. 327 $a7.4.1 Control System Framework -- 7.5 Experiment Results -- 7.5.1 Switching Control -- 7.5.2 Robot Navigation in Mobile and Worming Transformation -- 7.5.3 Robot Deployment -- 7.6 Conclusion and Future Work -- Bibliography -- Chapter 8 Underwater Robots for Cleaning and Inspection of Underwater Structures -- 8.1 Introduction to Maintenance of Underwater Structures -- 8.2 Robot System Design -- 8.2.1 Hull Design and Maneuvering System -- 8.2.2 Robot Arms for Docking and Water?Jet Cleaning -- 8.3 Sensing and Perception in Underwater Environments -- 8.3.1 Underwater Simultaneous Localization and Mapping (SLAM) Around Bridge Piles -- 8.3.2 Marine Growth Identification -- 8.4 Software Architecture -- 8.5 Robot Navigation, Motion Planning and System Integration -- 8.5.1 Localization and Navigation in Open Water -- 8.5.2 System Integration -- 8.6 Testing in a Lab Setup and Trials in the Field -- 8.6.1 Operation Procedure -- 8.6.2 Autonomous Navigation in Narrow Environments -- 8.6.3 Vision?Based Marine Growth Removing Process -- 8.6.4 Inspection and Marine Growth Identification -- 8.7 Reflection and Lessons Learned -- 8.8 Conclusion and Future Work -- Acknowledgments -- Bibliography -- Chapter 9 Tunnel Structural Inspection and Assessment Using an Autonomous Robotic System -- 9.1 Introduction -- 9.2 ROBO?SPECT Project -- 9.2.1 Robotic System -- 9.2.2 Intelligent Global Controller -- 9.2.3 Ground Control Station -- 9.2.4 Structural Assessment Tool -- 9.3 Inspection Procedure -- 9.4 Extended Kalman Filter for Mobile Vehicle Localization -- 9.5 Mobile Vehicle Navigation -- 9.6 Field Experimental Results -- 9.7 Conclusion -- Bibliography -- Chapter 10 BADGER: Intelligent Robotic System for Underground Construction -- 10.1 Introduction -- 10.2 Boring Systems and Methods -- 10.2.1 Directional Drilling Methods -- 10.2.2 Drilling Robotic Systems. 327 $a10.3 Main Drawbacks -- 10.4 BADGER System and Components -- 10.4.1 Main Systems Description -- 10.4.2 BADGER Operation -- 10.5 Future Trends -- Bibliography -- Chapter 11 Robots for Underground Pipe Condition Assessment -- 11.1 Introduction to Ferro?Magnetic Pipeline Maintenance -- 11.1.1 NDT Inspection Taxonomy -- 11.2 Inspection Robots -- 11.2.1 Robot Kinematics and Locomotion -- 11.3 PEC Sensing for Ferromagnetic Wall Thickness Mapping -- 11.3.1 Hardware and Software System Architecture -- 11.4 Gaussian Processes for Spatial Regression from Sampled Inspection Data -- 11.4.1 Gaussian Processes -- 11.5 Field Robotic CA Inspection Results -- 11.6 Concluding Remarks -- Bibliography -- Chapter 12 Robotics and Sensing for Condition Assessment of Wastewater Pipes -- 12.1 Introduction -- 12.2 Nondestructive Sensing System for Condition Assessment of Sewer Walls -- 12.3 Robotic Tool for Field Deployment -- 12.4 Laboratory Evaluation -- 12.5 Field Deployment and Evaluation -- 12.6 Lessons Learned and Future Directions -- 12.7 Concluding Remarks -- Bibliography -- Chapter 13 A Climbing Robot for Maintenance Operations in Confined Spaces -- 13.1 Introduction -- 13.2 Robot Design -- 13.3 Methodologies -- 13.3.1 Perception -- 13.3.2 Control -- 13.3.3 Planning of Robot Body Motion -- 13.4 Experiments and Results -- 13.4.1 Experiment Setup -- 13.4.2 Lab Test Results -- 13.4.3 Field Trials in a Steel Bridge -- 13.5 Discussion -- 13.6 Conclusion -- Bibliography -- Chapter 14 Multi?UAV Systems for Inspection of Industrial and Public Infrastructures -- 14.1 Introduction -- 14.2 Multi?UAV Inspection of Electrical Power Systems -- 14.2.1 Use Cases -- 14.2.2 Architecture -- 14.3 Inspection Planning -- 14.3.1 Vehicle Routing Problem -- 14.4 Onboard Online Semantic Mapping -- 14.4.1 GNSS?Endowed Mapping System. 327 $a14.4.2 Reflectivity and Geometry?Based Semantic Classification -- 14.4.3 Validation -- 14.5 Conclusion -- Bibliography -- Chapter 15 Robotic Platforms for Inspection of Oil Refineries -- 15.1 Refining Oil for Fuels and Petrochemical Basics -- 15.2 The Inspection Process -- 15.3 Inspection and Mechanical Integrity of Oil Refinery Components -- 15.3.1 Liquid Storage Tank Inspection -- 15.3.2 Pressurized Vessels Inspection -- 15.3.3 Process Pipping -- 15.3.4 Heat Exchanger Bundles -- 15.4 Plant Operations, Surveillance, Maintenance Activities, and Others -- 15.4.1 Surveillance, Operations, and Maintenance of Oil and Gas Refineries -- 15.4.2 Safety and Security -- 15.4.3 Utilities and Support Activities -- 15.5 Robotic Systems for Inspection -- 15.5.1 Robotics for Storage Tanks -- 15.5.2 Robotics for Pressure Vessels -- 15.5.3 Robotics for Process Piping -- 15.5.4 Robotics Heat Exchanger Bundles -- 15.6 Robotics for Plant Operations, Surveillance, Maintenance, and Other Related Activities -- 15.6.1 Operations, Surveillance, and Maintenance of Oil and Gas Refineries with Robotic Systems -- 15.6.2 Safety and Security Robotics -- 15.6.3 Robotics for Utilities and Support Activities -- 15.7 Conclusion -- Chapter 16 Drone?Based Solar Cell Inspection With Autonomous Deep Learning -- 16.1 Introduction -- 16.1.1 Motivation -- 16.1.2 Related Works -- 16.1.3 Scope -- 16.2 Aerial Robot and Detection Framework -- 16.2.1 Simulation Environment -- 16.2.2 Solar Panel Detection -- 16.2.3 Aerial Robot Trajectory -- 16.2.4 Sensory Instrumentation for Aerial Robot -- 16.3 Learning Framework -- 16.3.1 Dataset Preparation -- 16.3.2 CNN Architecture -- 16.3.3 Performance Evaluation Measures -- 16.4 Conclusion -- Acknowledgments -- Bibliography -- Chapter 17 Aerial Repair and Aerial Additive Manufacturing. 327 $a17.1 Review of State of the Art in Additive Manufacturing at Architectural Scales. 330 8 $aInfrastructure Robotics Illuminating resource presenting commonly used robotic methodologies and technologies, with recent developments and clear application examples across different project types Infrastructure Robotics presents state-of-the-art research in infrastructure robotics and key methodologies that enable the development of intelligent robots for operation in civil infrastructure environments, describing sensing, perception, localization, map building, environmental and operation awareness, motion and task planning, design methodologies, robot assistance paradigms, and physical human-robot collaboration. The text also presents many case studies of robotic systems developed for real-world applications in maintaining various civil infrastructures, including steel bridges, tunnels, underground water mains, underwater structures, and sewer pipes. In addition, later chapters discuss lessons learned in deployment of intelligent robots in practical applications overall. Infrastructure Robotics provides a timely and thorough treatment of the subject pertaining to recent developments, such as computer vision and machine learning techniques that have been used in inspection and condition assessment of critical civil infrastructures, including bridges, tunnels, and more. Written by highly qualified contributors with significant experience in both academia and industry, Infrastructure Robotics covers topics such as: * Design methods for application of robots in civil infrastructure inspired by biological systems including ants, inchworms, and humans * Fundamental aspects of research on intelligent robotic co-workers for human-robot collaborative operations * The ROBO-SPECT European project and a robotized alternative to manual tunnel structural inspection and assessment * Wider context for the use of additive manufacturing techniques on construction sites Infrastructure Robotics is an essential resource for researchers, engineers, and graduate students in related fields. Professionals in civil engineering, asset management, and project management who wish to be on the cutting edge of the future of their industries will also benefit from the text. 410 0$aIEEE Press Series on Systems Science and Engineering Series 606 $aRobotics 615 0$aRobotics. 676 $a629.892 700 $aLiu$b Dikai$01838450 701 $aBalaguer$b Carlos$01364582 701 $aDissanayake$b Gamini$01838451 701 $aKovac?$b Mirko$0550224 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9911018914703321 996 $aInfrastructure Robotics$94417428 997 $aUNINA