Energy efficiency is a key challenge to build a sustainable society. It can be declined in variety of ways: for instance, from the reduction of the environmental impact of appliances manufacturing, to the implementation of low-energy communication networks, or the management of the existing infrastructures in a smarter way. The actual direction is the integration of different energy systems with a common management scheme with the aim of harmonizing and integrating different energy systems. In this context, smart cities already envision the use of information communication technologies (ICT) to smartify objects and services, connecting people and machines. An important enabling technology for smart cities is certainly the Internet of Things (IoT). Both smart cities and IoT have been extensively investigated over the last few years, under the influence of European funded projects as well. Smart cities apply communication and networking technologies, very often using the paradigm of IoT, to address relevant issues like traffic congestion, population growth, crowding, and others, besides implementing innovative services, modernizing existing infrastructures, e.g. smart mobility. IoT greatly helps in monitoring and better managing energy consumption as well, realizing smart homes, smart buildings and smart grids. For what concern the power grid, in fact, the direction is to harness IoT technologies to improve flexibility, easiness of use and, ultimately, energy efficiency while preserving stability and safety. Today the electrical grid is facing deep changes, mostly caused by the intensive deployment of Distributed Energy Resources (DER) based on renewable sources such as photovoltaic plants or wind farms. Managing such heterogeneous active distribution networks (ADNs), represent one of the most important challenges to be faced in the future of energy systems. The integration of active elements into the grid is challenging because of both the great potential they bring in energy production and the hazard they may represent if not properly managed (e.g. violation of operational constraints). ADN implementation relies on the deployment of high-performance real-time monitoring and control systems. It is well accepted that the phasor measurement units (PMU) are one of the most promising instruments to overcome many problems in ADN management, as they support a number of applications, such as grid state estimation, topology detection, volt-var optimization and reverse power flow management. However, classic PMUs are conceived to measure synchrophasor in transmission systems, while the distribution ones have very different characteristics and, in general, different needs. Therefore, tailoring the characteristics of the new-generation PMUs to the needs of the ADNs is currently very important. This new kind of PMU must address few important design challenges: 1. improved angle measurement capabilities, to cope with the smaller angle differences that distribution grids exhibit; 2. low cost, to promote an extensive deployment in the grid. These two requirements are clearly in opposition. In this dissertation, a low-cost PMU design approach, partially influenced by IoT ideas, is presented.

Recent advancements in biomedical research and imaging applications have ignited an intense interest in single-photon detection. Along with single-photon resolution, nanosecond or sub-nanosecond timing resolution and high sensitivity of the device must be achieved at the same time. Single- Photon Avalanche Diodes (SPADs) have proved their prospectives in terms of shot-noise limited operation, excellent timing resolution and wide spec- tral range. Nonetheless, the performance of recently presented SPAD based arrays has an issue of low detection efficiency by reason of the area on the substrate occupied by additional processing electronics. This dissertation presents the design and experimental characteriza- tion of a few compact analog readout circuits for SPAD based arrays. Tar- geting the applications where the spatial resolution is the key requirement, the work is focused on the circuit compactness, that is, pixel fill factor re- finement. Consisting of only a few transistors, the proposed structures are remarkable for a small area occupation. This significant advancement has been achieved with the analog implementation of the additional circuitry instead of standard digital approach. Along with the compactness, the dis- tinguishing features of the circuits are low power consumption, low output non-linearity and pixel-to-pixel non-uniformity. In addition, experimental results on a time-gated operation have proved feasibility of a sub-nanosecond time window.

The development of Fully Depleted Monolithic Active Pixel Sensors (FD-MAPS) represents nowadays a hot-topic in the radiation detector community. The advantages in terms of production costs and easiness of manufacturing in comparison to the state-of-the-art hybrid detectors boost the research effort in the direction of developing new CMOS compatible detector technologies. To this end, the INFN ARCADIA project targeted the design of a sensor platform for the production of FD-MAPS to be employed in different scientific, medical and space applications. The sensor technology has been developed in collaboration with LFoundry on the basis of a standard 110nm CMOS production process with some modifications needed to meet the project requirements. High resistivity n-type silicon substrates have been chosen for the sensor active volume and a n-type epitaxial layer has been included at the sensor frontside to delay the onset of the punch-through current flowing between the frontside and backside p-type implants. The sensor n-type collection electrodes are surrounded by pwells, which can host the embedded analog and digital frontend electronics, and deep pwells have been included below the pwells to shield them from the sensor substrate. Three engineering runs have been submitted and the produced wafers have been delivered in 2021, 2022 and 2023, respectively. An additional p-type implant has been added in the third production run to create an embedded gain layer below the n-type collection electrodes, to enhance the signal through avalanche multiplication. A selection of the main results obtained from the TCAD simulations and of the most relevant measurements performed on the designed MAPS passive test structures will be presented and discussed in chapter 4. In an analogous way, the experimental results obtained from the characterization of an active sensor designed for brachytherapy, called COBRA, are reported in chapter 5. The calibration of the capacitance included in the internal charge injection circuit of two TJ-Monopix2 MAPS having different substrate types is reported in chapter 6. These sensors represent examples of fully functional and full scale monolithic prototypes realized in a 180nm Tower-Jazz CMOS process, that have been characterized using X-rays fluorescence techniques at the SiLab of the University of Bonn. Finally, in the Conclusions section the main results of the research activity are summarized and the possible future spin-offs of the project are presented.

In the era in which the robots have started to live and work everywhere and in close contact with humans, they should accurately know their own location at any time to be able to move and perform safely. In particular, large and crowded indoor environments are challenging scenarios for robots' accurate and robust localization. The theory and the results presented in this dissertation intend to address the crucial issue of wheeled robots indoor localization by proposing some novel solutions in three complementary ways, i.e. improving robots self-localization through data fusion, adopting collaborative localization (e.g. using the position information from other robots) and finally optimizing the placement of landmarks in the environment once the detection range of the chosen sensors is known. As far as the first subject is concerned, a robot should be able to localize itself in a given reference frame. This problem is studied in detail to achieve a proper and affordable technique for self-localization, regardless of specific environmental features. The proposed solution relies on the integration of relative and absolute position measurements. The former are based on odometry and on an inertial measurement unit. The absolute position and heading data instead are measured sporadically anytime some landmark spread in the environment is detected. Due to the event-based nature of such measurement data, the robot can work autonomously most of time, even if accuracy degrades. Of course, in order to keep positioning uncertainty bounded, it is important that absolute and relative position data are fused properly. For this reason, four different techniques are analyzed and compared in the dissertation. Once the local kinematic state of each robot is estimated, a group of them moving in the same environment and able to detect and communicate with one another can also collaborate to share their position information to refine self-localization results. In the dissertation, it will be shown that this approach can provide some benefits, although performances strongly depend on the metrological features of the adopted sensors as well as on the communication range. Finally, as far as the problem optimal landmark placement is concerned, this is addressed by suggesting a novel and easy-to-use geometrical criterion to maximize the distance between the landmarks deployed over a triangular lattice grid, while ensuring that the absolute position measurement sensors can always detect at least one landmark.

Gamma-ray and Fluorescence Lifetime Spectroscopies are driving the development of non-imaging silicon photon sensors and, in this context, Silicon Photo-Multipliers (SiPM)s are leading the starring role. They are 2D array of optical diodes called Single Photon Avalanche Diodes (SPAD)s, and are normally fabricated with a dedicated silicon process. SPADs amplify the charge produced by the single absorbed photon in a way that recalls the avalanche amplification exploited in Photo-Multiplier Tubes (PMT)s. Recently 2D arrays of SPADs have been realized also in standard CMOS technology, paving the way to the realization of completely custom sensors that can host ancillary electronic and digital logic on-chip. The designs of scientific apparatus have been influenced for years by the bulky PMT-based detectors. An overwhelming interest in both SiPMs and CMOS SPADs lies in the possibility of displacing these small sensors realizing new detectors geometries. This thesis examines the potential deployment of SiPM-based detector in an apparatus built for the study of the Time-Of-Flight (TOF) of Positronium (Ps) and the displacement of 2D array of CMOS SPADs in a lab-on-chip apparatus for Fluorescence Lifetime Spectroscopy. The two design procedures are performed using Monte-Carlo simulations. Characterizations of the two sensor have been carried out, allowing for a performance evaluation and a validation of the two design procedures.

The Terahertz (THz) band of the electromagnetic spectrum, also defined as sub-millimeter waves, covers the frequency range from 300 GHz to 10 THz. There are several unique characteristics of the radiation in this frequency range such as the non-ionizing nature, since the associated power is low and therefore it is considered as safe technology in many applications. THz waves have the capability of penetrating through several materials such as plastics, paper, and wood. Moreover, it provides a higher resolution compared to conventional mmWave technologies thanks to its shorter wavelengths. The most promising applications of the THz technology are medical imaging, security/surveillance imaging, quality control, non-destructive materials testing and spectroscopy. The potential advantages in these fields provide the motivation to develop room-temperature THz detectors. In terms of low cost, high volume, and high integration capabilities, standard CMOS technology has been considered as an excellent platform to achieve fully integrated THz imaging systems. In this Ph.D. thesis, we report on the design and development of field effect transistor (FET) THz direct detectors operating at low THz frequency (e.g. 300 GHz), as well as at higher THz frequencies (e.g. 800 GHz – 1 THz). In addition, we investigated the implementation issues that limit the power coupling efficiency with the integrated antenna, as well as the antenna-detector impedance-matching condition. The implemented antenna-coupled FET detector structures aim to improve the detection behavior in terms of responsivity and noise equivalent power (NEP) for CMOS based imaging applications. Since the detected THz signals by using this approach are extremely weak with limited bandwidth, the next section of this work presents a pixel-level readout chain containing a cascade of a pre-amplification and noise reduction stage based on a parametric chopper amplifier and a direct analog-to-digital conversion by means of an incremental Sigma-Delta converter. The readout circuit aims to perform a lock-in operation with modulated sources. The in-pixel readout chain provides simultaneous signal integration and noise filtering for the multi-pixel FET detector arrays and hence achieving similar sensitivity by the external lock-in amplifier. Next, based on the experimental THz characterization and measurement results of a single pixel (antenna-coupled FET detector + readout circuit), the design and implementation of a multispectral imager containing 10 x 10 THz focal plane array (FPA) as well as 50 x 50 (3T-APS) visible pixels is presented. Moreover, the readout circuit for the visible pixel is realized as a column-level correlated double sampler. All of the designed chips have been implemented and fabricated in 0.15-µm standard CMOS technology. The physical implementation, fabrication and electrical testing preparation are discussed.

3D Si radiation sensors came along with extreme radiation hard properties, primarily owing to the geometrical advantages over planar sensors where electrodes are formed penetrating through the active substrate volume. Among them: reduction of the inter-electrode distance, lower depletion voltage requirement, inter-columnar high electric field distribution, lower trapping probability, faster charge collection capability, lower power dissipation, and lower inter-pitch charge sharing. Since several years, FBK has developed 3D sensors with a double-sided technology, that have also been installed in the ATLAS Insertable B-Layer at LHC. However, the future High-Luminosity LHC (HL-LHC) upgrades, aimed to be operational by 2024, impose a complete swap of current 3D detectors with more radiation hard sensor design, able to withstand very large particle fluences up to 2×1016 cm-2 1-MeV equivalent neutrons. The extreme luminosity conditions and related issues in occupancy and radiation hardness lead to very dense pixel granularity (50×50 or 25×100 μm2), thinner active region (~100 μm), narrower columnar electrodes (~5μm diameter) with reduced inter-electrode spacing (~30 μm), and very slim edges (~100 μm) into the 3D pixel sensor design. This thesis includes the development of this new generation of small-pitch and thin 3D radiation sensors aimed at the foreseen Inner Tracker (ITk) upgrades at HL-LHC.

The upgrades of High Energy Physics (HEP) experiments at the Large Hadron Collider (LHC) will call for new radiation hard technologies to be applied in the next generations of tracking devices that will be required to withstand extremely high radiation doses. In this sense, one of the most promising approaches to silicon detectors, is the so called 3D technology. This technology realizes columnar electrodes penetrating vertically into the silicon bulk thus decoupling the active volume from the inter-electrode distance. 3D detectors were first proposed by S. Parker and collaborators in the mid ’90s as a new sensor geometry intended to mitigate the effects of radiation damage in silicon. 3D sensors are currently attracting growing interest in the field of High Energy Physics, despite their more complex and expensive fabrication, because of the much lower operating voltages and enhanced radiation hardness. 3D technology was also investigated in other laboratories, with the intent of reducing the fabrication complexity and aiming at medium volume sensor production in view of the first upgrades of the LHC experiments. This work will describe all the efforts in design, fabrication and characterization of 3D detectors produced at FBK for the ATLAS Insertable B-Layer, in the framework of the ATLAS 3D sensor collaboration. In addition, the design and preliminary characterization of a new batch of 3D sensor will also be described together with new applications of 3D technology.

Modern communication and space systems such as satellite communication devices, radars, SAR and radio astronomy interferometers are realized with large antenna arrays since this kind of radiating systems are able to generate radiation patterns with high directivity and resolution. In such a framework conventional arrays with uniform inter-element spacing could be not satisfactory in terms of costs and dimensions. An interesting alternative is to reduce the array elements obtaining the so called "thinned arrays". Large isophoric thinned arrays have been exploited because of their advantages in terms of weight, consumption, hardware complexity, and costs over their filled counterparts. Unfortunately, thinning large arrays reduces the control of the peak sidelobe level (PSL) and does not give automatically optimal spatial frequency coverage for correlators. First of all the state of the art methodologies used to overcome such limitations, e.g., random and algorithmic approaches, dynamic programming and stochastic optimization algorithms such as genetic algorithms, simulated annealing or particle swarm optimizers, are analyzed and described in the introduction. Successively, innovative guidelines for the synthesis of large radiating systems are proposed, and discussed in order to point out advantages and limitations. In particular, the following specific issues are addressed in this work: 1. A new class of analytical rectangular thinned arrays with low peak sidelobe level (PSL). The proposed synthesis technique exploits binary sequences derived from McFarland difference sets to design thinned layouts on a lattice of P(P+2) positions for any prime P. The pattern features of the arising massively-thinned arrangements characterized by only P(P+1) active elements are discussed and the results of an extensive numerical analysis are presented to assess advantages and limitations of the McFarland-based arrays. 2. A set of techniques is presented that is based on the exploitation of low correlation Almost Difference Sets (ADSs) sequences to design correlator arrays for radioastronomy applications. In particular three approaches are discussed with different objectives and performances. ADS-based analytical designs, GA-optimized arrangements, and PSO optimized arrays are presented and applied to the synthesis of open-ended "Y" and "Cross" array configurations to maximize the coverage u-v or to minimize the peak sidelobe level (PSL). Representative numerical results are illustrated to point out the features and performances of the proposed approaches, and to assess their effectiveness in comparison with state-of-the-art design methodologies, as well. The presented analysis indicates that the proposed approaches overcome existing PSO-based correlator arrays in terms of PSL control (e.g., >1.0dB reduction) and tracking u-v coverage (e.g., up to 2\% enhancement), also improving the speed of convergence of the synthesis process. 3. A genetic algorithm (GA)-enhanced almost difference set (ADS)-based methodology to design thinned planar arrays with low-peak sidelobe levels (PSLs). The method allows to overcome the limitations of the standard ADS approach in terms of flexibility and performance. The numerical validation, carried out in the far-field and for narrow-band signals, points out that with affordable computational efforts it is possible to design planar array arrangements that outperform standard ADS-based designs as well as standard GA design approaches.