Seismic fragility assessment of unreiforced masonry aggregate buildings

Aggregate masonry buildings have been generated over the years, allowing the interaction of different aggregated structural units under seismic action. The first part of this work is focused on the seismic vulnerability and fragility assessment of clay brick masonry buildings, sited in Bologna (Italy), with reference, at first, to single isolated structural units, by means of the Response Surface statistical method, taking into account some variabilities and uncertainties involved in the problem. The seismic action was defined by means of a group of selected registered accelerograms, in order to analyse the effect of the variability of the earthquakes. Identical and different structural units chosen by the Response Surface generated simulations are then aggregated in row, in order to compare the collapse PGA referred to the isolated structural unit and the one referred to the aggregate structure. The second part is focused on the seismic vulnerability and fragility assessment of stone masonry structures, sited in Seixal (Portugal), applying a methodology similar to that used for the buildings sited in Bologna. Since the availability of several information, the analyses involved the assessment of the most prevalent structural typologies in the area, considering the variability of a set of structural and geometrical parameters. The results highlighted the importance of the statistic procedures as method able to consider the variabilities and the uncertainties involved in the problem of the fragility of unreinforced masonry structures, in absence of accurate investigations on the structural typologies, as in the Seixal case study. Furthermore, it was showed that the structural units along the unreinforced clay brick or stone masonry aggregates cannot be analysed as isolated, as they are affected by the effect of the aggregation with adjacent structural units, according to the different directions of the seismic action considered and to their different position along the row aggregate.

Mars delivery service - development of the electro-mechanical systems of the Sample Fetch Rover for the Mars Sample Return Campaign

This thesis describes the development of the Sample Fetch Rover (SFR), studied for Mars Sample Return (MSR), an international campaign carried out in cooperation between the National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA). The focus of this document is the design of the electro-mechanical systems of the rover. After placing this work into the general context of robotic planetary exploration and summarising the state of the art for what concerns Mars rovers, the architecture of the Mars Sample Return Campaign is presented. A complete overview of the current SFR architecture is provided, touching upon all the main subsystems of the spacecraft. For each area, it is discussed what are the design drivers, the chosen solutions and whether they use heritage technology (in particular from the ExoMars Rover) or new developments. This research focuses on two topics of particular interest, due to their relevance for the mission and the novelty of their design: locomotion and sample acquisition, which are discussed in depth. The early SFR locomotion concepts are summarised, covering the initial trade-offs and discarded designs for higher traverse performance. Once a consolidated architecture was reached, the locomotion subsystem was developed further, defining the details of the suspension, actuators, deployment mechanisms and wheels. This technology is presented here in detail, including some key analysis and test results that support the design and demonstrate how it responds to the mission requirements. Another major electro-mechanical system developed as part of this work is the one dedicated to sample tube acquisition. The concept of operations of this machinery was defined to be robust against the unknown conditions that characterise the mission. The design process led to a highly automated robotic system which is described here in its main components: vision system, robotic arm and tube storage.