Singularity-Free Fully-Isotropic Translational Parallel Manipulators

Parallel mechanisms show desirable characteristics such as a large payload to robot weight ratio, considerable stiffness, low inertia and high dynamic performances. In particular, parallel manipulators with fewer than six degrees of freedom have recently attracted researchers’ attention, as their employ may prove valuable in those applications in which a higher mobility is uncalled-for. The attention of this dissertation is focused on translational parallel manipulators (TPMs), that is on parallel manipulators whose output link (platform) is provided with a pure translational motion with respect to the frame. The first part deals with the general problem of the topological synthesis and classification of TPMs, that is it identifies the architectures that TPM legs must possess for the platform to be able to freely translate in space without altering its orientation. The second part studies both constraint and direct singularities of TPMs. In particular, special families of fully-isotropic mechanisms are identified. Such manipulators exhibit outstanding properties, as they are free from singularities and show a constant orthogonal Jacobian matrix throughout their workspace. As a consequence, both the direct and the inverse position problems are linear and the kinematic analysis proves straightforward.

Shallow and deep deformation in northern Apennines region using seismological data

For its particular position and the complex geological history, the Northern Apennines has been considered as a natural laboratory to apply several kinds of investigations. By the way, it is complicated to joint all the knowledge about the Northern Apennines in a unique picture that explains the structural and geological emplacement that produced it. The main goal of this thesis is to put together all information on the deformation - in the crust and at depth - of this region and to describe a geodynamical model that takes account of it. To do so, we have analyzed the pattern of deformation in the crust and in the mantle. In both cases the deformation has been studied using always information recovered from earthquakes, although using different techniques. In particular the shallower deformation has been studied using seismic moment tensors information. For our purpose we used the methods described in Arvidsson and Ekstrom (1998) that allowing the use in the inversion of surface waves [and not only of the body waves as the Centroid Moment Tensor (Dziewonski et al., 1981) one] allow to determine seismic source parameters for earthquakes with magnitude as small as 4.0. We applied this tool in the Northern Apennines and through this activity we have built up the Italian CMT dataset (Pondrelli et al., 2006) and the pattern of seismic deformation using the Kostrov (1974) method on a regular grid of 0.25 degree cells. We obtained a map of lateral variations of the pattern of seismic deformation on different layers of depth, taking into account the fact that shallow earthquakes (within 15 km of depth) in the region occur everywhere while most of events with a deeper hypocenter (15-40 km) occur only in the outer part of the belt, on the Adriatic side. For the analysis of the deep deformation, i.e. that occurred in the mantle, we used the anisotropy information characterizing the structure below the Northern Apennines. The anisotropy is an earth properties that in the crust is due to the presence of aligned fluid filled cracks or alternating isotropic layers with different elastic properties while in the mantle the most important cause of seismic anisotropy is the lattice preferred orientation (LPO) of the mantle minerals as the olivine. This last is a highly anisotropic mineral and tends to align its fast crystallographic axes (a-axis) parallel to the astenospheric flow as a response to finite strain induced by geodynamic processes. The seismic anisotropy pattern of a region is measured utilizing the shear wave splitting phenomenon (that is the seismological analogue to optical birefringence). Here, to do so, we apply on teleseismic earthquakes recorded on stations located in the study region, the Sileny and Plomerova (1996) approach. The results are analyzed on the basis of their lateral and vertical variations to better define the earth structure beneath Northern Apennines. We find different anisotropic domains, a Tuscany and an Adria one, with a pattern of seismic anisotropy which laterally varies in a similar way respect to the seismic deformation. Moreover, beneath the Adriatic region the distribution of the splitting parameters is so complex to request an appropriate analysis. Therefore we applied on our data the code of Menke and Levin (2003) which allows to look for different models of structures with multilayer anisotropy. We obtained that the structure beneath the Po Plain is probably even more complicated than expected. On the basis of the results obtained for this thesis, added with those from previous works, we suggest that slab roll-back, which created the Apennines and opened the Tyrrhenian Sea, evolved in the north boundary of Northern Apennines in a different way from its southern part. In particular, the trench retreat developed primarily south of our study region, with an eastward roll-back. In the northern portion of the orogen, after a first stage during which the retreat was perpendicular to the trench, it became oblique with respect to the structure.

Nanocarbon-Supported Electrocatalysts for the Alkaline Water Splitting and Fuel Cells

Electrocatalysts play a significant role in the processes of electrochemical energy conversion. This thesis focuses on the preparation of carbon-supported nanomaterials and their application as electrocatalysts for alkaline water electrocatalysis and fuel cell. A general synthetic route was developed, i.e., species intercalate into carbon layers of graphite forming graphite intercalation compound, followed by dispersion producing graphenide solution, which then as reduction agent reacts with different metal sources generating the final materials. The first metal precursor used was non-noble metal iron salt, which generated iron (oxide) nanoparticles finely dispersed on carbon layers in the final composite materials. Meanwhile, graphite starting materials differing in carbon layer size were utilized, which would diversify corresponding graphenide solutions, and further produce various nanomaterials. The characterization results showed that iron (oxide) nanoparticles varying in size were obtained, and the size was determined by the starting graphite material. It was found that they were electrocatalytically active for oxygen reactions. In particular, the one with small iron (oxide) nanoparticles showed excellent electrocatalytic activity for both oxygen reduction reaction (ORR) and oxygen evolution reaction (OER). Afterwards, the metal precursor was tuned from non-noble metal salt to noble metal salt. It was confirmed that carbon-supported Rh, Pt, and RhPt (oxide) nanoparticle composite materials were also successfully obtained from the reaction between graphenide solution and corresponding noble metal precursor. The electrochemical measurements showed that the prepared noble metal-based nanomaterials were quite effective for hydrogen evolution reaction (HER) electrocatalysis, and the Rh sample could also display excellent electrocatalytic property towards OER. Moreover, by this synthetic approach carbon-supported noble metal Pt and non-noble metal nickel (Ni) composite material was also prepared. Therefore, the utilization efficiency of noble metal could be improved. The prepared NiPt sample displayed a property close to benchmark HER electrocatalyst.

Kinetics of photogenerated carriers in nanostructured semiconductor heterojunctions for solar water splitting

This thesis aims to investigate the fundamental processes governing the performance of different types of photoelectrodes used in photoelectrochemical (PEC) applications, such as unbiased water splitting for hydrogen production. Unraveling the transport and recombination phenomena in nanostructured and surface-modified heterojunctions at a semiconductor/electrolyte interface is not trivial. To approach this task, the work presented here first focus on a hydrogen-terminated p-silicon photocathode in acetonitrile, considered as a standard reference for PEC studies. Steady-state and time-resolved excitation at long wavelength provided clear evidence of the formation of an inversion layer and revealed that the most optimal photovoltage and the longest electron-hole pair lifetime occurs when the reduction potential for the species in solution lies within the unfilled conduction band states. Understanding more complex systems is not as straight-forward and a complete characterization that combine time- and frequency-resolved techniques is needed. Intensity modulated photocurrent spectroscopy and transient absorption spectroscopy are used here on WO3/BiVO4 heterojunctions. By selectively probing the two layers of the heterojunction, the occurrence of interfacial recombination was identified. Then, the addition of Co-Fe based overlayers resulted in passivation of surface states and charge storage at the overlayer active sites, providing higher charge separation efficiency and suppression of recombination in time scales that go from picoseconds to seconds. Finally, the charge carrier kinetics of several different Cu(In,Ga)Se2 (CIGS)-based architectures used for water reduction was investigated. The efficiency of a CIGS photocathode is severely limited by charge transfer at the electrode/electrolyte interface compared to the same absorber layer used as a photovoltaic cell. A NiMo binary alloy deposited on the photocathode surface showed a remarkable enhancement in the transfer rate of electrons in solution. An external CIGS photovoltaic module assisting a NiMo dark cathode displayed optimal absorption and charge separation properties and a highly performing interface with the solution.