Angular momentum of S0 galaxies

The aim of this thesis is to study the angular momentum of a sample of S0 galaxies. In the quest to understand whether the formation of S0 galaxies is more closely linked to that of ellipticals or that of spirals, our goal is to compare the amount of their specific angular momentum as a function of stellar mass with respect to spirals. Through kinematic comparison between these different classes of galaxies we aim to understand if a scenario of passive evolution, in which the galaxy’s gas is consumed and the star formation is quenched, can be considered as plausible mechanism to explain the transformation from spirals to S0s. In order to derive the structural and photometric parameters of galaxy sub-components we performed a bulge-disc decomposition of optical images using GALFIT. The stellar kinematic of the galaxies was measured using integral field spectroscopic data from CALIFA survey. The development of new original software, based on a Monte Carlo Markov Chain algorithm, allowed us to obtain the values of the line of sight velocity and velocity dispersion of disc and bulge components. The result that we obtained is that S0 discs have a distribution of stellar specific angular momentum that is in full agreement with that of spiral discs, so the mechanism of simple fading can be considered as one of the most important for transformation from spirals to S0s.

Direct Kinematics of Underactuated Cable-Driven Parallel Robots: Sensitivity to Redundant Measurements

Underactuated cable-driven parallel robots (UACDPRs) shift a 6-degree-of-freedom end-effector (EE) with fewer than 6 cables. This thesis proposes a new automatic calibration technique that is applicable for under-actuated cable-driven parallel robots. The purpose of this work is to develop a method that uses free motion as an exciting trajectory for the acquisition of calibration data. The key point of this approach is to find a relationship between the unknown parameters to be calibrated (the lengths of the cables) and the parameters that could be measured by sensors (the swivel pulley angles measured by the encoders and roll-and-pitch angles measured by inclinometers on the platform). The equations involved are the geometrical-closure equations and the finite-difference velocity equations, solved using the least-squares algorithm. Simulations are performed on a parallel robot driven by 4 cables for validation. The final purpose of the calibration method is, still, the determination of the platform initial pose. As a consequence of underactuation, the EE is underconstrained and, for assigned cable lengths, the EE pose cannot be obtained by means of forward kinematics only. Hence, a direct-kinematics algorithm for a 4-cable UACDPR using redundant sensor measurements is proposed. The proposed method measures two orientation parameters of the EE besides cable lengths, in order to determine the other four pose variables, namely 3 position coordinates and one additional orientation parameter. Then, we study the performance of the direct-kinematics algorithm through the computation of the sensitivity of the direct-kinematics solution to measurement errors. Furthermore, position and orientation error upper limits are computed for bounded cable lengths errors resulting from the calibration procedure, and roll and pitch angles errors which are due to inclinometer inaccuracies.