Integration of the computer controlled screwdriver for Robotic manufacturing in the ROS environment

The computer controlled screwdriver is a modern technique to perform automatic screwing/unscrewing operations.The main focus is to study the integration of the computer controlled screwdriver for Robotic manufacturing in the ROS environment.This thesis describes a concept of automatic screwing mechanism composed by universal robots, in which one arm of the robot is for inserting cables and the other is for screwing the cables on the control panel switch gear box. So far this mechanism is carried out by human operators and is a fairly complex one to perform, due to the multiple cables and connections involved. It's for this reason that an automatic cabling and screwing process would be highly preferred within automotive/automation industries. A study is carried out to analyze the difficulties currently faced and a controller based algorithm is developed to replace the manual human efforts using universal robots, thereby allowing robot arms to insert the cables and screw them onto the control panel switch gear box. Experiments were conducted to evaluate the insertion and screwing strategy, which shows the result of inserting and screwing cables on the control panel switch gearbox precisely.

Ephemeris generation of the Galilean moons by using VLBI observations in support to stellar occultations

Stellar occultations are the most accurate Earth-based astronomy technique to obtain the lateral position of celestial bodies, in the case of natural satellites, their accuracy also depends on the central body to which the satellite orbits. The main goal of this thesis work is to analyze if and how very long baseline interferometry (VLBI) measurements of a body like Jupiter can be used in support to stellar occultations of its natural satellites by reducing the planetary uncertainty at the time of the occultation. In particular, we analyzed the events of the stellar occultations of Callisto (15.01.2024) and Io (02.04.2021). The stellar occultation of Callisto has been predicted and simulated using the stellar occultation reduction analysis (SORA) toolkit while the stellar occultation of Io has been already studied by Morgado et al. We then simulated the VLBI data of Jupiter according to the current JUNO trajectories. The required observation were then used as input of an estimation to which then we performed a covariance analysis on the estimated parameters to retrieve the formal errors (1 − σ uncertainties) at each epoch of the propagation. The results show that the addition of the VLBI slightly improves the uncertainty of Callisto even when Jupiter knowledge is worse while for Io we observed that the VLBI data is especially crucial in the scenario of an a priori uncertainty in Jupiter state of about 10km. Here we can have improvements of the estimated initial states of Io of about 70m, 230m and 900m to the radial, along-track and cross-track directions respectively. Moreover, we have also obtained the propagated errors of the two moons in terms of right ascension and declination which both show uncertainties in the mas level at the occultation time. Finally, we simulated Io and Europa together and we observed that at the time of the stellar occultation of Europa the along-track component of Io is constrained, confirming the coupling between the two inner moons.

Modeling Ultrafast Spectroscopy of the NADH Dimer: From UV-VIS to X-rays

Ultrafast pump-probe spectroscopy is a conceptually simple and versatile tool for resolving photoinduced dynamics in molecular systems. Due to the fast development of new experimental setups, such as synchrotron light sources and X-ray free electron lasers (XFEL), new spectral windows are becoming accessible. On the one hand, these sources have enabled scientist to access faster and faster time scales and to reach unprecedent insights into dynamical properties of matter. On the other hand, the complementarity of well-developed and novel techniques allows to study the same physical process from different points of views, integrating the advantages and overcoming the limitations of each approach. In this context, it is highly desirable to reach a clear understanding of which type of spectroscopy is more suited to capture a certain facade of a given photo-induced process, that is, to establish a correlation between the process to be unraveled and the technique to be used. In this thesis, I will show how computational spectroscopy can be a tool to establish such a correlation. I will study a specific process, which is the ultrafast energy transfer in the nicotinamide adenine dinucleotide dimer (NADH). This process will be observed in different spectral windows (from UV-VIS to X-rays), accessing the ability of different spectroscopic techniques to unravel the system evolution by means of state-of-the-art theoretical models and methodologies. The comparison of different spectroscopic simulations will demonstrate their complementarity, eventually allowing to identify the type of spectroscopy that is best suited to resolve the ultrafast energy transfer.

Stellar mass loss from the Fornax dwarf spheroidal galaxy

Dwarf galaxies often experience gravitational interactions from more massive companions. These interactions can deform galaxies, turn star formation on or off, or give rise to mass loss phenomena. In this thesis work we propose to study, through N-body simulations, the stellar mass loss suffered by the dwarf spheroid galaxy (dSph) Fornax orbiting in the Milky Way gravitational potential. Which is a key phenomenon to explain the mass budget problem: the Fornax globular clusters together have a stellar mass comparable to that of Fornax itself. If we look at the stellar populations which they are made of and we apply the scenarios of stellar population formation we find that, originally, they must have been >= 5 times more massive. For this reason, they must have lost or ejected stars through dynamic interactions. However, as presented in Larsen et al (2012), field stars alone are not sufficient to explain this scenario. We may assume that some of those stars fell into Fornax, and later were stripped by Milky Way. In order to study this solution we built several illustrative single component simulations, with a tabulated density model using the P07ecc orbit studied from Battaglia et al (2015). To divide the single component into stellar and dark matter components we have defined a posterior the probability function P(E), where E is the initial energy distribution of the particles. By associating each particle with a fraction of stellar mass and dark matter. In this way we built stellar density profiles without repeating simulations. We applied the method to Fornax using the profile density tables obtained in Pascale et al (2018) as observational constraints and to build the model. The results confirm the results previously obtained with less flexible models by Battaglia et al (2015). They show a stellar mass loss < 4% within 1.6 kpc and negligible within 3 kpc, too small to solve the mass budget problem.