Feedback linearization of antagonistically actuated variable stiffness joints with twisted string actuators

The work of this thesis is on the implementation of a variable stiffness joint antagonistically actuated by a couple of twisted-string actuator (TSA). This type of joint is possible to be applied in the field of robotics, like UB Hand IV (the anthropomorphic robotic hand developed by University of Bologna). The purposes of the activities are to build the joint dynamic model and simultaneously control the position and stiffness. Three different control approaches (Feedback linearization, PID, PID+Feedforward) are proposed and validated in simulation. To improve the properties of joint stiffness, a joint with elastic element is taken into account and discussed. To the end, the experimental setup that has been developed for the experimental validation of the proposed control approaches.

Development of a state-variable filter for a motion control application.

In collaboration with G.D. SpA I attended an internship with the purpose of developing a filter for the position control of industrial machines during testing and maintenance operations. The filter elaborates a signal in position provided by an electonic handwheel, in order to enable the application to be controlled with a signal in velocity with arbitrarily dynamics chosen during the design phase. Limiting the dynamics of the filter provide a more stable and less demanding reference trajectory which reduce the vibrations and tracking errors of the motor controlled by it. It also prevents misusages of the handwheel from the technician which could end up in harmful interferences between the mechanical parts moved by the handwheel.

A LES study of a modified Ahmed body geometry

A numerical study using Large Eddy Simulation Coherent Structure Model (LES-CSM), of the flow around a simplified Ahmed body, has been done in this work of thesis. The models used are two salient geometries from the experimental investigation performed in [1], and consist, in particular, in two notch-back body geometries. Six simulation are carried out in total, changing Reynolds number and back-light angle of the model’s rear part. The Reynolds numbers used, based on the height of the models and the free stream velocity, are Re = 10000, Re = 30000 and Re = 50000. The back-light angles of the slanted surface with respect to the horizontal roof surface, that characterizes the vehicle, are taken as B = 31.8◦ and B = 42◦ respectively. The experimental results in [1] have shown that, depending on the parameter B, asymmetric and symmetric averaged flow over the back-light and in the wake for a symmetric geometry can be observed. The aims of the present work of master thesis are principally two. The first aim is to investigate and confirm the influence of the parameter B on the presence of the asymmetry of the averaged flow, and confirm the features described in the experimental results. The second important aspect is to investigate and observe the influence of the second variable, the Reynolds number, in the developing of the asymmetric flow itself. The results have shown the presence of the mentioned asymmetry as well as an influence of the Reynolds number on it.

When Beauty Goes to Sleep: an analysis of the symbolism behind the sleeping beauty tale

Approaching the world of the fairy tale as an adult, one soon realizes that things are not what they once seemed during story time in bed. Something that once appeared so innocent and simple can become rather complex when digging into its origin. A kiss, for example, can mean something else entirely. I can clearly remember my sister, who is ten years older than I am, telling me that the fairy tales I was told had a mysterious hidden meaning I could not understand. I was probably 9 or 10 when she told me that the story of Sleeping Beauty, which I used to love so much in Disney’s rendering, was nothing more than the story of an adolescent girl, with all the necessary steps needed to become a woman, the bleeding of menstruation and the sexual awakening - even though she did not really put it in these terms. This shocking news troubled me for a while, so much so that I haven’t watched that movie since. But in reality it was not fear that my sister had implanted in me: it was curiosity, the feeling that I was missing something terribly important behind the words and images. But it was not until last year during my semester abroad in Germany, where I had the chance to take a very interesting English literature seminar, that I fully understood what I had been looking for all these years. Thanks to what I learned from the work of Bruno Bettelheim, Jack Zipes, Vladimir Propp, and many other authors that wrote extensively about the subject, I feel I finally have the right tools to really get to know this fairy tale. But what I also know now is that the message behind fairy tales is not to be searched for behind only one version: on the contrary, since they come from oral traditions and their form was slowly shaped by centuries of recountals and retellings, the more one digs, the more complete the understanding of the tale will be. I will therefore look for Sleeping Beauty’s hidden meaning by looking for the reason why it did stick so consistently throughout time. To achieve this goal, I have organized my analysis in three chapters: in the first chapter, I will analyze the first known literary version of the tale, the French Perceforest, and then compare it with the following Italian version, Basile’s Sun, Moon, and Talia; in the second chapter, I will focus on the most famous and by now classical literary versions of Sleeping Beauty, La Belle Au Bois Dormant, written by the Frenchman, Perrault, and the German Dornröschen, recorded by the Brothers Grimm’s; finally, in the last chapter, I will analyze Almodovar’s film Talk to Her as a modern rewriting of this tale, which after a closer look, appears closely related to the earliest version of the story, Perceforest.