Direct C–H silylation and borylation of biomass derivatives by iridium heterogeneous catalysts

Furfural and its derivatives represent renewable and readily available platforms for a wide range of chemicals. Much attention has been devoted to their functionalization over the last years. TM-catalysed C–H activation has emerged as a powerful tool for synthesizing new C–C and C–X bonds. Moreover, it provides a sustainable way to obtain molecules by reducing waste and saving steps. At the same time, iridium catalysts have proven to be very active in some C–H functionalizations of several (hetero)arenes. Although very promising, this technique is still poorly applied on an industrial scale due to the severe conditions required. Continuous flow chemistry using heterogeneous catalysts appears to be a valuable way to overcome these problems. In this work, we present different solutions for the immobilization of homogeneous iridium complexes on silica gels, using bidentate amines and phosphines as anchoring ligands. We successfully employed the catalysts in C–H silylation and borylation of furfural, using C2 located directing group. In this way, we finally obtained a suitable catalyst that could be potentially applied in continuous-flow chemistry.

Axis control optimization: autotuning techniques and frequency response analysis of industrial mechatronic systems

In the field of industrial automation, there is an increasing need to use optimal control systems that have low tracking errors and low power and energy consumption. The motors we are dealing with are mainly Permanent Magnet Synchronous Motors (PMSMs), controlled by 3 different types of controllers: a position controller, a speed controller, and a current controller. In this thesis, therefore, we are going to act on the gains of the first two controllers by going to find, through the TwinCAT 3 software, what might be the best set of parameters. To do this, starting with the default parameters recommended by TwinCAT, two main methods were used and then compared: the method of Ziegler and Nichols, which is a tabular method, and advanced tuning, an auto-tuning software method of TwinCAT. Therefore, in order to analyse which set of parameters was the best,several experiments were performed for each case, using the Motion Control Function Blocks. Moreover, some machines, such as large robotic arms, have vibration problems. To analyse them in detail, it was necessary to use the Bode Plot tool, which, through Bode plots, highlights in which frequencies there are resonance and anti-resonance peaks. This tool also makes it easier to figure out which and where to apply filters to improve control.