Light coloured and draining wearing courses for low-impact urban pavements

Urban health and well-being are becoming current issues of modern cities due to local climate change and environmental noise. The Urban Heat Island and the Urban Noise Island have a direct impact on the economic, social, and environmental aspects of urban life, negatively affecting the well-being of worldwide citizens. The present research is focused on the study of innovative materials employed in the production of wearing course mixtures aiming to mitigate these phenomena. In particular, a synthetic transparent binder substituting bitumen and recycled aggregates produced from construction and demolition waste. Four mixtures were analysed. Among them, Mix 1 and Mix 2 are conventional wearing courses. The first is exclusively made of natural aggregates, while the second is constituted of 45 % of recycled aggregates (RA). Mix 3 and Mix 4 are draining wearing courses and, in this case, Mix 4 was produced by using 55 % of RA. Laboratory tests were required to fully characterize all the produced samples, allowing a proper comparison of results. Overall, all the mixtures studied provide prominent results suggesting potential applications of these innovative wearing courses in cycle lanes, historical centres, plazas, and parking lots. Among the conventional mixtures, Mix 2 is the most likely to assure the best performance in terms of road safety, efficiency, and durability while as far as the draining mixtures are concerned, Mix 4 is preferable due to its high content of recycled aggregates.

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.