Kinetic modeling for the synthesis of ethyl levulinate

This work is focused on studying the kinetics of esterification of levulinic acid in an isothermal batch reactor using ethanol as a reactant and as a protic polar solvent at the same time and in the presence of an acid catalyst (sulfuric acid). The choice of solvent is important as it affects the kinetics and thermodynamics of the reaction system moreover, the knowledge of the reaction kinetics plays an important role in the design of the process. This work is divided into two stages; The first stage is the experimental part in which the experimental matrix was developed by changing the process variables one at a time (temperature, molar ratio between reactants, and catalyst concentration) in order to study their influence on the kinetics; the second stage is using the obtained data from the experiments to build the modeling part in order to estimate the thermodynamics parameters.

Modeling, simulation, and control of a formation of multirotor aircraft for cooperative transportation of suspended loads

The work presented in this thesis aims to contribute to innovation in the Urban Air Mobility and Delivery sector and represents a solid starting point for air logistics and its future scenarios. The dissertation focuses on modeling, simulation, and control of a formation of multirotor aircraft for cooperative load transportation, with particular attention to environmental sustainability. First, a simulation and test environment is developed to assess technologies for suspended load stabilization. Starting from the mathematical model of two identical multirotors, formation-flight-keeping and collision-avoidance algorithms are analyzed. This approach guarantees both the safety of the vehicles within the formation and that of the payload, which may be made of people in the very near future. Afterwards, a mathematical model for the suspended load is implemented, as well as an active controller for its stabilization. The key focus of this part is represented by both analysis and control of payload oscillatory motion, by thoroughly investigating load kinetic energy decay. At this point, several test cases were introduced, in order to understand which strategy is the most effective and safe in terms of future applications in the field of air logistics.