Optimal pose selection for the calibration of an overconstrained Cable-Driven Parallel Robot

In this project an optimal pose selection method for the calibration of an overconstrained Cable-Driven Parallel robot is presented. This manipulator belongs to a subcategory of parallel robots, where the classic rigid "legs" are replaced by cables. Cables are flexible elements that bring advantages and disadvantages to the robot modeling. For this reason, there are many open research issues, and the calibration of geometric parameters is one of them. The identification of the geometry of a robot, in particular, is usually called Kinematic Calibration. Many methods have been proposed in the past years for the solution of the latter problem. Although these methods are based on calibration using different kinematic models, when the robot’s geometry becomes more complex, their robustness and reliability decrease. This fact makes the selection of the calibration poses more complicated. The position and the orientation of the endeffector in the workspace become important in terms of selection. Thus, in general, it is necessary to evaluate the robustness of the chosen calibration method, by means, for example, of a parameter such as the observability index. In fact, it is known from the theory, that the maximization of the above mentioned index identifies the best choice of calibration poses, and consequently, using this pose set may improve the calibration process. The objective of this thesis is to analyze optimization algorithms which aim to calculate an optimal choice of poses both in quantitative and qualitative terms. Quantitatively, because it is of fundamental importance to understand how many poses are needed. Not necessarily a greater number of poses leads to a better result. Qualitatively, because it is useful to understand if the selected combination of poses actually gives additional information in the process of the identification of the parameters.

Multivariate analysis methods in the search for the Higgs boson produced in association with top pairs at the ATLAS experiment at LHC.

The Large Hadron Collider, located at the CERN laboratories in Geneva, is the largest particle accelerator in the world. One of the main research fields at LHC is the study of the Higgs boson, the latest particle discovered at the ATLAS and CMS experiments. Due to the small production cross section for the Higgs boson, only a substantial statistics can offer the chance to study this particle properties. In order to perform these searches it is desirable to avoid the contamination of the signal signature by the number and variety of the background processes produced in pp collisions at LHC. Much account assumes the study of multivariate methods which, compared to the standard cut-based analysis, can enhance the signal selection of a Higgs boson produced in association with a top quark pair through a dileptonic final state (ttH channel). The statistics collected up to 2012 is not sufficient to supply a significant number of ttH events; however, the methods applied in this thesis will provide a powerful tool for the increasing statistics that will be collected during the next LHC data taking.