Centrifuge Modeling of Sandy Slopes

Slope failure occurs in many areas throughout the world and it becomes an important problem when it interferes with human activity, in which disasters provoke loss of life and property damage. In this research we investigate the slope failure through the centrifuge modeling, where a reduced-scale model, N times smaller than the full-scale (prototype), is used whereas the acceleration is increased by N times (compared with the gravity acceleration) to preserve the stress and the strain behavior. The aims of this research “Centrifuge modeling of sandy slopes” are in extreme synthesis: 1) test the reliability of the centrifuge modeling as a tool to investigate the behavior of a sandy slope failure; 2) understand how the failure mechanism is affected by changing the slope angle and obtain useful information for the design. In order to achieve this scope we arranged the work as follows: Chapter one: centrifuge modeling of slope failure. In this chapter we provide a general view about the context in which we are working on. Basically we explain what is a slope failure, how it happens and which are the tools available to investigate this phenomenon. Afterwards we introduce the technology used to study this topic, that is the geotechnical centrifuge. Chapter two: testing apparatus. In the first section of this chapter we describe all the procedures and facilities used to perform a test in the centrifuge. Then we explain the characteristics of the soil (Nevada sand), like the dry unit weight, water content, relative density, and its strength parameters (c,φ), which have been calculated in laboratory through the triaxial test. Chapter three: centrifuge tests. In this part of the document are presented all the results from the tests done in centrifuge. When we talk about results we refer to the acceleration at failure for each model tested and its failure surface. In our case study we tested models with the same soil and geometric characteristics but different angles. The angles tested in this research were: 60°, 75° and 90°. Chapter four: slope stability analysis. We introduce the features and the concept of the software: ReSSA (2.0). This software allows us to calculate the theoretical failure surfaces of the prototypes. Then we show in this section the comparisons between the experimental failure surfaces of the prototype, traced in the laboratory, and the one calculated by the software. Chapter five: conclusion. The conclusion of the research presents the results obtained in relation to the two main aims, mentioned above.

Structure learning of graphical models for task-oriented robot grasping

In the collective imaginaries a robot is a human like machine as any androids in science fiction. However the type of robots that you will encounter most frequently are machinery that do work that is too dangerous, boring or onerous. Most of the robots in the world are of this type. They can be found in auto, medical, manufacturing and space industries. Therefore a robot is a system that contains sensors, control systems, manipulators, power supplies and software all working together to perform a task. The development and use of such a system is an active area of research and one of the main problems is the development of interaction skills with the surrounding environment, which include the ability to grasp objects. To perform this task the robot needs to sense the environment and acquire the object informations, physical attributes that may influence a grasp. Humans can solve this grasping problem easily due to their past experiences, that is why many researchers are approaching it from a machine learning perspective finding grasp of an object using information of already known objects. But humans can select the best grasp amongst a vast repertoire not only considering the physical attributes of the object to grasp but even to obtain a certain effect. This is why in our case the study in the area of robot manipulation is focused on grasping and integrating symbolic tasks with data gained through sensors. The learning model is based on Bayesian Network to encode the statistical dependencies between the data collected by the sensors and the symbolic task. This data representation has several advantages. It allows to take into account the uncertainty of the real world, allowing to deal with sensor noise, encodes notion of causality and provides an unified network for learning. Since the network is actually implemented and based on the human expert knowledge, it is very interesting to implement an automated method to learn the structure as in the future more tasks and object features can be introduced and a complex network design based only on human expert knowledge can become unreliable. Since structure learning algorithms presents some weaknesses, the goal of this thesis is to analyze real data used in the network modeled by the human expert, implement a feasible structure learning approach and compare the results with the network designed by the expert in order to possibly enhance it.

Micro-FEM models based on micro-CT reconstructions for the in vitro characterization of the elastic properties of trabecular bone tissue.

This master’s thesis describes the research done at the Medical Technology Laboratory (LTM) of the Rizzoli Orthopedic Institute (IOR, Bologna, Italy), which focused on the characterization of the elastic properties of the trabecular bone tissue, starting from october 2012 to present. The approach uses computed microtomography to characterize the architecture of trabecular bone specimens. With the information obtained from the scanner, specimen-specific models of trabecular bone are generated for the solution with the Finite Element Method (FEM). Along with the FEM modelling, mechanical tests are performed over the same reconstructed bone portions. From the linear-elastic stage of mechanical tests presented by experimental results, it is possible to estimate the mechanical properties of the trabecular bone tissue. After a brief introduction on the biomechanics of the trabecular bone (chapter 1) and on the characterization of the mechanics of its tissue using FEM models (chapter 2), the reliability analysis of an experimental procedure is explained (chapter 3), based on the high-scalable numerical solver ParFE. In chapter 4, the sensitivity analyses on two different parameters for micro-FEM model’s reconstruction are presented. Once the reliability of the modeling strategy has been shown, a recent layout for experimental test, developed in LTM, is presented (chapter 5). Moreover, the results of the application of the new layout are discussed, with a stress on the difficulties connected to it and observed during the tests. Finally, a prototype experimental layout for the measure of deformations in trabecular bone specimens is presented (chapter 6). This procedure is based on the Digital Image Correlation method and is currently under development in LTM.

"Influence of lower-limb joint models on subject-specific musculoskeletal model predictions during gait" ( "modelli muscoloscheletrici personalizzati dell'arto inferiore: Analisi dell'effetto della modellazione dei giunti sulla predizione dei carichi agenti sul sistema scheletrico durante il cammino").

The aim of the present thesis was to investigate the influence of lower-limb joint models on musculoskeletal model predictions during gait. We started our analysis by using a baseline model, i.e., the state-of-the-art lower-limb model (spherical joint at the hip and hinge joints at the knee and ankle) created from MRI of a healthy subject in the Medical Technology Laboratory of the Rizzoli Orthopaedic Institute. We varied the models of knee and ankle joints, including: knee- and ankle joints with mean instantaneous axis of rotation, universal joint at the ankle, scaled-generic-derived planar knee, subject-specific planar knee model, subject-specific planar ankle model, spherical knee, spherical ankle. The joint model combinations corresponding to 10 musculoskeletal models were implemented into a typical inverse dynamics problem, including inverse kinematics, inverse dynamics, static optimization and joint reaction analysis algorithms solved using the OpenSim software to calculate joint angles, joint moments, muscle forces and activations, joint reaction forces during 5 walking trials. The predicted muscle activations were qualitatively compared to experimental EMG, to evaluate the accuracy of model predictions. Planar joint at the knee, universal joint at the ankle and spherical joints at the knee and at the ankle produced appreciable variations in model predictions during gait trials. The planar knee joint model reduced the discrepancy between the predicted activation of the Rectus Femoris and the EMG (with respect to the baseline model), and the reduced peak knee reaction force was considered more accurate. The use of the universal joint, with the introduction of the subtalar joint, worsened the muscle activation agreement with the EMG, and increased ankle and knee reaction forces were predicted. The spherical joints, in particular at the knee, worsened the muscle activation agreement with the EMG. A substantial increase of joint reaction forces at all joints was predicted despite of the good agreement in joint kinematics with those of the baseline model. The introduction of the universal joint had a negative effect on the model predictions. The cause of this discrepancy is likely to be found in the definition of the subtalar joint and thus, in the particular subject’s anthropometry, used to create the model and define the joint pose. We concluded that the implementation of complex joint models do not have marked effects on the joint reaction forces during gait. Computed results were similar in magnitude and in pattern to those reported in literature. Nonetheless, the introduction of planar joint model at the knee had positive effect upon the predictions, while the use of spherical joint at the knee and/or at the ankle is absolutely unadvisable, because it predicted unrealistic joint reaction forces.

Applicazione di tecniche di Reliability, Availability e Maintainability analysis in un’azienda produttrice di macchine automatiche. Il caso Ima S.p.A.

Il seguente lavoro di tesi è nato durante un’attività di stage della durata di 7 mesi svolto all’interno della divisione Tea&Coffe di IMA S.p.A., azienda leader mondiale nella produzione di macchine automatiche per il confezionamento di prodotti farmaceutici, cosmetici, alimentari, tè e caffè. Le attività svolte si collocano all’interno di un progetto avviato da IMA per promuovere il passaggio ad un modello di industria necessariamente più evoluta, facendo leva sull’attitudine ad integrare e sviluppare nuove conoscenze e nuove tecnologie interdisciplinari e, allo stesso tempo, di massimizzare la sinergia tra le dimensioni tecnica ed economica, comportando una reale riduzione di sprechi nella filiera produttiva, commerciale ed ambientale. I moderni impianti di produzione devono infatti affrontare una sfida che li vede alla continua ricerca della produttività, ovvero di una produzione che remuneri velocemente e con ampi margini gli investimenti effettuati, della qualità dei prodotti e dei processi di produzione, ovvero della garanzia di soddisfacimento delle aspettative espresse ed inespresse del cliente, e della sicurezza per la salvaguardia della collettività e dell’ambiente. L’obiettivo di questo elaborato è stato quello di effettuare lo studio affidabilistico di una macchina automatica per la produzione di bustine di tè al fine di poterne studiare il suo comportamento al guasto e di elaborare in un secondo momento le politiche manutentive ottimizzate che ne permettano una gestione più efficiente. In questo ambito la macchina è stata scomposta in gruppi e sono stati esaminati tutti i pezzi di ricambio che sono stati richiesti in un arco temporale di durata pari a dieci anni, il fine è quello di poter individuare ed effettuare un’analisi affidabilistica dei componenti critici per poi procedere, attraverso l’uso di piattaforme software quali Weibull++ e Blocksim, col modellarne le distribuzioni statistiche e simulare il funzionamento del sistema nel suo complesso.