Robotic Manipulation of DLOs for Wiring Harness Assembly: a Machine Learning Approach

In recent times, a significant research effort has been focused on how deformable linear objects (DLOs) can be manipulated for real world applications such as assembly of wiring harnesses for the automotive and aerospace sector. This represents an open topic because of the difficulties in modelling accurately the behaviour of these objects and simulate a task involving their manipulation, considering a variety of different scenarios. These problems have led to the development of data-driven techniques in which machine learning techniques are exploited to obtain reliable solutions. However, this approach makes the solution difficult to be extended, since the learning must be replicated almost from scratch as the scenario changes. It follows that some model-based methodology must be introduced to generalize the results and reduce the training effort accordingly. The objective of this thesis is to develop a solution for the DLOs manipulation to assemble a wiring harness for the automotive sector based on adaptation of a base trajectory set by means of reinforcement learning methods. The idea is to create a trajectory planning software capable of solving the proposed task, reducing where possible the learning time, which is done in real time, but at the same time presenting suitable performance and reliability. The solution has been implemented on a collaborative 7-DOFs Panda robot at the Laboratory of Automation and Robotics of the University of Bologna. Experimental results are reported showing how the robot is capable of optimizing the manipulation of the DLOs gaining experience along the task repetition, but showing at the same time a high success rate from the very beginning of the learning phase.

Bioremediation of PAHs - Limitations and soultions

Introduction 1.1 Occurrence of polycyclic aromatic hydrocarbons (PAH) in the environment Worldwide industrial and agricultural developments have released a large number of natural and synthetic hazardous compounds into the environment due to careless waste disposal, illegal waste dumping and accidental spills. As a result, there are numerous sites in the world that require cleanup of soils and groundwater. Polycyclic aromatic hydrocarbons (PAHs) are one of the major groups of these contaminants (Da Silva et al., 2003). PAHs constitute a diverse class of organic compounds consisting of two or more aromatic rings with various structural configurations (Prabhu and Phale, 2003). Being a derivative of benzene, PAHs are thermodynamically stable. In addition, these chemicals tend to adhere to particle surfaces, such as soils, because of their low water solubility and strong hydrophobicity, and this results in greater persistence under natural conditions. This persistence coupled with their potential carcinogenicity makes PAHs problematic environmental contaminants (Cerniglia, 1992; Sutherland, 1992). PAHs are widely found in high concentrations at many industrial sites, particularly those associated with petroleum, gas production and wood preserving industries (Wilson and Jones, 1993). 1.2 Remediation technologies Conventional techniques used for the remediation of soil polluted with organic contaminants include excavation of the contaminated soil and disposal to a landfill or capping - containment - of the contaminated areas of a site. These methods have some drawbacks. The first method simply moves the contamination elsewhere and may create significant risks in the excavation, handling and transport of hazardous material. Additionally, it is very difficult and increasingly expensive to find new landfill sites for the final disposal of the material. The cap and containment method is only an interim solution since the contamination remains on site, requiring monitoring and maintenance of the isolation barriers long into the future, with all the associated costs and potential liability. A better approach than these traditional methods is to completely destroy the pollutants, if possible, or transform them into harmless substances. Some technologies that have been used are high-temperature incineration and various types of chemical decomposition (for example, base-catalyzed dechlorination, UV oxidation). However, these methods have significant disadvantages, principally their technological complexity, high cost , and the lack of public acceptance. Bioremediation, on the contrast, is a promising option for the complete removal and destruction of contaminants. 1.3 Bioremediation of PAH contaminated soil & groundwater Bioremediation is the use of living organisms, primarily microorganisms, to degrade or detoxify hazardous wastes into harmless substances such as carbon dioxide, water and cell biomass Most PAHs are biodegradable unter natural conditions (Da Silva et al., 2003; Meysami and Baheri, 2003) and bioremediation for cleanup of PAH wastes has been extensively studied at both laboratory and commercial levels- It has been implemented at a number of contaminated sites, including the cleanup of the Exxon Valdez oil spill in Prince William Sound, Alaska in 1989, the Mega Borg spill off the Texas coast in 1990 and the Burgan Oil Field, Kuwait in 1994 (Purwaningsih, 2002). Different strategies for PAH bioremediation, such as in situ , ex situ or on site bioremediation were developed in recent years. In situ bioremediation is a technique that is applied to soil and groundwater at the site without removing the contaminated soil or groundwater, based on the provision of optimum conditions for microbiological contaminant breakdown.. Ex situ bioremediation of PAHs, on the other hand, is a technique applied to soil and groundwater which has been removed from the site via excavation (soil) or pumping (water). Hazardous contaminants are converted in controlled bioreactors into harmless compounds in an efficient manner. 1.4 Bioavailability of PAH in the subsurface Frequently, PAH contamination in the environment is occurs as contaminants that are sorbed onto soilparticles rather than in phase (NAPL, non aqueous phase liquids). It is known that the biodegradation rate of most PAHs sorbed onto soil is far lower than rates measured in solution cultures of microorganisms with pure solid pollutants (Alexander and Scow, 1989; Hamaker, 1972). It is generally believed that only that fraction of PAHs dissolved in the solution can be metabolized by microorganisms in soil. The amount of contaminant that can be readily taken up and degraded by microorganisms is defined as bioavailability (Bosma et al., 1997; Maier, 2000). Two phenomena have been suggested to cause the low bioavailability of PAHs in soil (Danielsson, 2000). The first one is strong adsorption of the contaminants to the soil constituents which then leads to very slow release rates of contaminants to the aqueous phase. Sorption is often well correlated with soil organic matter content (Means, 1980) and significantly reduces biodegradation (Manilal and Alexander, 1991). The second phenomenon is slow mass transfer of pollutants, such as pore diffusion in the soil aggregates or diffusion in the organic matter in the soil. The complex set of these physical, chemical and biological processes is schematically illustrated in Figure 1. As shown in Figure 1, biodegradation processes are taking place in the soil solution while diffusion processes occur in the narrow pores in and between soil aggregates (Danielsson, 2000). Seemingly contradictory studies can be found in the literature that indicate the rate and final extent of metabolism may be either lower or higher for sorbed PAHs by soil than those for pure PAHs (Van Loosdrecht et al., 1990). These contrasting results demonstrate that the bioavailability of organic contaminants sorbed onto soil is far from being well understood. Besides bioavailability, there are several other factors influencing the rate and extent of biodegradation of PAHs in soil including microbial population characteristics, physical and chemical properties of PAHs and environmental factors (temperature, moisture, pH, degree of contamination). Figure 1: Schematic diagram showing possible rate-limiting processes during bioremediation of hydrophobic organic contaminants in a contaminated soil-water system (not to scale) (Danielsson, 2000). 1.5 Increasing the bioavailability of PAH in soil Attempts to improve the biodegradation of PAHs in soil by increasing their bioavailability include the use of surfactants , solvents or solubility enhancers.. However, introduction of synthetic surfactant may result in the addition of one more pollutant. (Wang and Brusseau, 1993).A study conducted by Mulder et al. showed that the introduction of hydropropyl-ß-cyclodextrin (HPCD), a well-known PAH solubility enhancer, significantly increased the solubilization of PAHs although it did not improve the biodegradation rate of PAHs (Mulder et al., 1998), indicating that further research is required in order to develop a feasible and efficient remediation method. Enhancing the extent of PAHs mass transfer from the soil phase to the liquid might prove an efficient and environmentally low-risk alternative way of addressing the problem of slow PAH biodegradation in soil.

Defects in thermosensitive colloidal crystals

Poly-N-Isopropylacrylamide (PNIPAM) colloidal particles form crystal phases that show a thermosensitive behaviour and can be used as atomic model systems. This polymer has both hydrophilic and hydrophobic character and has interesting stimuli-responsive properties in aqueous solution, of which the most important is the temperature response. Above a certain temperature, called Lower Critical Solution Temperature (LCST), the system undergoes a volume phase transition (VPT). Above the LCST, the water is expelled from the polymer network and the swollen state at low temperature transforms into a shrunken state at high temperature. The thermoresponsive behaviour of PNIPAM can be influenced by pH and ionic strength, as well as by the presence of copolymers, such as acrylic acid. In a system formed both by particles of PNIPAM and PNIPAM doped with acrylic acid, one can control the size ratio of the two components by changing the temperature of the mixture, while keeping particle interactions relatively the same. It is therefore possible to obtain thermoresponsive colloidal crystal in which temperature changes induce defects whose formation processes and dynamics can be analysed in an optical microscope at a convenient spatial and temporal scale. The goal of this thesis project was to find the conditions in which such a system could be formed, by using characterization techniques such as Static Light Scattering, Dynamic Light Scattering and Confocal Laser Scanning Microscopy. Two PNIPAM-AAc systems were available, and after characterization it was possible to select a suitable one, on the basis of its low polydispersity and the lack of a VPT, regardless of the external conditions (system JPN_7). The synthesis of a PNIPAM system was attempted, with particles of dimensions matching the JPN_7 system and, unlike JPN_7, displaying a VPT, and one suitable candidate for the mixed system was finally found (system CB_5). The best conditions to obtain thermoresponsive crystal were selected, and the formation and healing of defects were investigated with CLSM temperature scans. The obtained results show that the approach is the correct one and that the present report could represent a useful start for future developments in defect analysis and defect dynamics studies.

Sviluppo di un metodo elettrochimico per la determinazione della capacità antiossidante

The aim of the present thesis, carried out at the Analytical Group of the Faculty of Industrial Chemistry in Bologna, is to develop a new electrochemical method for the determination of the Antioxidant Capacity (AOC). The approach is based on the deposition of a non-conducting polymeric film on the working electrode surface and the following exposition to the radicals OH· produced by H2O2 photolysis. The strongly oxidant action of hydroxyl radicals degrades, causing an increase of the Faradic current, relevant to the redox couple [Ru(NH3)6]2+/3+ monitored by cyclic voltammetry(CV); the presence of an antioxidant compound in solution slows down the radical action, thus protecting the polymeric film and blocking the charge transfer. The parameter adopted for the quantification of the AOC, was the induction time, called also lag phase, which is the time when the degradation of the film starts. Five pure compounds, among most commonly antioxidant, were investigated : Trolox®(an analogue water-soluble of vitamin E), (L)-ascorbic acid, gallic acid, pyrogallol and (-)- epicatechin. The AOC of each antioxidant was expressed by TEAC index (Trolox® Equivalent Antioxidant Capacity), calculated from the ratio between the slope of the calibration curve of the target compound and the slope of the calibration curve of Trolox®. The results from the electrochemical method, have been compared with those obtained from some other standardized methods, widely employed. The assays used for the comparison, have been: ORAC, a spectrofluorimetric method based on the decrease of fluorescein emission after the attack of alkylperoxide radicals, ABTS and DPPH that exploit the decoloration of stable nitrogen radicals when they are reduced in presence of an antioxidant compound and, finally, a potentiometric method based on the response of the redox couple [Fe(CN)6]3-/ [Fe(CN)6]4-. From the results obtained from pure compounds, it has been found that ORAC is the methodology showing the best correlation with the developed electrochemical method, maybe since similar radical species are involved. The comparison between the considered assays, was also extended to the analysis of a real sample of fruit juice. In such a case the TEAC value resulting from the electrochemical method is higher than those from standardized assays.

Gpu-based many-core architecture emulation: A double level approach

The efficient emulation of a many-core architecture is a challenging task, each core could be emulated through a dedicated thread and such threads would be interleaved on an either single-core or a multi-core processor. The high number of context switches will results in an unacceptable performance. To support this kind of application, the GPU computational power is exploited in order to schedule the emulation threads on the GPU cores. This presents a non trivial divergence issue, since GPU computational power is offered through SIMD processing elements, that are forced to synchronously execute the same instruction on different memory portions. Thus, a new emulation technique is introduced in order to overcome this limitation: instead of providing a routine for each ISA opcode, the emulator mimics the behavior of the Micro Architecture level, here instructions are date that a unique routine takes as input. Our new technique has been implemented and compared with the classic emulation approach, in order to investigate the chance of a hybrid solution.