Manipolazione robotica mobile per il settore agroalimentare - Pianificazione di traiettorie per la Sloshing Suppression

Movimentazione, da parte di un braccio robotico, di un recipiente riempito con un liquido nello spazio tridimensionale. Sistema di trasferimento liquidi basato sul KUKA youBot, piattaforma open source per la ricerca scientifica. Braccio robotico a 5 gradi di libertà con struttura ortho-parallel e cinematica risolvibile in forma chiusa tramite l’applicazione di Pieper. Studio dei modi di vibrare dei liquidi e modellizzazione dei fenomeni ondosi tramite modello equivalente di tipo pendolo. Analisi delle metodologie di controllo di tipo feed-forward volte a sopprimere la risposta oscillatoria di un tipico sistema vibratorio. Filtraggio delle traiettorie di riferimento da imporre allo youBot, in modo tale da sopprimere le vibrazioni in uscita della massa d’acqua movimentata. Analisi e comparazione delle metodologie di input shaping e filtro esponenziale. Validazione sperimentale delle metodologie proposte implementandole sul manipolatore youBot. Misura dell’entità del moto ondoso basata su dati acquisiti tramite camera RGBD ASUS Xtion PRO LIVE. Algoritmo di visione per l’elaborazione offline dei dati acquisiti, con output l’andamento dell’angolo di oscillazione del piano interpolante la superficie del liquido movimentato.

Mechanochemical solvent-free synthesis of Sn-β Zeolite and Ag2O/TiO2 catalysts

Preparations of heterogeneous catalysts are usually complex processes that involve several procedures as precipitation, crystallization and hydrothermal treatments. This processes are really dependent by the operative conditions such as temperature, pH, concentration etc. Hence the resulting product is extremely affected by any possible variations in these parameters making this synthesis really fragile. With the aim to improve these operations has been decided to exploit a new possible strong environment-respectful process by mechanochemical treatment, which permits to carry out solvent free-solvent synthesis exploiting the Mixer Mill MM400 (Retsch) in order to have reproducible results. Two different systems have been studied in this kind of synthesis: a tin β -zeolite tested in a H-trasnfer reaction of cyclohexanone and a silver on titania catalyst used in the fluorination of 2,2 dimethyl glucaric acid. Each catalyst has been characterized by different techniques in order to understand the transformations involved in the mechanochemical treatment.

Solvent regeneration of activated carbon mixed-matrix membranes for the removal of micropollutants from wastewater

The constantly increasing demand of clean water has become challenging to deal with over the past years, water being an ever more precious resource. In recent times, the existing wastewater treatments had to be integrated with new steps, due to the detection of so-called organic micropollutants (OMPs). These compounds have been shown to adversely affect the environment and possibly human health, even when found in very low concentrations. In order to remove OMPs from wastewater, one possible technique is a hybrid process combining filtration and adsorption. In this work, polyethersulfone multi-channel mixed-matrix membranes with embedded powdered activated carbon (PAC) were tested to investigate the membrane’s adsorption and desorption performance. Micropollutants retention was analyzed using the pharmaceutical compounds diclofenac (DCF), paracetamol (PARA) and carbamazepine (CBZ) in filtration mode, combining the PAC adsorption process with the membrane’s ultrafiltration. Desorption performance was studied through solvent regeneration, using seven different solvents: pure water, pure ethanol, mixture of ethanol and water in different concentration, sodium hydroxide and a mixture of ethanol and sodium hydroxide. Regeneration experiments were carried out in forward-flushing. At first regeneration efficiency was investigated using a single-solute solution (diclofenac in water). The mixture Ethanol/Water (50:50) was found to be the most efficient with long-term retention of 59% after one desorption cycle. It was, therefore, later tested on a membrane previously loaded with a multi-solute solution. Three desorption cycles were performed after which, retention (after 30 min) reached values of 87% for PARA and 72% for CBZ and 55% for DCF, which indicates decent regenerability. A morphological analysis on the membranes confirmed that, in any case, the regeneration cycles did not affect either the membranes’ structure, or the content and distribution of PAC in the matrix.