Axis control optimization: autotuning techniques and frequency response analysis of industrial mechatronic systems

In the field of industrial automation, there is an increasing need to use optimal control systems that have low tracking errors and low power and energy consumption. The motors we are dealing with are mainly Permanent Magnet Synchronous Motors (PMSMs), controlled by 3 different types of controllers: a position controller, a speed controller, and a current controller. In this thesis, therefore, we are going to act on the gains of the first two controllers by going to find, through the TwinCAT 3 software, what might be the best set of parameters. To do this, starting with the default parameters recommended by TwinCAT, two main methods were used and then compared: the method of Ziegler and Nichols, which is a tabular method, and advanced tuning, an auto-tuning software method of TwinCAT. Therefore, in order to analyse which set of parameters was the best,several experiments were performed for each case, using the Motion Control Function Blocks. Moreover, some machines, such as large robotic arms, have vibration problems. To analyse them in detail, it was necessary to use the Bode Plot tool, which, through Bode plots, highlights in which frequencies there are resonance and anti-resonance peaks. This tool also makes it easier to figure out which and where to apply filters to improve control.

Geometrical optimization of a short-stem hip implant for the reduction of proximal stress shielding (ottimizzazione geometrica di uno stelo corto di protesi d?anca per la riduzione della schermatura del carico prossimale)

Nowadays the number of hip joints arthroplasty operations continues to increase because the elderly population is growing. Moreover, the global life expectancy is increasing and people adopt a more active way of life. For this reasons, the demand of implant revision operations is becoming more frequent. The operation procedure includes the surgical removal of the old implant and its substitution with a new one. Every time a new implant is inserted, it generates an alteration in the internal femur strain distribution, jeopardizing the remodeling process with the possibility of bone tissue loss. This is of major concern, particularly in the proximal Gruen zones, which are considered critical for implant stability and longevity. Today, different implant designs exist in the market; however there is not a clear understanding of which are the best implant design parameters to achieve mechanical optimal conditions. The aim of the study is to investigate the stress shielding effect generated by different implant design parameters on proximal femur, evaluating which ranges of those parameters lead to the most physiological conditions.

Integrare Search Engine Optimization e Website usability al processo di localizzazione di un sito Web. Proposta di localizzazione dal francese all’italiano del sito del Parc de loisirs du Lac de Maine.

Ce mémoire a comme objectif de montrer le processus de localisation en langue italienne d’un site Internet français, celui du Parc de loisir du Lac de Maine. En particulier, le but du mémoire est de démontrer que, lorsqu’on parle de localisation pour le Web, on doit tenir compte de deux facteurs essentiels, qui contribuent de manière exceptionnelle au succès du site sur le Réseau Internet. D’un côté, l’utilisabilité du site Web, dite également ergonomie du Web, qui a pour objectif de rendre les sites Web plus aisés d'utilisation pour l'utilisateur final, de manière que son rapprochement au site soit intuitif et simple. De l’autre côté, l’optimisation pour les moteurs de recherche, couramment appelée « SEO », acronyme de son appellation anglais, qui cherche à découvrir les meilleures techniques visant à optimiser la visibilité d'un site web dans les pages de résultats de recherche. En améliorant le positionnement d'une page web dans les pages de résultats de recherche des moteurs, le site a beaucoup plus de possibilités d’augmenter son trafic et, donc, son succès. Le premier chapitre de ce mémoire introduit la localisation, avec une approche théorique qui en illustre les caractéristiques principales ; il contient aussi des références à la naissance et l’origine de la localisation. On introduit aussi le domaine du site qu’on va localiser, c’est-à-dire le domaine du tourisme, en soulignant l’importance de la langue spéciale du tourisme. Le deuxième chapitre est dédié à l’optimisation pour les moteurs de recherche et à l’ergonomie Web. Enfin, le dernier chapitre est consacré au travail de localisation sur le site du Parc : on analyse le site, ses problèmes d’optimisation et d’ergonomie, et on montre toutes les phases du processus de localisation, y compris l’intégration de plusieurs techniques visant à améliorer la facilité d’emploi par les utilisateurs finaux, ainsi que le positionnement du site dans les pages de résultats des moteurs de recherche.

SmartForge: An event-driven architecture for simulator-based process optimization

In the metal industry, and more specifically in the forging one, scrap material is a crucial issue and reducing it would be an important goal to reach. Not only would this help the companies to be more environmentally friendly and more sustainable, but it also would reduce the use of energy and lower costs. At the same time, the techniques for Industry 4.0 and the advancements in Artificial Intelligence (AI), especially in the field of Deep Reinforcement Learning (DRL), may have an important role in helping to achieve this objective. This document presents the thesis work, a contribution to the SmartForge project, that was performed during a semester abroad at Karlstad University (Sweden). This project aims at solving the aforementioned problem with a business case of the company Bharat Forge Kilsta, located in Karlskoga (Sweden). The thesis work includes the design and later development of an event-driven architecture with microservices, to support the processing of data coming from sensors set up in the company's industrial plant, and eventually the implementation of an algorithm with DRL techniques to control the electrical power to use in it.