Upper-Limb Exoskeleton Design for Firefighter

Every day, firefighters are involved in emergency response tasks, which are both physically and psychologically exhausting. According to the National Fire Protection Association (NFPA), the number of firefighters who are injured or die while performing their job is incredibly high. When firefighters are injured, they must follow a rehabilitation therapy program to physically recover and depending on the severity of their injuries they may not fully recuperate at all. If they sustain a permanent injury that they cannot recover from, they may be out of work for the rest of their career. This research focuses on studying and developing a special device, known as an exoskeleton, aimed at assisting and preventing potential injuries among firefighters. Nowadays, the usage of human exoskeletons is becoming more common in a variety of fields. In fact, it is currently being researched and developed for soldiers, athletes, and critical care patients around the world. Most of the existing exoskeletons have been developed for the assistance of the lower human body. The research that I have done in my thesis instead relates to mobility of the upper body. Many of the existing exoskeletons have been analyzed and compared to each other and the human body, such as the study of human arm parts and their movements around three principal joints: shoulder, elbow, and wrist. The correct design of the shoulder exoskeleton join is still a big challenge for designers because of the complexity of biomechanical human movements. The exoskeleton must fit perfectly to the human body, otherwise it could be harmful for both the recovery and the safety of the user. The goal of this thesis is to design an upper-body arm exoskeleton worn by firefighters and develop and test a PID control system to prevent the risk of injuries while performing their job.

Design and implementation of a synchronous interleaved boost converter for fuel cell-powered catamaran

The present work describes the different stages of design, implementation, and validation procedures for an interleaved DC-DC boost converter intended for the 2022 Futura, a fuel cell-powered racing catamaran developed by the UniBoAT team. The main goal of the entire design has been the significant reduction of the weight of the converter by removing heat sinks and reducing component size while increasing its efficiency by adopting high-end power switches and the interleaved architecture operated with a synchronous control strategy. The obtained converter has been integrated into the structure containing the fuel cell stack obtaining a fully integrated system. The realized device has been based on an interleaved architecture with six phases controlled digitally through the average current mode control. The design has been validated through simulations carried out using the software LT-Spice, whereas experimental validations have been performed by means of laboratory bench tests and on-field tests. Detailed thermal and efficiency analyses are provided with the bench tests under the two synchronous and non-synchronous operating modes and with the adoption of the phase shedding technique. The prototype implementation and its performance in real operating conditions are also discussed. Eventually, it is underlined as the designed converter can be used in other applications requiring a voltage-controlled boost converter.

Caratterizzazione e generazione di segnali PWM per amplificatori in classe D ad alta efficienza

The convergence of information technology and consumer electronics towards battery powered portable devices has increased the interest in high efficiency, low dissipation amplifiers. Class D amplifiers are the state of the art in low power consumption and high performance amplification. In this thesis we explore the possibility of exploiting nonlinearities introduced by the PWM modulation, by designing an optimized modulation law which scales its carrier frequency adaptively with the input signal's average power while preserving the SNR, thus reducing power consumption. This is achieved by means of a novel analytical model of the PWM output spectrum, which shows how interfering harmonics and their bandwidth affect the spectrum. This allows for frequency scaling with negligible aliasing between the baseband spectrum and its harmonics. We performed low noise power spectrum measurements on PWM modulations generated by comparing variable bandwidth, random test signals with a variable frequency triangular wave carrier. The experimental results show that power-optimized frequency scaling is both feasible and effective. The new analytical model also suggests a new PWM architecture that can be applied to digitally encoded input signals which are predistorted and compared with a cosine carrier, which is accurately synthesized by a digital oscillator. This approach has been simulated in a realistic noisy model and tested in our measurement setup. A zero crossing search on the obtained PWM modulation law proves that this approach yields an equivalent signal quality with respect to traditional PWM schemes, while entailing the use of signals whose bandwidth is remarkably smaller due to the use of a cosine instead of a triangular carrier.

Test sperimentali e modellazione di una torre di lavaggio per la filtrazione di particolato sottile in impianti di combustione delle biomasse

This study investigates biomass and particulate matter also known as PM produced from the combustion of a domestic boiler powered by mais and how to separate PM from the stream of smoke output from the boiler using wet scrubber with structured packing. Sperimentations show the inefficiency of the separator used, so we provide an optimization of the structured packing changing geometric parameters as angle of the bend or thickness of the channels. In order to obtain a higher separation efficiency we remove the structured packinkg and introduce a packed bed composed of spheres of polyethylene with a diameter of 3 mm.

Inverse and regular phenyl-azole ligands for luminescent Iridium(III) complexes

In the modern society, light is mostly powered by electricity which lead to a significant increase of the global energy consumption. In order to reduce it, different kinds of electric lamps have been developed over the years; it is now accepted that phosphorescence-based OLEDs offer many advantages over existing light technologies. Iridium complexes are considered excellent candidates for bright materials by virtue of the possibility to easily tune the wavelength of the emitted radiation, by appropriate modifications of the nature of the ligands. It is important to note that the synthesis of Ir(III) blue-emitting complexes is a very challenging goal, because of wide HOMO-LUMO gaps needed for produce a deep blue emission. During my thesis I planned the synthesis of two different series of new Ir(III) heteroleptic complexes, the C and the N series, using cyclometalating ligands containing an increasing number of nitrogens in inverse and regular position. I successfully performed in the synthesis of the required four ligands, i.e. 1-methyl-4-phenyl-1H-imidazole (2), 4-phenyl-1-methyl-1,2,3-triazole (3), 1-phenyl-1H-1,2,3-triazole (6) and 1-phenyl-1H-tetrazole (7), that differ in the number of nitrogens present in the heterocyclic ring and in the position of the phenyl ring. Therefore the cyclometalation of the obtained ligands to get the corresponding Ir(III)-complexes was attempted. I succeeded in the synthesis of two Ir(III)-complexes of the C series, and I carried out various attempts to set up the appropriate reaction conditions to get the remaining desired derivatives. The work is still in progress, and once all the desired complexes will be synthesized and characterized, a correlation between their structure and their emitting properties could be formulated analysing and comparing the photophysical data of the real compounds.

Analysis and Evaluation of Tiny Machine Learning applications

The aim of TinyML is to bring the capability of Machine Learning to ultra-low-power devices, typically under a milliwatt, and with this it breaks the traditional power barrier that prevents the widely distributed machine intelligence. TinyML allows greater reactivity and privacy by conducting inference on the computer and near-sensor while avoiding the energy cost associated with wireless communication, which is far higher at this scale than that of computing. In addition, TinyML’s efficiency makes a class of smart, battery-powered, always-on applications that can revolutionize the collection and processing of data in real time. This emerging field, which is the end of a lot of innovation, is ready to speed up its growth in the coming years. In this thesis, we deploy three model on a microcontroller. For the model, datasets are retrieved from an online repository and are preprocessed as per our requirement. The model is then trained on the split of preprocessed data at its best to get the most accuracy out of it. Later the trained model is converted to C language to make it possible to deploy on the microcontroller. Finally, we take step towards incorporating the model into the microcontroller by implementing and evaluating an interface for the user to utilize the microcontroller’s sensors. In our thesis, we will have 4 chapters. The first will give us an introduction of TinyML. The second chapter will help setup the TinyML Environment. The third chapter will be about a major use of TinyML in Wake Word Detection. The final chapter will deal with Gesture Recognition in TinyML.

Numerical Analysis and Redesign of a High Speed Linear Cascade Wind Tunnel for Aircraft Gas Turbine Engines Testing

Linear cascade testing serves a fundamental role in the research, development, and design of turbomachines as it is a simple yet very effective way to compute the performance of a generic blade geometry. These kinds of experiments are usually carried out in specialized wind tunnel facilities. This thesis deals with the numerical characterization and subsequent partial redesign of the S-1/C Continuous High Speed Wind Tunnel of the Von Karman Institute for Fluid Dynamics. The current facility is powered by a 13-stage axial compressor that is not powerful enough to balance the energy loss experienced when testing low turning airfoils. In order to address this issue a performance assessment of the wind tunnel was performed under several flow regimes via numerical simulations. After that, a redesign proposal aimed at reducing the pressure loss was investigated. This consists of a linear cascade of turning blades to be placed downstream of the test section and designed specifically for the type of linear cascade being tested. An automatic design procedure was created taking as input parameters those measured at the outlet of the cascade. The parametrization method employed Bézier curves to produce an airfoil geometry that could be imported into a CAD software so that a cascade could be designed. The proposal was simulated via CFD analysis and proved to be effective in reducing pressure losses up to 41%. The same tool developed in this thesis could be adopted to design similar apparatuses and could also be optimized and specialized for the design of turbomachines components.

Risk assessment of liquid hydrogen tanks for heavy duty vehicles

The advent of the hydrogen economy has already been predicted but it does not represent a tangible reality yet. However, decarbonizing the global economy and particularly the energy sector is vital to limit global warming and reduce the incumbent environmental problems. Hydrogen is a promising zero-emission fuel that could replace traditional fossil fuels, playing a key role in the transition towards a more sustainable economy. At present, hydrogen-powered cars are already spread worldwide and the deployment of hydrogen buses seems to be the next goal in the decarbonization process of the transportation sector. In contrast with the undeniable benefits introduced by the use of this alternative fuel, given its hazardous properties, safety is a topic of high concern. The present study concerns the evaluation of the risks linked to the on board storage of hydrogen on hydrogen-powered buses in case of road accident. Currently, hydrogen can be stored on board as a high-pressure gas, as a cryogenic liquid or in cryo-compressed form. Those solutions are compared from a safety point of view. First, the final accidental scenarios that could follow the release of the fuel in case of a road crash are pointed out. Secondly, threshold values for the hazardous effects of each scenario are fixed and the corresponding damage distances are calculated thanks to the use of the software PHAST 8.4. Finally, indicators are quantified to compare the different options. Results are discussed to find out the safer solution and to evaluate whether the replacement of fossil fuels with hydrogen introduces new safety issues.

Quality controls for the Mu2e electromagnetic calorimeter and R&D studies for the muon capture rate determination

According to the SM, while Lepton Flavour Violation is allowed in the neutral sector, Charged Lepton Flavour Violation (CLFV) processes are forbidden. The Mu2e Experiment at Fermilab will search for the CLFV process of neutrinoless conversion of a muon into an electron within the field of an Al nucleus. The Mu2e detectors and its state-of-the-art superconducting magnetic system are presented, with special focus put to the electromagnetic crystal calorimeter. The calorimeter is composed by two annular disks, each one hosting pure CsI crystals read-out by custom silicon photomultipliers (SiPMs). The SiPMs are amplified by custom electronics (FEE) and are glued to copper holders in group of 2 SiPMs and 2 FEE boards thus forming a crystal Readout Unit. These Readout Units are being tested at the Quality Control (QC) Station, whose design, realization and operations are presented in this work. The QC Station allows to determine the gain, the response and the photon detection efficiency of each unit and to evaluate the dependence of these parameters from the supply voltage and temperature. The station is powered by two remotely-controlled power supplies and monitored thanks to a Slow Control system which is also illustrated in this work. In this thesis, we also demonstrated that the calorimeter can perform its own measurement of the Mu2e normalization factor, i.e. the counting of the 1.8 MeV photon line produced in nuclear muon captures. A specific calorimeter sub-system called CAPHRI, composed by four LYSO crystals with SiPM readout, has been designed and tested. We simulated the capability of this system on performing this task showing that it can get a faster and more reliable measurement of the muon capture rates with respect to the current Mu2e detector dedicated to this measurement. The characterization of energy resolution and response uniformity of the four procured LYSO crystals are llustrated.

Development and testing of a virtual energy meter using the Labview Environment

The quantity of electric energy utilized by a home, a business, or an electrically powered device is measured by an electricity meter, also known as an electric meter, electrical meter, or energy meter. Electric meters located at customers' locations are used by electric providers for billing. They are usually calibrated in billing units, with the kilowatt hour being the most popular (kWh). Typically, they are read once each billing cycle. When energy savings are sought during specific times, some meters may monitor demand, or the highest amount of electricity used during a specific time. Additionally, some meters feature relays for load shedding in response to responses during periods of peak load. The amount of electrical energy consumed by users is measured by a Watt-hour meter, also known as an energy meter. To charge the electricity usage by loads like lights, fans, and other appliances, utilities put these gadgets everywhere, including in households, businesses, and organizations. Watts are a fundamental power unit. A kilowatt is equal to one thousand watts. One kilowatt is regarded as one unit of energy used if used for one hour. These meters calculate the product of the instantaneous voltage and current readings and provide instantaneous power. This power is distributed over a period and is used during that time. Depending on the supply used by home or commercial installations, these may be single or three phase meters. These can be linked directly between line and load for minor service measurements, such as home consumers. However, step-down current transformers must be installed for greater loads to handle their higher current demands.

Analysis on the implementation of V2X communications for PTWs

Inter-vehicular communications have been gaining momentum throughout the last years and they now occupy a prominent position among the objectives of car manufacturers. Motorcycle manufacturers want to keep pace with the 4 wheels world in order to make Powered Two-wheelers (PTW) integral part of the future connected mobility. The requirements for implementing inter-vehicular communication systems for motorcycles are the subjects of discussion in this thesis. The first purpose of this thesis is to introduce the reader to the world of vehicle-to-everything (V2X) communications, focusing on the Cooperative Intelligent Transport Systems (C-ITS) and the two main current technologies: ITS-G5, which is based on IEEE 802.11p, and cellular vehicle-to-everything (C-V2X). The evolution of these technologies will be also treated. Afterwards, the core of this work is presented: the analysis of the system architecture, including hardware, security, HMI, and peculiar challenges, for implementing V2X systems in motorcycles.