NUMERICAL SIMULATION STUDY OF VIBRATION MITIGATION EFFECTIVENESS OF TUNED MASS DAMPERS FOR TRAFFIC SIGNAL MAST ARM STRUCTURES

Fatigue damage in the connections of single mast arm signal support structures is one of the primary safety concerns because collapse could result from fatigue induced cracking. This type of cantilever signal support structures typically has very light damping and excessively large wind-induced vibration have been observed. Major changes related to fatigue design were made in the 2001 AASHTO LRFD Specification for Structural Supports for Highway Signs, Luminaries, and Traffic Signals and supplemental damping devices have been shown to be promising in reducing the vibration response and thus fatigue load demand on mast arm signal support structures. The primary objective of this study is to investigate the effectiveness and optimal use of one type of damping devices termed tuned mass damper (TMD) in vibration response mitigation. Three prototype single mast arm signal support structures with 50-ft, 60-ft, and 70-ft respectively are selected for this numerical simulation study. In order to validate the finite element models for subsequent simulation study, analytical modeling of static deflection response of mast arm of the signal support structures was performed and found to be close to the numerical simulation results from beam element based finite element model. A 3-DOF dynamic model was then built using analytically derived stiffness matrix for modal analysis and time history analysis. The free vibration response and forced (harmonic) vibration response of the mast arm structures from the finite element model are observed to be in good agreement with the finite element analysis results. Furthermore, experimental test result from recent free vibration test of a full-scale 50-ft mast arm specimen in the lab is used to verify the prototype structure’s fundamental frequency and viscous damping ratio. After validating the finite element models, a series of parametric study were conducted to examine the trend and determine optimal use of tuned mass damper on the prototype single mast arm signal support structures by varying the following parameters: mass, frequency, viscous damping ratio, and location of TMD. The numerical simulation study results reveal that two parameters that influence most the vibration mitigation effectiveness of TMD on the single mast arm signal pole structures are the TMD frequency and its viscous damping ratio.

Upper Limb Posture Estimation in Robotic and Virtual Reality-based Rehabilitation.

New motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, since the human and exoskeleton kinematic models differ. In response to this shortcoming, we propose a method to estimate the posture of the human limb attached to the exoskeleton. We use the exoskeleton joint angles measurements and the constraints of the exoskeleton on the limb to estimate the human limb joints angles. This paper presents (a) the mathematical formulation and solution to the problem, (b) the implementation of the proposed solution on a commercial exoskeleton system for the upper limb rehabilitation, (c) its integration into a rehabilitation VR game platform, and (d) the quantitative assessment of the method during elbow and wrist analytic training. Results show that this method properly estimates the limb posture to (i) animate avatars that represent the patient in VR games and (ii) obtain kinematic data for the patient assessment during elbow and wrist analytic rehabilitation.

Microfabricated elastomer tactile sensors for robotic fingertip systems

Tactile sensing is an important aspect of robotic systems, and enables safe, dexterous robot-environment interaction. The design and implementation of tactile sensors on robots has been a topic of research over the past 30 years, and current challenges include mechanically flexible “sensing skins”, high dynamic range (DR) sensing (i.e.: high force range and fine force resolution), multi-axis sensing, and integration between the sensors and robot. This dissertation focuses on addressing some of these challenges through a novel manufacturing process that incorporates conductive and dielectric elastomers in a reusable, multilength-scale mold, and new sensor designs for multi-axis sensing that improve force range without sacrificing resolution. A single taxel was integrated into a 1 degree of freedom robotic gripper for closed-loop slip detection. Manufacturing involved casting a composite silicone rubber, polydimethylsiloxane (PDMS) filled with conductive particles such as carbon nanotubes, into a mold to produce microscale flexible features on the order of 10s of microns. Molds were produced via microfabrication of silicon wafers, but were limited in sensing area and were costly. An improved technique was developed that produced molds of acrylic using a computer numerical controlled (CNC) milling machine. This maintained the ability to produce microscale features, and increased the sensing area while reducing costs. New sensing skins had features as small as 20 microns over an area as large as a human hand. Sensor architectures capable of sensing both shear and normal force sensing with high dynamic range were produced. Using this architecture, two sensing modalities were developed: a capacitive approach and a contact resistive approach. The capacitive approach demonstrated better dynamic range, while the contact resistive approach used simpler circuitry. Using the contact resistive approach, normal force range and resolution were 8,000 mN and 1,000 mN, respectively, and shear force range and resolution were 450 mN and 100 mN, respectively. Using the capacitive approach, normal force range and resolution were 10,000 mN and 100 mN, respectively, and shear force range and resolution were 1,500 mN and 50 mN, respectively.

Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation

This thesis studies mobile robotic manipulators, where one or more robot manipulator arms are integrated with a mobile robotic base. The base could be a wheeled or tracked vehicle, or it might be a multi-limbed locomotor. As robots are increasingly deployed in complex and unstructured environments, the need for mobile manipulation increases. Mobile robotic assistants have the potential to revolutionize human lives in a large variety of settings including home, industrial and outdoor environments.

Mobile Manipulation is the use or study of such mobile robots as they interact with physical objects in their environment. As compared to fixed base manipulators, mobile manipulators can take advantage of the base mechanism’s added degrees of freedom in the task planning and execution process. But their use also poses new problems in the analysis and control of base system stability, and the planning of coordinated base and arm motions. For mobile manipulators to be successfully and efficiently used, a thorough understanding of their kinematics, stability, and capabilities is required. Moreover, because mobile manipulators typically possess a large number of actuators, new and efficient methods to coordinate their large numbers of degrees of freedom are needed to make them practically deployable. This thesis develops new kinematic and stability analyses of mobile manipulation, and new algorithms to efficiently plan their motions.

I first develop detailed and novel descriptions of the kinematics governing the operation of multi- limbed legged robots working in the presence of gravity, and whose limbs may also be simultaneously used for manipulation. The fundamental stance constraint that arises from simple assumptions about friction and the ground contact and feasible motions is derived. Thereafter, a local relationship between joint motions and motions of the robot abdomen and reaching limbs is developed. Baseeon these relationships, one can define and analyze local kinematic qualities including limberness, wrench resistance and local dexterity. While previous researchers have noted the similarity between multi- fingered grasping and quasi-static manipulation, this thesis makes explicit connections between these two problems.

The kinematic expressions form the basis for a local motion planning problem that that determines the joint motions to achieve several simultaneous objectives while maintaining stance stability in the presence of gravity. This problem is translated into a convex quadratic program entitled the balanced priority solution, whose existence and uniqueness properties are developed. This problem is related in spirit to the classical redundancy resoxlution and task-priority approaches. With some simple modifications, this local planning and optimization problem can be extended to handle a large variety of goals and constraints that arise in mobile-manipulation. This local planning problem applies readily to other mobile bases including wheeled and articulated bases. This thesis describes the use of the local planning techniques to generate global plans, as well as for use within a feedback loop. The work in this thesis is motivated in part by many practical tasks involving the Surrogate and RoboSimian robots at NASA/JPL, and a large number of examples involving the two robots, both real and simulated, are provided.

Finally, this thesis provides an analysis of simultaneous force and motion control for multi- limbed legged robots. Starting with a classical linear stiffness relationship, an analysis of this problem for multiple point contacts is described. The local velocity planning problem is extended to include generation of forces, as well as to maintain stability using force-feedback. This thesis also provides a concise, novel definition of static stability, and proves some conditions under which it is satisfied.

Probability and Common-Sense: Tandem Towards Robust Robotic Object Recognition in Ambient Assisted Living

The suitable operation of mobile robots when providing Ambient Assisted Living (AAL) services calls for robust object recognition capabilities. Probabilistic Graphical Models (PGMs) have become the de-facto choice in recognition systems aiming to e ciently exploit contextual relations among objects, also dealing with the uncertainty inherent to the robot workspace. However, these models can perform in an inco herent way when operating in a long-term fashion out of the laboratory, e.g. while recognizing objects in peculiar con gurations or belonging to new types. In this work we propose a recognition system that resorts to PGMs and common-sense knowledge, represented in the form of an ontology, to detect those inconsistencies and learn from them. The utilization of the ontology carries additional advantages, e.g. the possibility to verbalize the robot's knowledge. A primary demonstration of the system capabilities has been carried out with very promising results.

Studio e realizzazione dell’emulatore μARM e del progetto JaeOS per la didattica dei Sistemi Operativi

La maggior parte degli strumenti per la didattica dei sistemi operativi sono basati sull'architettura MIPS, che è ampiamente superata. Questo lavoro introduce μARM, un emulatore, basato su architettura ARM7TDMI adeguato all'insegnamento a livello universitario. Inoltre viene presentato JaeOS, un manuale di specifiche per un sistema operativo multi-strato che supporti esecuzione multi-processo, memoria virtuale, sincronizzazione dei thread, gestione di dispositivi esterni ed un file system. I progetti tradizionali, come OSP2 o OS/161, forniscono un buon quantitativo di codice già sviluppato agli studenti, i quali devono modificare i moduli del sistema già implementati ed aggiungerne di nuovi. Con μARM/JaeOS gli studenti sono sottoposti ad un'esperienza pedagogicamente differente, partendo dal solo emulatore hardware e finendo con un sistema operativo, interamente sviluppato da loro, in grado di eseguire programmi sviluppati dagli studenti stessi.

Fitness cost and interference of Arm/Rmt aminoglycoside resistance with the RsmF housekeeping methyltransferases

Arm/Rmt methyltransferases have emerged recently in pathogenic bacteria as enzymes that confer high-level resistance to 4,6-disubstituted aminoglycosides through methylation of the G1405 residue in the 16S rRNA (like ArmA and RmtA to -E). In prokaryotes, nucleotide methylations are the most common type of rRNA modification, and they are introduced posttranscriptionally by a variety of site-specific housekeeping enzymes to optimize ribosomal function. Here we show that while the aminoglycoside resistance methyltransferase RmtC methylates G1405, it impedes methylation of the housekeeping methyltransferase RsmF at position C1407, a nucleotide that, like G1405, forms part of the aminoglycoside binding pocket of the 16S rRNA. To understand the origin and consequences of this phenomenon, we constructed a series of in-frame knockout and knock-in mutants of Escherichia coli, corresponding to the genotypes rsmF(+), ΔrsmF, rsmF(+) rmtC(+), and ΔrsmF rmtC(+). When analyzed for the antimicrobial resistance pattern, the ΔrsmF bacteria had a decreased susceptibility to aminoglycosides, including 4,6- and 4,5-deoxystreptamine aminoglycosides, showing that the housekeeping methylation at C1407 is involved in intrinsic aminoglycoside susceptibility in E. coli. Competition experiments between the isogenic E. coli strains showed that, contrary to expectation, acquisition of rmtC does not entail a fitness cost for the bacterium. Finally, matrix-assisted laser desorption ionization (MALDI) mass spectrometry allowed us to determine that RmtC methylates the G1405 residue not only in presence but also in the absence of aminoglycoside antibiotics. Thus, the coupling between housekeeping and acquired methyltransferases subverts the methylation architecture of the 16S rRNA but elicits Arm/Rmt methyltransferases to be selected and retained, posing an important threat to the usefulness of aminoglycosides worldwide.

Coiled armrings: an Hiberno-Viking silver arm-ring type

The purpose of this paper is to isolate and discuss a distinctive type of Hiberno-Viking silver armring. Here termed the 'coiled armring', it is dated to the late ninth/early tenth centuries. The methods of manufacture, ornamentation, date and origins of the type are discussed and the objects are assessed against the background of hoard-associated material and related types of silver armrings. A descriptive catalogue of the material is provided.

JUBA-II: Robotic System

Laureate

Évaluation de l’état des dalles en béton armé enterrées

Dans le souci d’améliorer le réseau de distribution de l'énergie électrique, tout en maintenant l'intégrité de certains sites urbains protégés, plusieurs municipalités du Québec ont choisi d’enfouir leurs fils électriques. Ce type d’installation requiert des chambres de raccordement souterraines afin de réaliser l’entretien du réseau et le câblage. Ces chambres sont typiquement placées à tous les 300 mètres du réseau et sont généralement recouvertes d’épaisseurs de remblai allant de 0,6 m à 1m. L’un des principaux problèmes affectant l’état structural de ces chambres est la dégradation du béton de la surface externe de celles-ci. Dans certains cas, la dégradation peut atteindre une portion non négligeable de l’épaisseur de la dalle, jusqu’à en causer l’effondrement. En plus de présenter un danger pour la population, ces effondrements entraînent des coûts d’entretien élevés pour les propriétaires d’ouvrages. En outre, ces chambres sont difficiles à inspecter par l’intérieur. Cette problématique est d’autant plus importante étant donné la grande quantité de chambres de raccordement souterraines construites par le passé. Dans ce contexte, Hydro-Québec a lancé un programme de recherche visant à faire l'évaluation par des techniques de contrôle non destructif de l’état du béton du toit des chambres de raccordement souterraines. C'est dans ce cadre que s'inscrit cette étude. Le but de notre projet est d'évaluer les capacités de la technique du Géoradar à détecter l’endommagement du béton et, si possible, déterminer l’étendue en profondeur des dégradations dans le béton de ces dalles en béton armé enterrées. Ce mémoire de maîtrise présente la méthode proposée pour atteindre cet objectif. Des simulations numériques ont été réalisées, dans un premier temps, pour établir les limites de l'application Géoradar dans le cadre de notre problématique. Les résultats obtenus ont ensuite été confrontés à des essais réalisés sur des dalles réelles enterrées. Les travaux ont permis de montrer sans équivoque qu'avec le Géoradar, il est possible de déceler la dégradation au niveau des dalles enterrées, lorsque celles-ci se situaient à une profondeur maximale de 75 cm sous un sol de type sableux. Mais, il est encore difficile de pouvoir estimer l’étendue en profondeur de la dégradation, sans connaître l'état initial des dalles.

Quantification de l'amortissement visqueux élastique des piles en béton armé des ponts routiers québécois

Le dimensionnement des ponts et viaducs au Canada se base sur la norme CAN/CSA S6-14. Pour le calcul de ces structures sous des charges extrêmes, des cartes d'aléa sismique sont produites par la Commission géologique du Canada selon un taux d'amortissement de 5 %. La norme propose des taux d'amortissement visqueux élastique de 2 % pour le béton et de 1 % pour l'acier. Un nouveau facteur de correction selon l'amortissement est mentionné dans cette norme pour modifier les spectres de réponse provenant des cartes sismiques. Plusieurs études sur des ouvrages d'art quantifient les taux d'amortissement visqueux élastique entre 1 % et 2 %, confirmant ainsi qu'il est nécessaire d'utiliser un facteur de correction des spectres pour éviter une sous-évaluation des déplacements au niveau du tablier. Le projet de recherche consiste à quantifier le taux d'amortissement visqueux élastique des ponts routiers grâce à des essais in situ sur des ouvrages du Québec. Les essais débutent avec l'acquisition de données à l'aide d'accéléromètres alors que le pont est sous vibrations ambiantes. Une fois les propriétés modales extraites, un essai sous vibrations forcées par balayage des fréquences est effectué, en ciblant les fréquences propres. L'interprétation de la réponse de la structure à ce dernier essai permet de trouver précisément l'amortissement. Une étude paramétrique sur le logiciel OpenSees est aussi effectuée pour évaluer l'impact de la variation du taux d'amortissement utilisé sur les déplacements du tablier lors d'un séisme. Les résultats démontrent que le taux d'amortissement visqueux élastique peut être aussi bas que 1 %, ce qui peut doubler la réponse en déplacements aux joints d'un pont par rapport à une analyse avec 5 % d'amortissement. Le mémoire cherche à clarifier l'utilisation de la norme S6-14, à démontrer l'importance d'utiliser un bon taux d'amortissement et à encourager l'utilisation d'un facteur de correction des spectres adéquat pour calculer la réponse sismique des ponts routiers québécois et canadiens. Des recommandations sont proposées dans ce sens.

Scene Mapping and Understanding by Robotic Vision

The first mechanical Automaton concept was found in a Chinese text written in the 3rd century BC, while Computer Vision was born in the late 1960s. Therefore, visual perception applied to machines (i.e. the Machine Vision) is a young and exciting alliance. When robots came in, the new field of Robotic Vision was born, and these terms began to be erroneously interchanged. In short, we can say that Machine Vision is an engineering domain, which concern the industrial use of Vision. The Robotic Vision, instead, is a research field that tries to incorporate robotics aspects in computer vision algorithms. Visual Servoing, for example, is one of the problems that cannot be solved by computer vision only. Accordingly, a large part of this work deals with boosting popular Computer Vision techniques by exploiting robotics: e.g. the use of kinematics to localize a vision sensor, mounted as the robot end-effector. The remainder of this work is dedicated to the counterparty, i.e. the use of computer vision to solve real robotic problems like grasping objects or navigate avoiding obstacles. Will be presented a brief survey about mapping data structures most widely used in robotics along with SkiMap, a novel sparse data structure created both for robotic mapping and as a general purpose 3D spatial index. Thus, several approaches to implement Object Detection and Manipulation, by exploiting the aforementioned mapping strategies, will be proposed, along with a completely new Machine Teaching facility in order to simply the training procedure of modern Deep Learning networks.

Robotic Approach in the Treatment of Locally Advanced (Stage IIIA-pN2) non Small Cell Lung Cancer after Induction Therapy

Introduction: Despite there are already many studies on robotic surgery as minimally invasive approach for non-small cell lung cancer (NSCLC) patients, the use of this technique for stage III disease is still poorly described. These are the preliminary results of our prospective study on safety and effectiveness of robotic approach in patients with locally advanced NSCLC, in terms of postoperative complications and oncological outcome. Methods: Since 2016, we prospectively investigated, using standardized questionnaire and protocol, 21 consecutive patients with NSCLC stage IIIA-pN2 (diagnosed by EBUS-TBNA) who underwent lobectomy and radical lymph node dissection with robotic approach after induction treatment. Then, we performed a matched case-control study with 54 patients treated with open surgery during the same period of time, with similar age, clinical and pathological tumor stage. Results: The individual matched population was composed of 14 robot-assisted thoracic surgery and 14 patients who underwent open surgery. The median time range of resection was inferior in the open group compared to robotic lobectomy (148 vs 229 minutes; P=0.002). Lymph nodes resection and positivity were not statistically significantly different (p=0.66 and p=0.73 respectively). No difference was observed also for PFS (P=0.99) or OS (P=0.94). Conclusions: Our preliminary results demonstrated that the early outcomes and oncological results of N2-patients after robotic lobectomy were similar to open surgery. Considering the advantages of minimally invasive surgery, robotic assisted lobectomy should be a safe approach also to patients with local advanced disease.

Design of experiment in drug development: optimal allocations in multi-arm clinical trials and design space for multi-step processes

In this thesis, we deal with the design of experiments in the drug development process, focusing on the design of clinical trials for treatment comparisons (Part I) and the design of preclinical laboratory experiments for proteins development and manufacturing (Part II). In Part I we propose a multi-purpose design methodology for sequential clinical trials. We derived optimal allocations of patients to treatments for testing the efficacy of several experimental groups by also taking into account ethical considerations. We first consider exponential responses for survival trials and we then present a unified framework for heteroscedastic experimental groups that encompasses the general ANOVA set-up. The very good performance of the suggested optimal allocations, in terms of both inferential and ethical characteristics, are illustrated analytically and through several numerical examples, also performing comparisons with other designs proposed in the literature. Part II concerns the planning of experiments for processes composed of multiple steps in the context of preclinical drug development and manufacturing. Following the Quality by Design paradigm, the objective of the multi-step design strategy is the definition of the manufacturing design space of the whole process and, as we consider the interactions among the subsequent steps, our proposal ensures the quality and the safety of the final product, by enabling more flexibility and process robustness in the manufacturing.

Robotic Sensing and Manipulation of Deformable Linear Objects with Learning-based methods

Nowadays robotic applications are widespread and most of the manipulation tasks are efficiently solved. However, Deformable-Objects (DOs) still represent a huge limitation for robots. The main difficulty in DOs manipulation is dealing with the shape and dynamics uncertainties, which prevents the use of model-based approaches (since they are excessively computationally complex) and makes sensory data difficult to interpret. This thesis reports the research activities aimed to address some applications in robotic manipulation and sensing of Deformable-Linear-Objects (DLOs), with particular focus to electric wires. In all the works, a significant effort was made in the study of an effective strategy for analyzing sensory signals with various machine learning algorithms. In the former part of the document, the main focus concerns the wire terminals, i.e. detection, grasping, and insertion. First, a pipeline that integrates vision and tactile sensing is developed, then further improvements are proposed for each module. A novel procedure is proposed to gather and label massive amounts of training images for object detection with minimal human intervention. Together with this strategy, we extend a generic object detector based on Convolutional-Neural-Networks for orientation prediction. The insertion task is also extended by developing a closed-loop control capable to guide the insertion of a longer and curved segment of wire through a hole, where the contact forces are estimated by means of a Recurrent-Neural-Network. In the latter part of the thesis, the interest shifts to the DLO shape. Robotic reshaping of a DLO is addressed by means of a sequence of pick-and-place primitives, while a decision making process driven by visual data learns the optimal grasping locations exploiting Deep Q-learning and finds the best releasing point. The success of the solution leverages on a reliable interpretation of the DLO shape. For this reason, further developments are made on the visual segmentation.