Path planning for image based visual servoing

This thesis deals with Visual Servoing and its strictly connected disciplines like projective geometry, image processing, robotics and non-linear control. More specifically the work addresses the problem to control a robotic manipulator through one of the largely used Visual Servoing techniques: the Image Based Visual Servoing (IBVS). In Image Based Visual Servoing the robot is driven by on-line performing a feedback control loop that is closed directly in the 2D space of the camera sensor. The work considers the case of a monocular system with the only camera mounted on the robot end effector (eye in hand configuration). Through IBVS the system can be positioned with respect to a 3D fixed target by minimizing the differences between its initial view and its goal view, corresponding respectively to the initial and the goal system configurations: the robot Cartesian Motion is thus generated only by means of visual informations. However, the execution of a positioning control task by IBVS is not straightforward because singularity problems may occur and local minima may be reached where the reached image is very close to the target one but the 3D positioning task is far from being fulfilled: this happens in particular for large camera displacements, when the the initial and the goal target views are noticeably different. To overcame singularity and local minima drawbacks, maintaining the good properties of IBVS robustness with respect to modeling and camera calibration errors, an opportune image path planning can be exploited. This work deals with the problem of generating opportune image plane trajectories for tracked points of the servoing control scheme (a trajectory is made of a path plus a time law). The generated image plane paths must be feasible i.e. they must be compliant with rigid body motion of the camera with respect to the object so as to avoid image jacobian singularities and local minima problems. In addition, the image planned trajectories must generate camera velocity screws which are smooth and within the allowed bounds of the robot. We will show that a scaled 3D motion planning algorithm can be devised in order to generate feasible image plane trajectories. Since the paths in the image are off-line generated it is also possible to tune the planning parameters so as to maintain the target inside the camera field of view even if, in some unfortunate cases, the feature target points would leave the camera images due to 3D robot motions. To test the validity of the proposed approach some both experiments and simulations results have been reported taking also into account the influence of noise in the path planning strategy. The experiments have been realized with a 6DOF anthropomorphic manipulator with a fire-wire camera installed on its end effector: the results demonstrate the good performances and the feasibility of the proposed approach.

Sulla progettazione in zona sismica di strutture dotate di dissipatori fluido-viscosi: proposta di una metodologia

CHAPTER 1:FLUID-VISCOUS DAMPERS In this chapter the fluid-viscous dampers are introduced. The first section is focused on the technical characteristics of these devices, their mechanical behavior and the latest evolution of the technology whose they are equipped. In the second section we report the definitions and the guide lines about the design of these devices included in some international codes. In the third section the results of some experimental tests carried out by some authors on the response of these devices to external forces are discussed. On this purpose we report some technical schedules that are usually enclosed to the devices now available on the international market. In the third section we show also some analytic models proposed by various authors, which are able to describe efficiently the physical behavior of the fluid-viscous dampers. In the last section we propose some cases of application of these devices on existing structures and on new-construction structures. We show also some cases in which these devices have been revealed good for aims that lies outside the reduction of seismic actions on the structures. CHAPTER 2:DESIGN METHODS PROPOSED IN LITERATURE In this chapter the more widespread design methods proposed in literature for structures equipped by fluid-viscous dampers are introduced. In the first part the response of sdf systems in the case of harmonic external force is studied, in the last part the response in the case of random external force is discussed. In the first section the equations of motion in the case of an elastic-linear sdf system equipped with a non-linear fluid-viscous damper undergoing a harmonic force are introduced. This differential problem is analytically quite complex and it’s not possible to be solved in a closed form. Therefore some authors have proposed approximate solution methods. The more widespread methods are based on equivalence principles between a non-linear device and an equivalent linear one. Operating in this way it is possible to define an equivalent damping ratio and the problem becomes linear; the solution of the equivalent problem is well-known. In the following section two techniques of linearization, proposed by some authors in literature, are described: the first technique is based on the equivalence of the energy dissipated by the two devices and the second one is based on the equivalence of power consumption. After that we compare these two techniques by studying the response of a sdf system undergoing a harmonic force. By introducing the equivalent damping ratio we can write the equation of motion of the non-linear differential problem in an implicit form, by dividing, as usual, for the mass of the system. In this way, we get a reduction of the number of variables, by introducing the natural frequency of the system. The equation of motion written in this form has two important properties: the response is linear dependent on the amplitude of the external force and the response is dependent on the ratio of the frequency of the external harmonic force and the natural frequency of the system only, and not on their single values. All these considerations, in the last section, are extended to the case of a random external force. CHAPTER 3: DESIGN METHOD PROPOSED In this chapter the theoretical basis of the design method proposed are introduced. The need to propose a new design method for structures equipped with fluid-viscous dampers arises from the observation that the methods reported in literature are always iterative, because the response affects some parameters included in the equation of motion (such as the equivalent damping ratio). In the first section the dimensionless parameterε is introduced. This parameter has been obtained from the definition of equivalent damping ratio. The implicit form of the equation of motion is written by introducing the parameter ε, instead of the equivalent damping ratio. This new implicit equation of motions has not any terms affected by the response, so that once ε is known the response can be evaluated directly. In the second section it is discussed how the parameter ε affects some characteristics of the response: drift, velocity and base shear. All the results described till this point have been obtained by keeping the non-linearity of the behavior of the dampers. In order to get a linear formulation of the problem, that is possible to solve by using the well-known methods of the dynamics of structures, as we did before for the iterative methods by introducing the equivalent damping ratio, it is shown how the equivalent damping ratio can be evaluated from knowing the value of ε. Operating in this way, once the parameter ε is known, it is quite easy to estimate the equivalent damping ratio and to proceed with a classic linear analysis. In the last section it is shown how the parameter ε could be taken as reference for the evaluation of the convenience of using non-linear dampers instead of linear ones on the basis of the type of external force and the characteristics of the system. CHAPTER 4: MULTI-DEGREE OF FREEDOM SYSTEMS In this chapter the design methods of a elastic-linear mdf system equipped with non-linear fluidviscous dampers are introduced. It has already been shown that, in the sdf systems, the response of the structure can be evaluated through the estimation of the equivalent damping ratio (ξsd) assuming the behavior of the structure elastic-linear. We would to mention that some adjusting coefficients, to be applied to the equivalent damping ratio in order to consider the actual behavior of the structure (that is non-linear), have already been proposed in literature; such coefficients are usually expressed in terms of ductility, but their treatment is over the aims of this thesis and we does not go into further. The method usually proposed in literature is based on energy equivalence: even though this procedure has solid theoretical basis, it must necessary include some iterative process, because the expression of the equivalent damping ratio contains a term of the response. This procedure has been introduced primarily by Ramirez, Constantinou et al. in 2000. This procedure is reported in the first section and it is defined “Iterative Method”. Following the guide lines about sdf systems reported in the previous chapters, it is introduced a procedure for the assessment of the parameter ε in the case of mdf systems. Operating in this way the evaluation of the equivalent damping ratio (ξsd) can be done directly without implementing iterative processes. This procedure is defined “Direct Method” and it is reported in the second section. In the third section the two methods are analyzed by studying 4 cases of two moment-resisting steel frames undergoing real accelerogramms: the response of the system calculated by using the two methods is compared with the numerical response obtained from the software called SAP2000-NL, CSI product. In the last section a procedure to create spectra of the equivalent damping ratio, affected by the parameter ε and the natural period of the system for a fixed value of exponent α, starting from the elasticresponse spectra provided by any international code, is introduced.

Quantensimulationen physisorbierter Molekülschichten auf Graphit

Mit Hilfe der Pfadintegral-Monte Carlo-Methode werdenPhasendiagramme von physisorbierten Molekülschichten aufGraphit untersucht. Die Verwendung von realistischen Potenzialen sowie dieBehandlung aller translatorischen und rotatorischenFreiheitsgrade erlaubt einen quantitativen Vergleich mit denExperimenten.Krypton-Atome bilden in der Monolage ein kommensurablesGitter mit den Atomen über der Mitte jeder drittenGraphitwabe.Die Vorgänge am Schmelzübergang werden von der Desorptioneiniger Atome dominiert. Die Argon-Schicht auf Graphit ist dagegen inkommensurabel.Zweiatomigen Stickstoff-Moleküle bilden eineorientierungsgeordnete Tieftemperaturphase(Fischgrät-Struktur). Quantenfluktuationen führen zu einer Erniedrigung der mitklassischen Methoden berechneten Phasenübergangstemperaturum 12%.Damit wird der experimentelle Wert von 28 K erreicht.Die Anisotropie und das Dipolmoment von Kohlenmonoxid führenzu einer dipolar geordneten Tieftemperaturphase.Die experimentell nicht geklärte Struktur kann in derQuantensimulation als antiferroelektrischeFischgrät-Struktur identifiziert werden.Der Phasenübergang liegt mit 6 K sehr nahe am Experiment(5.2 K).Für die Argon-Stickstoff-Mischsysteme wird dasPhasendiagramm in der Konzentrations(x)-Temperatur(T)-Ebeneerstellt. Die Übergangstemperaturen decken sich mit denen desExperiments.In Konfigurationen mit zufälliger Teilchenbesetzung weisen die linearen Moleküle ab Argon-Konzentrationen von10% ein Orientierungsglas-Verhalten auf.Durch einen zusätzlichen Teilchenaustausch wird in denMischsystemen die Bildung einer Windrad-Phase ermöglicht, inder die Argon-Atome eine Überstruktur annehmen.Diese Phase wird experimentell imArgon-Kohlenmonoxid-Mischsystem vorgefunden, dessenx-T-Phasendiagramm in guter Übereinstimmung mit denSimulationsergebnissen steht.Die explizite Berücksichtigung der Quantenmechanik in denComputersimulationen liefert wesentliche Beiträge zurKlärung des Phasenverhaltens und der Bestimmung vonÜbergangstemperaturen der Tieftemperaturstrukturen.

Untersuchung der Strukturdynamik arbeitender F1-ATPase und ATP-Synthase aus Micrococcus luteus in Einzelschußexperimenten mit Synchrotronstrahlung

ZusammenfassungDie ATP-Synthase koppelt im Energiestoffwechsel der Zellen den Protonentransport über die biologische Membran mit der Synthese des energiespeichernden Moleküls ATP aus ADP und Phosphat. ATP-Synthasen bestehen aus 2 Subkomplexen, wobei der katalytische F1-Teil von der membranständigen Domäne abgelöst werden kann und nur zur ATP-Hydrolyse fähig ist. Der hochkooperative Reaktionsmechanismus der dreizentrigen ATP-Synthasen ist weitgehend unklar.Im Rahmen dieser Arbeit wurde der ATP-Synthasekomplex und ihr wasserlösliches katalytisches F1-Fragment aus Micrococcus luteus in präparativem Maßstab mittels chromatographischer Trennmethoden isoliert. Die Überprüfung der Funktionalität beider Enzyme erfolgte mit enzymatischen Methoden. Durch zeitaufgelöste Röntgenkleinwinkelstreuung wurde die Strukturdynamik der arbeitenden ATP-Synthase und ihres F1-Fragmentes aus Micrococcus luteus im Laufe des ATP-Hydrolysezyklus untersucht. Diese Methode diente zum Nachweis weiträumiger Konformationsänderungen innerhalb der arbeitenden Enzyme unter nativen physiologischen Bedingungen. Die zeitaufgelösten Streuexperimente fanden an der ESRF (Europäische Synchrotronstrahlungsquelle) in Grenoble (F) statt. Dort wurden für beide Enzyme im Laufe des ATP-Hydrolysezykus molekulare Bewegungen nachgewiesen. Als Referenz zu den zeitaufgelösten Messungen dienten statische Messungen zur Strukturuntersuchung der Proteine am schwächeren DESY. Anhand dieser Strukturdaten wurden Molekülmodelle der F1-ATPase und ATP-Synthase aus Micrococcus luteus konstruiert. Das Molekülmodell der F1-ATPase war die Grundlage zur Modellierung einzelner Teilschritte des ATP-Hydrolysezyklus bei 20°C. Die experimentellen Daten wurden mit einer Kippbewegung der membranseitigen Domäne der katalytischen b-Untereinheiten der F1-ATPase während des ATP-Hydrolysezyklus interpretiert.

Festkörper-NMR-Spektroskopie

Die innerhalb dieser Arbeit mittels moderner Festkörper-NMR-Methoden untersuchte molekulare Dynamik in Poly(methacrylat)-Schmelzen und Polyphenylen-Dendrimeren ist durch eine bemerkenswerte Anisotropie gekennzeichnet.Die Anisotropie der molekularen Dynamik zeigt sich in geschmolzenen, ataktischen und isotaktischen Poly(ethylmethacrylaten) (PEMA) durch die Zeitskalenseparation der segmentellen alpha-Relaxation von einem etwa zwei Größenordnungen langsameren Relaxationsprozeß, welcher die Isotropisierung der Polymerhauptkette wiedergibt. Die Isotropisierungsdynamik der Polymerhauptkette wird - mit Ausnahme von PMMA - durch eine universelle, nicht-korrelationszeitenverteilte Relaxationsmode der Poly(methacrylate) quantifiziert, deren Temperaturabhängigkeit durch einen einheitlichen WLF-Parametersatz beschrieben werden kann. Geometrisch läßt sich die Isotropisierung der Hauptkette durch Sprungprozesse beliebiger Amplitude von Kettenstücken mit gestreckter all-trans-Konformation interpretieren. Die Kette zeigt eine außergewöhnliche konformative Stabilität. WAXS-Messungen deuten für PEMA und seine höheren Homologen die Existenz einer Schichtstruktur an, in der sich die steifen, polaren Hauptketten lokal in Monolagen anordnen, welche durch Bereiche zusammengelagerter Seitengruppen getrennt sind. Die Festkörper-NMR-Untersuchungen an Polyphenylen-Dendrimeren bringen zwei zentrale Aspekte in der wechselseitigen Beziehung von Struktur und Dynamik hervor. Zum einen ist die beobachtete molekulare Dynamik auf lokale Reorientierungen einzelner, terminaler Phenylringe um definierte Achsen beschränkt. Polyphenylen-Dendrimermoleküle sind unter diesen Bewegungen formstabil. Zum anderen können sowohl schnelle, als auch langsame Phenylreorientierungen nachgewiesen werden, wobei jeweils die intramolekulare Packungsdichte der Phenylringe das dynamische Verhalten der Polyphenylen-Dendrimere kontrolliert.

Lagrangian transport evaluation of atmospheric chemistry in the Mediterranean region

Global observations of the chemical composition of the atmosphere are essential for understanding and studying the present and future state of the earth's atmosphere. However, by analyzing field experiments the consideration of the atmospheric motion is indispensable, because transport enables different chemical species, with different local natural and anthropogenic sources, to interact chemically and so consequently influences the chemical composition of the atmosphere. The distance over which that transport occurs is highly dependent upon meteorological conditions (e.g., wind speed, precipitation) and the properties of chemical species itself (e.g., solubility, reactivity). This interaction between chemistry and dynamics makes the study of atmospheric chemistry both difficult and challenging, and also demonstrates the relevance of including the atmospheric motions in that context. In this doctoral thesis the large-scale transport of air over the eastern Mediterranean region during summer 2001, with a focus on August during the Mediterranean Intensive Oxidant Study (MINOS) measurement campaign, was investigated from a lagrangian perspective. Analysis of back trajectories demonstrated transport of polluted air masses from western and eastern Europe in the boundary layer, from the North Atlantic/North American area in the middle end upper troposphere and additionally from South Asia in the upper troposphere towards the eastern Mediterranean. Investigation of air mass transport near the tropopause indicated enhanced cross-tropopause transport relative to the surrounding area over the eastern Mediterranean region in summer. A large band of air mass transport across the dynamical tropopause develops in June, and is shifted toward higher latitudes in July and August. This shifting is associated with the development and the intensification of the Arabian and South Asian upper-level anticyclones and consequential with areas of maximum clear-air turbulence, hypothesizing quasi-permanent areas with turbulent mixing of tropospheric and stratospheric air during summer over the eastern Mediterranean as a result of large-scale synoptic circulation. In context with the latex knowledge about the transport of polluted air masses towards the Mediterranean and with increasing emissions, especially in developing countries like India, this likely gains in importance.

Cellulose based Lithium ion polymer electrolytes for Lithium batteries

The separator membrane in batteries and fuel cells is of crucial importance for the function of these devices. In lithium ion batteries the separator membrane as well as the polymer matrix of the electrodes consists of polymer electrolytes which are lithium ion conductors. To overcome the disadvantage of currently used polymer electrolytes which are highly swollen with liquids and thus mechanically and electrochemically unstable, the goal of this work is a new generation of solid polymer electrolytes with a rigid backbone and a soft side chain structure. Moreover the novel material should be based on cheap substrates and its synthesis should not be complicated aiming at low overall costs. The new materials are based on hydroxypropylcellulose and oligoethyleneoxide derivatives as starting materials. The grafting of the oligoethyleneoxide side chains onto the cellulose was carried out following two synthetic methods. One is based on a bromide derivative and another based on p-toluolsulfonyl as a leaving group. The side chain reagents were prepared form tri(ethylene glycol) monoethyl ether. In order to improve the mechanical properties the materials were crosslinked. Two different conceptions have been engaged based on either urethane chemistry or photosensitive dimethyl-maleinimide derivatives. PEO - graft - cellulose derivatives with a high degree of substitution between 2,9 and 3,0 were blended with lithium trifluoromethane-sulfonate, lithium bis(trifluorosulfone)imide and lithium tetrafluoroborate. The molar ratios were in the range from 0,02 to 0,2 [Li]/[O]. The products have been characterized with nuclear magnetic resonance (NMR), gel permeation chromatography (GPC) and laserlight scattering (LS) with respect to their degree of substitution and molecular weight. The effect of salt concentration on ionic conductivity, thermal behaviour and morphology has been investiga-ted with impedance spectroscopy, differential scanning calorimetry (DSC) and thermal gravimetric analysis (TGA). The crosslinking reactions were controlled with dynamic mechanical analysis (DMS). The degree of substitution of our products is varying between 2,8 and 3,0 as determined by NMR. PEO - graft - cellulose derivatives are highly viscous liquids at room temperature with glass transition temperatures around 215 K. The glass transition temperature for the Lithium salt complexes of PEO - graft - cellulose deri-vatives increase with increasing salt content. The maximum conductivity at room temperature is about 10-4 and at 100°C around 10-3 Scm-1. The presence of lithium salt decreases the thermal stability of the complexes in comparison to pure PEO - graft - cellulose derivatives. Complexes heated over 140 – 150°C completely lose their ionic conductivity. The temperature dependence of the conductivity presented as Arrhenius-type plots for all samples is similar in shape and follows a VTF behaviour. This proofs that the ionic transport is closely related to the segmental motions of the polymer chains. Novel cellulose derivatives with grafted oligoethylen-oxide side chains with well-defined chemical structure and high side chain grafting density have been synthesized. Cellulose was chosen as stiff, rod like macromolecule for the backbone while oligoethylen-oxides are chosen as flexible side chains. A maximum grafting density of 3.0 have been obtained. The best conductivity reaches 10-3 Scm-1 at 100°C for a Li-triflate salt complex with a [Li]/[O] ratio of 0.8. The cross-linked complexes containing the lithium salts form elastomeric films with convenient mechanical stability. Our method of cellulose modification is based on relatively cheap and commercially available substrates and as such appears to be a promising alternative for industrial applications.

Algorithms for on-line image registration from multiple views

Images of a scene, static or dynamic, are generally acquired at different epochs from different viewpoints. They potentially gather information about the whole scene and its relative motion with respect to the acquisition device. Data from different (in the spatial or temporal domain) visual sources can be fused together to provide a unique consistent representation of the whole scene, even recovering the third dimension, permitting a more complete understanding of the scene content. Moreover, the pose of the acquisition device can be achieved by estimating the relative motion parameters linking different views, thus providing localization information for automatic guidance purposes. Image registration is based on the use of pattern recognition techniques to match among corresponding parts of different views of the acquired scene. Depending on hypotheses or prior information about the sensor model, the motion model and/or the scene model, this information can be used to estimate global or local geometrical mapping functions between different images or different parts of them. These mapping functions contain relative motion parameters between the scene and the sensor(s) and can be used to integrate accordingly informations coming from the different sources to build a wider or even augmented representation of the scene. Accordingly, for their scene reconstruction and pose estimation capabilities, nowadays image registration techniques from multiple views are increasingly stirring up the interest of the scientific and industrial community. Depending on the applicative domain, accuracy, robustness, and computational payload of the algorithms represent important issues to be addressed and generally a trade-off among them has to be reached. Moreover, on-line performance is desirable in order to guarantee the direct interaction of the vision device with human actors or control systems. This thesis follows a general research approach to cope with these issues, almost independently from the scene content, under the constraint of rigid motions. This approach has been motivated by the portability to very different domains as a very desirable property to achieve. A general image registration approach suitable for on-line applications has been devised and assessed through two challenging case studies in different applicative domains. The first case study regards scene reconstruction through on-line mosaicing of optical microscopy cell images acquired with non automated equipment, while moving manually the microscope holder. By registering the images the field of view of the microscope can be widened, preserving the resolution while reconstructing the whole cell culture and permitting the microscopist to interactively explore the cell culture. In the second case study, the registration of terrestrial satellite images acquired by a camera integral with the satellite is utilized to estimate its three-dimensional orientation from visual data, for automatic guidance purposes. Critical aspects of these applications are emphasized and the choices adopted are motivated accordingly. Results are discussed in view of promising future developments.

Systematische Untersuchung von Instabilitäten an lasergekühlten 40 Ca + - Ionen in einer linearen Paulfalle

In linearen Paulfallen gespeicherte und lasergekühlte Ionen stellen in weiten Bereichen der Physik ideale Objekte hinsichtlich störungsfreier und präziser Messungen atomarer Übergangsfrequenzen und der gezielten Manipulation von Quantenzuständen dar. Eine Einschränkung dieser optimalen Bedingungen erfolgt durch Heizmechanismen, die aus Abweichungen des Speicherpotentials von der idealen Quadrupolform resultieren. Höhere Potentialordnungen führen zu einer Kopplung der radialen Bewegungsmoden und bei bestimmten Speicherparametern zu nichtlinearen Resonanzen. Hierbei werden die Ionenbahnen durch eine Energieaufnahme aus dem Speicherfeld destabilisiert. Dieses kann zu Linienverbreiterungen, einer Limitierung der Kohärenzzeiten und unter Umständen zu einem Ionenverlust führen. Die systematische Untersuchung dieser Instabilitäten in einer linearen Paulfalle erfolgt durch Spektroskopie an einer kleinen Anzahl lasergekühlter ^40Ca^+ - Ionen. Der experimentell zugängliche Speicherbereich wird mit hoher Auflösung abgetastet. Durch eine eingehende Quantifizierung der Falleneigenschaften werden die nichtlinearen Resonanzen eindeutig den erzeugenden Potentialtermen zugeordnet. Die Resonanzlinien zeigen eine charakteristische Aufspaltung, deren Größe vom angelegten Axialpotential bestimmt wird. Diese zusätzliche Kopplung der Radialbewegung an die Axialbewegung führt zu einer modifizierten Resonanzbedingung. Nichtlineare Resonanzen treten massenspezifisch auf. Da eine präzise Kontrolle der Axialpotentiale sehr einfach ist, könnten die beobachteten radial-axial koppelnden Resonanzen eine Anwendung in der Massenspektrometrie finden.

Functional photoactive and electroactive nanodevices

Most of current ultra-miniaturized devices are obtained by the top-down approach, in which nanoscale components are fabricated by cutting down larger precursors. Since this physical-engineering method is reaching its limits, especially for components below 30 nm in size, alternative strategies are necessary. Of particular appeal to chemists is the supramolecular bottom-up approach to nanotechnology, a methodology that utilizes the principles of molecular recognition to build materials and devices from molecular components. The subject of this thesis is the photophysical and electrochemical investigation of nanodevices obtained harnessing the principles of supramolecular chemistry. These systems operate in solution-based environments and are investigated at the ensemble level. The majority of the chemical systems discussed here are based on pseudorotaxanes and catenanes. Such supramolecular systems represent prototypes of molecular machines since they are capable of performing simple controlled mechanical movements. Their properties and operation are strictly related to the supramolecular interactions between molecular components (generally photoactive or electroactive molecules) and to the possibility of modulating such interactions by means of external stimuli. The main issues addressed throughout the thesis are: (i) the analysis of the factors that can affect the architecture and perturb the stability of supramolecular systems; (ii) the possibility of controlling the direction of supramolecular motions exploiting the molecular information content; (iii) the development of switchable supramolecular polymers starting from simple host-guest complexes; (iv) the capability of some molecular machines to process information at molecular level, thus behaving as logic devices; (v) the behaviour of molecular machine components in a biological-type environment; (vi) the study of chemically functionalized metal nanoparticles by second harmonic generation spectroscopy.

New mechanisms for modelling the motion of the human ankle complex

The relevance of human joint models was shown in the literature. In particular, the great importance of models for the joint passive motion simulation (i.e. motion under virtually unloaded conditions) was outlined. They clarify the role played by the principal anatomical structures of the articulation, enhancing the comprehension of surgical treatments, and in particular the design of total ankle replacement and ligament reconstruction. Equivalent rigid link mechanisms proved to be an efficient tool for an accurate simulation of the joint passive motion. This thesis focuses on the ankle complex (i.e. the anatomical structure composed of the tibiotalar and the subtalar joints), which has a considerable role in human locomotion. The lack of interpreting models of this articulation and the poor results of total ankle replacement arthroplasty have strongly suggested devising new mathematical models capable of reproducing the restraining function of each structure of the joint and of replicating the relative motion of the bones which constitute the joint itself. In this contest, novel equivalent mechanisms are proposed for modelling the ankle passive motion. Their geometry is based on the joint’s anatomical structures. In particular, the role of the main ligaments of the articulation is investigated under passive conditions by means of nine 5-5 fully parallel mechanisms. Based on this investigation, a one-DOF spatial mechanism is developed for modelling the passive motion of the lower leg. The model considers many passive structures constituting the articulation, overcoming the limitations of previous models which took into account few anatomical elements of the ankle complex. All the models have been identified from experimental data by means of optimization procedure. Then, the simulated motions have been compared to the experimental one, in order to show the efficiency of the approach and thus to deduce the role of each anatomical structure in the ankle kinematic behavior.

Studies of pure rotational spectra of isolated molecules and molecular adducts using pulsed jet Fourier transform microwave (PJ-FTM) spectroscopy

This thesis focuses on studying molecular structure and internal dynamics by using pulsed jet Fourier transform microwave (PJ-FTMW) spectroscopy combined with theoretical calculations. Several kinds of interesting chemical problems are investigated by analyzing the MW spectra of the corresponding molecular systems. First, the general aspects of rotational spectroscopy are summarized, and then the basic theory on molecular rotation and experimental method are described briefly. ab initio and density function theory (DFT) calculations that used in this thesis to assist the assignment of rotational spectrum are also included. From chapter 3 to chapter 8, several molecular systems concerning different kind of general chemical problems are presented. In chapter 3, the conformation and internal motions of dimethyl sulfate are reported. The internal rotations of the two methyl groups split each rotational transition into several components line, allowing for the determination of accurate values of the V3 barrier height to internal rotation and of the orientation of the methyl groups with respect to the principal axis system. In chapter 4 and 5, the results concerning two kinds of carboxylic acid bi-molecules, formed via two strong hydrogen bonds, are presented. This kind of adduct is interesting also because a double proton transfer can easily take place, connecting either two equivalent or two non-equivalent molecular conformations. Chapter 6 concerns a medium strong hydrogen bonded molecular complex of alcohol with ether. The dimer of ethanol-dimethylether was chosen as the model system for this purpose. Chapter 7 focuses on weak halogen…H hydrogen bond interaction. The nature of O-H…F and C-H…Cl interaction has been discussed through analyzing the rotational spectra of CH3CHClF/H2O. In chapter 8, two molecular complexes concerning the halogen bond interaction are presented.

Analisi dell’influenza dei moti rigidi di una trattrice agricola sulle vibrazioni a corpo intero trasmesse all’operatore

L’esposizione degli operatori in campo agricolo alle vibrazioni trasmesse al corpo intero, produce effetti dannosi alla salute nel breve e nel lungo termine. Le vibrazioni che si generano sulle trattrici agricole hanno una elevata intensità e una bassa frequenza. Le componenti orizzontali, amplificate dalla posizione elevata della postazione di guida dall’asse di rollio, presentano maggiori criticità per quanto riguarda i sistemi di smorzamento rispetto alle componenti verticali. Queste caratteristiche rendono difficoltosa la progettazione dei sistemi dedicati alla riduzione del livello vibrazionale per questa categoria di macchine agricole. Nonostante l’installazione di diversi sistemi di smorzamento, il livello di vibrazioni a cui è sottoposto l’operatore può superare, in diverse condizioni di impiego, i livelli massimi imposti dalla legge per la salvaguardia della salute. L’obiettivo di questo lavoro è quello di valutare l’influenza dei moti rigidi di una trattrice (beccheggio, rollio e saltellamento) dotata di sospensione assale anteriore, sospensione cabina e sospensione sedile, sul livello vibrazionale trasmesso all’operatore.E’ stata pertanto strumenta una trattrice con accelerometri e inclinometri installati su telaio, cabina e sedile e utilizzata in diverse condizioni di lavoro in campo e di trasporto su strada. Dall’analisi delle prove effettuate emerge che durante il trasporto su strada è predominante l’accelerazione longitudinale, a causa dell’elevata influenza del beccheggio. La sospensione riduce notevolmente il moto rigido di beccheggio mentre l’effetto della sospensione della cabina è quello di incrementare, in ogni condizione di lavoro, il livello di accelerazione trasmesso dal telaio della macchina.

Solid-state NMR investigation of phosphonic acid based proton conducting materials

In this work, new promising proton conducting fuel cell membrane materials were characterized in terms of their structure and dynamic properties using solid-state nuclear magnetic resonance (NMR) spectroscopy and X-ray diffraction. Structurally different, phosphonic acid (PA) containing materials were systematically evaluated for possible high-temperature operation (e.g. at T>100°C). Notably, 1H, 2H and 31P magic angle spinning (MAS) NMR provided insight into local connectivities and dynamics of the hydrogen bonded network, while packing arrangements were identified by means of heteronuclear dipolar recoupling techniques.rnThe first part of this work introduced rather crystalline, low molecular weight ionomers for proton conducting membranes, where six different geometries such as line, triangle, screw, tetrahedron, square and hexagon, were investigated. The hexagon was identified as the most promising geometry with high-temperature bulk proton conductivities in the range of 10-3 Scm-1 at a relative humidity of 50%. However, 2H NMR and TGA-MS data suggest that the bulk proton transport is mainly due to the presence of crystal water. Single crystal X-ray data revealed that in the tetrahedron phosphonic acids form tetrameric clusters isolating the mobile protons while the phosphonic acids in the hexagon form zigzag-type pathways through the sample.rnThe second part of this work demonstrates how acid-base pairing and the choice of appropriate spacers may influence proton conduction. Different ratios of statistical copolymers of poly (vinylphosphonic acid) and poly (4-vinylpyridine) were measured to derive information about the local structure and chemical changes. Though anhydrous proton conductivities of all statistical copolymers are rather poor, the conductivity increases to 10-2 S cm-1 when exposing the sample to relative humidity of 80%. In contrast to PVPA, anhydride formation of phosphonic acids in the copolymer is not reversible even when exposing the sample to a relative humidity of 100%.rnIn addition, the influence of both spacers and degree of backbone crystallinity on bulk proton conductivity was investigated. Unlike in systems such as poly benzimidazole (PBI), spacers were inserted between the protogenic groups along the backbone. It was found that dilution of the protogenic groups decreases the conductivity, but compared to PVPA, similar apparent activation energies for local motions were obtained from both variable temperature 1H NMR and impedance spectroscopy data. These observations suggest the formation of phosphonic acid clusters with high degrees of local proton motion, where only a fraction of motions contribute to the observable bulk proton conductivity. Additionally, it was shown that gradual changes of the spacer length lead to different morphologies.rnIn summary, applying advanced solid-state NMR and X-ray analysis, structural and dynamic phenomena in proton conducting materials were identified on a molecular level. The results were discussed with respect to different proton conduction mechanisms and may contribute to a more rational design or improvement of proton conducting membranes.rn

Inverse Static Analysis of Massive Parallel Arrays of Three-State Actuators via Artificial Intelligence

Massive parallel robots (MPRs) driven by discrete actuators are force regulated robots that undergo continuous motions despite being commanded through a finite number of states only. Designing a real-time control of such systems requires fast and efficient methods for solving their inverse static analysis (ISA), which is a challenging problem and the subject of this thesis. In particular, five Artificial intelligence methods are proposed to investigate the on-line computation and the generalization error of ISA problem of a class of MPRs featuring three-state force actuators and one degree of revolute motion.