Nonlinear Observers for Sensorless Control of Permanent Magnet Synchronous Motors

In this thesis, the industrial application of control a Permanent Magnet Synchronous Motor in a sensorless configuration has been faced, and in particular the task of estimating the unknown “parameters” necessary for the application of standard motor control algorithms. In literature several techniques have been proposed to cope with this task, among them the technique based on model-based nonlinear observer has been followed. The hypothesis of neglecting the mechanical dynamics from the motor model has been applied due to practical and physical considerations, therefore only the electromagnetic dynamics has been used for the observers design. First observer proposed is based on stator currents and Stator Flux dynamics described in a generic rotating reference frame. Stator flux dynamics are known apart their initial conditions which are estimated, with speed that is also unknown, through the use of the Adaptive Theory. The second observer proposed is based on stator currents and Rotor Flux dynamics described in a self-aligning reference frame. Rotor flux dynamics are described in the stationary reference frame exploiting polar coordinates instead of classical Cartesian coordinates, by means the estimation of amplitude and speed of the rotor flux. The stability proof is derived in a Singular Perturbation Framework, which allows for the use the current estimation errors as a measure of rotor flux estimation errors. The stability properties has been derived using a specific theory for systems with time scale separation, which guarantees a semi-global practical stability. For the two observer ideal simulations and real simulations have been performed to prove the effectiveness of the observers proposed, real simulations on which the effects of the Inverter nonlinearities have been introduced, showing the already known problems of the model-based observers for low speed applications.

Imine von Formyl-[2.2]paracyclophanen und ihre Anwendung in der enantioselektiven Katalyse

Kohlenhydrate wurden bislang nur selten zur Darstellung chiraler Liganden verwendet. Sie gelten als zu polyfunktionell und konformativ zu flexibel, um daraus mit vertretbarem Aufwand Liganden zu synthetisieren, die die Anforderungen an ein leistungsfähiges Katalysatorsystem - die spezifische Komplexierung des Metalls in einer konformativ möglichst rigiden Umgebung - erfüllen.rnDas Element der planaren Chiralität erwies sich in vielen asymmetrischen, katalytischen Prozessen als entscheidend für die Erzielung hoher Enantioselektivitäten.rnDie vorliegende Arbeit baut auf den Kohlenhydratliganden-Synthesen mit Glycosylaminen auf, die über geeignete komplexierende Zentren verfügen, um damit andere als die bisher mit Kohlenhydraten bekannten enantioselektiven Katalysen durchführen zu können. Zur Synthese stickstoffhaltiger chiraler Verbindungen haben sich besonders perpivaloylierte Glycosylamine vom Typ des 2,3,4,6-Tetra-O-pivaloyl-β-D-galactopyranosylamins bewährt. Im Rahmen dieser Dissertation wurden Schiff-Basen aus pivaloyliertem Galactosylamin bzw. verschiedenen anderen Galactosylamin-Bausteinen als chiralem Rückgrat, und einem Aldehyd auf der Basis von planar chiralem [2.2]Paracyclophan dargestellt. Die neuen N-Galactosylimine wurden außerdem in asymmetrischen Ugi-Reaktionen und in Tandem Mannich-Michael-Reaktionen zu N-Galactosyl-dehydropiperidinonen untersucht. Bei der Spaltung der dargestellten N-Galactosylimine von Paracyclophan-aldehyden unter mineralsauren Bedingungen sollten die entsprechenden mono- und di-substituierten Formyl- [2.2]paracyclophane in enantiomerenreiner Form erhalten werden. Die erhaltenen Verbindungen wurden als potentielle N,O-Liganden in der asymmetrischen Strecker Reaktion, in die enantioselektiven Epoxidierungen und in der Addition von Diethylzink an aromatische und aliphatische Aldehyde untersucht.rn

Studio caso-controllo multicentrico su distacco di retina e movimentazione manuale di carichi

Obiettivo Valutare l’ipotesi secondo cui la movimentazione manuale di carichi possa essere un fattore di rischio per il di distacco di retina. Metodi Si è condotto uno studio caso-controllo ospedaliero multicentrico, a Bologna, (reparto di Oculistica del policlinico S. Orsola Malpighi, Prof. Campos), e a Brescia (reparto di oculistica “Spedali Civili” Prof. Semeraro). I casi sono 104 pazienti operati per distacco di retina. I controlli sono 173 pazienti reclutati tra l’utenza degli ambulatori del medesimo reparto di provenienza dei casi. Sia i casi che i controlli (all’oscuro dall’ipotesi in studio) sono stati sottoposti ad un’intervista, attraverso un questionario strutturato concernente caratteristiche individuali, patologie pregresse e fattori di rischio professionali (e non) relativi al distacco di retina. I dati relativi alla movimentazione manuale di carichi sono stati utilizzati per creare un “indice di sollevamento cumulativo―ICS” (peso del carico sollevato x numero di sollevamenti/ora x numero di anni di sollevamento). Sono stati calcolati mediante un modello di regressione logistica unconditional (aggiustato per età e sesso) gli Odds Ratio (OR) relativi all’associazione tra distacco di retina e vari fattori di rischio, tra cui la movimentazione manuale di carichi. Risultati Oltre alla chirurgia oculare e alla miopia (fattori di rischio noti), si evidenzia un trend positivo tra l’aumento dell’ICS e il rischio di distacco della retina. Il rischio maggiore si osserva per la categoria di sollevamento severo (OR 3.6, IC 95%, 1.5–9.0). Conclusione I risultati, mostrano un maggiore rischio di sviluppare distacco di retina per coloro che svolgono attività lavorative che comportino la movimentazione manuale di carichi e, a conferma di quanto riportato in letteratura, anche per i soggetti miopi e per coloro che sono stati sottoposti ad intervento di cataratta. Si rende quindi evidente l’importanza degli interventi di prevenzione in soggetti addetti alla movimentazione manuale di carichi, in particolare se miopi.

Die Entwicklung der Mesofauna eines Weinberges im nordöstlichen Rheinhessen im Vergleich zum Lennebergwald und weiteren Agrarflächen

ZusammenfassungrnrnrnDer Köderstreifentest, die Auswertung der Minicontainer und die Erfassung der Bodenlebewesen mit Hilfe der Bodenstechkerne ergeben zusammen eine gut standardisierte Methode zur Darstellung und Beurteilung der Mesofauna. Unter der Vorraussetzung gleicher abiotischer Faktoren ist es problemlos möglich, selbst unterschiedliche Standorte wie Agrarflächen, Weinberge und Waldböden vergleichend zu untersuchen.rnrnAuf den verschiedenen Versuchsflächen des Laubenheimer Weinberges gelingt es deutlich zu zeigen, wie wichtig eine naturnahe Begrünung für den Boden ist. Dies betrifft nicht nur die Entwicklung der Humusschicht und damit die Bodenlebewesen, sondern auch die Schaffung von Kapillaren und Poren, die durch schwere landwirtschaftliche Geräte im Rahmen der Bo-denverdichtung reduziert werden. Erosionserscheinungen kommen vollständig zum Stillstand. Das Ökosystem Boden sollte auch so gut wie keine Belastung durch Herbizide, Insektizide und Pestizide erfahren. Ähnliches gilt auch für agrarisch genutzte Flächen. rnrnDer Lennebergwald als Naherholungsregion von Mainz ist besonders schützenswert, da dieser durch intensiven Immissionseintrag aufgrund der Nähe zu den Autobahnen und durch die Eutrophierung über die Haustiere stark belastet wird. Die immer größere Ausdehnung des Siedlungsgebietes und die damit verbundene steigende Anzahl an Waldbesuchern, die durch Verlassen der vorgegebenen Wege den Boden zerstören, gefährden zusätzlich das Ökosystem.rnrnÜber Sinn und Zweck einer Flurbereinigung zu diskutieren ist hier nicht angebracht. Aus bo-denkundlicher Sicht ist sie nicht zu befürworten, da hiermit alle bodenbewahrenden Maßnah-men ignoriert werden. Wichtig ist es, bei den Landwirten Aufklärungsarbeit zu leisten, was bodenschonende und bodenweiterentwickelnde Bearbeitungsmethoden bedeuten. Mit Hilfe sachgemäßer Aufklärung und richtiger Umsetzung kann durch Begrünungsmaßnahmen der zum Teil sehr stark strapazierte Boden erhalten, gefördert und auf lange Sicht stabilisiert wer-den.rnrnAufgrund der festgestellten Tatsachen wurde ab 2008 auf eine flächige Dauerbegrünung um-gestellt, so dass es auch in den unbegrünten Rebzeilen zu einer Bodenverbesserung kommen kann. Mit großer Wahrscheinlichkeit dürfte diese schneller voranschreiten, da die Mesofauna von den benachbarten begrünten Rebzeilen einwandern kann. rnDie Mesofauna landwirtschaftlich genutzter Flächen und Waldgebiete kann, obwohl extrem unterschiedlich, miteinander verglichen werden.rnrnBrachflächen und Waldgebiete lassen sich aufgrund der unberührten Bodenstrukturen sogar gut miteinander vergleichen. Temperatur- und Niederschlagsverhältnisse müssen dabei über-einstimmen. Die Azidität der jeweiligen Böden gilt es zu berücksichtigen, da verschiedene Tiergruppen damit unterschiedlich umgehen. Collembolen bevorzugen neutrale Böden, wäh-rend Acari als Räuber mit den Lebewesen in sauren Böden besser zurechtkommen. Die Streu-auflage ist dabei von großer Bedeutung.rnrnIm Rahmen von Bearbeitungsmaßnahmen kommt es durch jeglichen Maschineneinsatz zu ei-ner mehr oder weniger starken Veränderung der Bodenstruktur und somit auch der darin le-benden Mesofauna. Bis sich diese erholt hat, steht meist schon die nächste Bodenbewirtschaf-tung an. Die Bodenverdichtung spielt auch eine Rolle. Bei herkömmlichem Ackerbau ist eine Fruchtfolge mit eingeschalteter Brache oder Gründüngung mit Klee oder Luzerne angebracht, um die Mesofauna nicht zu stark zu strapazieren. Organische Düngegaben leicht abbaubarer Streu sind deutlich zu bevorzugen gegenüber sehr zellulose- und ligninhaltigen Pflanzenresten. Die Einbringung von Stoppeln nach Aberntung von Getreidefeldern ist sinnvoll, solange dabei nicht zu tief in die Bodenstruktur eingegriffen wird (ZIMMER 1997).rnrnIm Rahmen der Sonderkultur Wein, bei der eine Bodenbearbeitung aus den aufgezeigten Gründen eigentlich nicht notwendig wäre, sind Dauerbegrünungsmaßnahmen generell von Nutzen: der Erosion wird vorgebeugt, die Bodenfeuchte konstant gehalten, der anfallende Mulch als Gründüngung genutzt. Dies sind alles entscheidende Faktoren, die die Meso- und Makrofauna fördern. Nur die Bodenverdichtung durch schweres Gerät, wie Schlepper und Vollernter, sind für den Boden nicht förderlich (HEISLER 1993, EHRENSBERGER 1993). Nie-derdruckreifen und Verringerung der Befahrung sind geeignete Gegenmaßnahmen. rnrnEntgegen landläufiger Winzermeinung, stellen die Pflanzen einer Begrünung eigentlich keine Konkurrenz für die Weinstöcke dar. Die Vorteile einer Begrünung sind nicht nur die Förde-rung der einheimischen Flora in ihrem standortgerechten Artenreichtum, sondern auch Ver-vielfältigung von Meso- und Makrofauna aufgrund der dadurch mehr anfallenden und ein-zuarbeitenden leicht abbaubaren Streu (GRIEBEL 1995).rn

Caratteristiche innovative nell'acquisizione di dati di informatica forense in ambienti virtuali

Come risposta positiva alle richieste provenienti dal mondo dei giuristi, spesso troppo distante da quello scientifico, si vuole sviluppare un sistema solido dal punto di vista tecnico e chiaro dal punto di vista giurico finalizzato ad migliore ricerca della verità. L’obiettivo ci si prefigge è quello di creare uno strumento versatile e di facile utilizzo da mettere a disposizione dell’A.G. ed eventualmente della P.G. operante finalizzato a consentire il proseguo dell’attività d’indagine in tempi molto rapidi e con un notevole contenimento dei costi di giustizia rispetto ad una normale CTU. La progetto verterà su analisi informatiche forensi di supporti digitali inerenti vari tipi di procedimento per cui si dovrebbe richiedere una CTU o una perizia. La sperimentazione scientifica prevede un sistema di partecipazione diretta della P.G. e della A.G. all’analisi informatica rendendo disponibile, sottoforma di macchina virtuale, il contenuto dei supporti sequestrati in modo che possa essere visionato alla pari del supporto originale. In questo modo il CT diventa una mera guida per la PG e l’AG nell’ambito dell’indagine informatica forense che accompagna il giudice e le parti alla migliore comprensione delle informazioni richieste dal quesito. Le fasi chiave della sperimentazione sono: • la ripetibilità delle operazioni svolte • dettare delle chiare linee guida per la catena di custodia dalla presa in carico dei supporti • i metodi di conservazione e trasmissione dei dati tali da poter garantire integrità e riservatezza degli stessi • tempi e costi ridotti rispetto alle normali CTU/perizie • visualizzazione diretta dei contenuti dei supporti analizzati delle Parti e del Giudice circoscritte alle informazioni utili ai fini di giustizia

Quality of Service in Distributed Stream Processing for large scale Smart Pervasive Environments

The wide diffusion of cheap, small, and portable sensors integrated in an unprecedented large variety of devices and the availability of almost ubiquitous Internet connectivity make it possible to collect an unprecedented amount of real time information about the environment we live in. These data streams, if properly and timely analyzed, can be exploited to build new intelligent and pervasive services that have the potential of improving people's quality of life in a variety of cross concerning domains such as entertainment, health-care, or energy management. The large heterogeneity of application domains, however, calls for a middleware-level infrastructure that can effectively support their different quality requirements. In this thesis we study the challenges related to the provisioning of differentiated quality-of-service (QoS) during the processing of data streams produced in pervasive environments. We analyze the trade-offs between guaranteed quality, cost, and scalability in streams distribution and processing by surveying existing state-of-the-art solutions and identifying and exploring their weaknesses. We propose an original model for QoS-centric distributed stream processing in data centers and we present Quasit, its prototype implementation offering a scalable and extensible platform that can be used by researchers to implement and validate novel QoS-enforcement mechanisms. To support our study, we also explore an original class of weaker quality guarantees that can reduce costs when application semantics do not require strict quality enforcement. We validate the effectiveness of this idea in a practical use-case scenario that investigates partial fault-tolerance policies in stream processing by performing a large experimental study on the prototype of our novel LAAR dynamic replication technique. Our modeling, prototyping, and experimental work demonstrates that, by providing data distribution and processing middleware with application-level knowledge of the different quality requirements associated to different pervasive data flows, it is possible to improve system scalability while reducing costs.

In vivo evaluation of the translations of the gleno-humeral joint using Magnetic resonance imaging

Gleno-humeral joint (GHJ) is the most mobile joint of the human body. This is related to theincongr uence between the large humeral head articulating with the much smaller glenoid (ratio 3:1). The GHJ laxity is the ability of the humeral head to be passively translated on the glenoid fossa and, when physiological, it guarantees the normal range of motion of the joint. Three-dimensional GHJ linear displacements have been measured, both in vivo and in vitro by means of different instrumental techniques. In vivo gleno-humeral displacements have been assessed by means of stereophotogrammetry, electromagnetic tracking sensors, and bio-imaging techniques. Both stereophotogrammetric systems and electromagnetic tracking devices, due to the deformation of the soft tissues surrounding the bones, are not capable to accurately assess small displacements, such as gleno-humeral joint translations. The bio-imaging techniques can ensure for an accurate joint kinematic (linear and angular displacement) description, but, due to the radiation exposure, most of these techniques, such as computer tomography or fluoroscopy, are invasive for patients. Among the bioimaging techniques, an alternative which could provide an acceptable level of accuracy and that is innocuous for patients is represented by magnetic resonance imaging (MRI). Unfortunately, only few studies have been conducted for three-dimensional analysis and very limited data is available in situations where preset loads are being applied. The general aim of this doctoral thesis is to develop a non-invasive methodology based on open-MRI for in-vivo evaluation of the gleno-humeral translation components in healthy subjects under the application of external loads.

Coarse-graining and quantum-classical adaptive coupling in soft matter

Die vorliegende Arbeit untersucht den Zusammenhang zwischen Skalen in Systemen weicher Materie, der für Multiskalen-Simulationen eine wichtige Rolle spielt. Zu diesem Zweck wurde eine Methode entwickelt, die die Approximation der Separierbarkeit von Variablen für die Molekulardynamik und ähnliche Anwendungen bewertet. Der zweite und größere Teil dieser Arbeit beschäftigt sich mit der konzeptionellen und technischen Erweiterung des Adaptive Resolution Scheme'' (AdResS), einer Methode zur gleichzeitigen Simulation von Systemen mit mehreren Auflösungsebenen. Diese Methode wurde auf Systeme erweitert, in denen klassische und quantenmechanische Effekte eine Rolle spielen.rnrnDie oben genannte erste Methode benötigt nur die analytische Form der Potentiale, wie sie die meisten Molekulardynamik-Programme zur Verfügung stellen. Die Anwendung der Methode auf ein spezielles Problem gibt bei erfolgreichem Ausgang einen numerischen Hinweis auf die Gültigkeit der Variablenseparation. Bei nicht erfolgreichem Ausgang garantiert sie, dass keine Separation der Variablen möglich ist. Die Methode wird exemplarisch auf ein zweiatomiges Molekül auf einer Oberfläche und für die zweidimensionale Version des Rotational Isomer State (RIS) Modells einer Polymerkette angewandt.rnrnDer zweite Teil der Arbeit behandelt die Entwicklung eines Algorithmus zur adaptiven Simulation von Systemen, in denen Quanteneffekte berücksichtigt werden. Die Quantennatur von Atomen wird dabei in der Pfadintegral-Methode durch einen klassischen Polymerring repräsentiert. Die adaptive Pfadintegral-Methode wird zunächst für einatomige Flüssigkeiten und tetraedrische Moleküle unter normalen thermodynamischen Bedingungen getestet. Schließlich wird die Stabilität der Methode durch ihre Anwendung auf flüssigen para-Wasserstoff bei niedrigen Temperaturen geprüft.

Design and optimization of turbo-expanders for organic rankine cycles

In a world focused on the need to produce energy for a growing population, while reducing atmospheric emissions of carbon dioxide, organic Rankine cycles represent a solution to fulfil this goal. This study focuses on the design and optimization of axial-flow turbines for organic Rankine cycles. From the turbine designer point of view, most of this fluids exhibit some peculiar characteristics, such as small enthalpy drop, low speed of sound, large expansion ratio. A computational model for the prediction of axial-flow turbine performance is developed and validated against experimental data. The model allows to calculate turbine performance within a range of accuracy of ±3%. The design procedure is coupled with an optimization process, performed using a genetic algorithm where the turbine total-to-static efficiency represents the objective function. The computational model is integrated in a wider analysis of thermodynamic cycle units, by providing the turbine optimal design. First, the calculation routine is applied in the context of the Draugen offshore platform, where three heat recovery systems are compared. The turbine performance is investigated for three competing bottoming cycles: organic Rankine cycle (operating cyclopentane), steam Rankine cycle and air bottoming cycle. Findings indicate the air turbine as the most efficient solution (total-to-static efficiency = 0.89), while the cyclopentane turbine results as the most flexible and compact technology (2.45 ton/MW and 0.63 m3/MW). Furthermore, the study shows that, for organic and steam Rankine cycles, the optimal design configurations for the expanders do not coincide with those of the thermodynamic cycles. This suggests the possibility to obtain a more accurate analysis by including the computational model in the simulations of the thermodynamic cycles. Afterwards, the performance analysis is carried out by comparing three organic fluids: cyclopentane, MDM and R245fa. Results suggest MDM as the most effective fluid from the turbine performance viewpoint (total-to-total efficiency = 0.89). On the other hand, cyclopentane guarantees a greater net power output of the organic Rankine cycle (P = 5.35 MW), while R245fa represents the most compact solution (1.63 ton/MW and 0.20 m3/MW). Finally, the influence of the composition of an isopentane/isobutane mixture on both the thermodynamic cycle performance and the expander isentropic efficiency is investigated. Findings show how the mixture composition affects the turbine efficiency and so the cycle performance. Moreover, the analysis demonstrates that the use of binary mixtures leads to an enhancement of the thermodynamic cycle performance.

Ergodicity and regularity of invariant measure for branching Markov processes with immigration

In this thesis we consider systems of finitely many particles moving on paths given by a strong Markov process and undergoing branching and reproduction at random times. The branching rate of a particle, its number of offspring and their spatial distribution are allowed to depend on the particle's position and possibly on the configuration of coexisting particles. In addition there is immigration of new particles, with the rate of immigration and the distribution of immigrants possibly depending on the configuration of pre-existing particles as well. In the first two chapters of this work, we concentrate on the case that the joint motion of particles is governed by a diffusion with interacting components. The resulting process of particle configurations was studied by E. Löcherbach (2002, 2004) and is known as a branching diffusion with immigration (BDI). Chapter 1 contains a detailed introduction of the basic model assumptions, in particular an assumption of ergodicity which guarantees that the BDI process is positive Harris recurrent with finite invariant measure on the configuration space. This object and a closely related quantity, namely the invariant occupation measure on the single-particle space, are investigated in Chapter 2 where we study the problem of the existence of Lebesgue-densities with nice regularity properties. For example, it turns out that the existence of a continuous density for the invariant measure depends on the mechanism by which newborn particles are distributed in space, namely whether branching particles reproduce at their death position or their offspring are distributed according to an absolutely continuous transition kernel. In Chapter 3, we assume that the quantities defining the model depend only on the spatial position but not on the configuration of coexisting particles. In this framework (which was considered by Höpfner and Löcherbach (2005) in the special case that branching particles reproduce at their death position), the particle motions are independent, and we can allow for more general Markov processes instead of diffusions. The resulting configuration process is a branching Markov process in the sense introduced by Ikeda, Nagasawa and Watanabe (1968), complemented by an immigration mechanism. Generalizing results obtained by Höpfner and Löcherbach (2005), we give sufficient conditions for ergodicity in the sense of positive recurrence of the configuration process and finiteness of the invariant occupation measure in the case of general particle motions and offspring distributions.

Enhancing quality of service in software-defined networks

Resource management is of paramount importance in network scenarios and it is a long-standing and still open issue. Unfortunately, while technology and innovation continue to evolve, our network infrastructure system has been maintained almost in the same shape for decades and this phenomenon is known as “Internet ossification”. Software-Defined Networking (SDN) is an emerging paradigm in computer networking that allows a logically centralized software program to control the behavior of an entire network. This is done by decoupling the network control logic from the underlying physical routers and switches that forward traffic to the selected destination. One mechanism that allows the control plane to communicate with the data plane is OpenFlow. The network operators could write high-level control programs that specify the behavior of an entire network. Moreover, the centralized control makes it possible to define more specific and complex tasks that could involve many network functionalities, e.g., security, resource management and control, into a single framework. Nowadays, the explosive growth of real time applications that require stringent Quality of Service (QoS) guarantees, brings the network programmers to design network protocols that deliver certain performance guarantees. This thesis exploits the use of SDN in conjunction with OpenFlow to manage differentiating network services with an high QoS. Initially, we define a QoS Management and Orchestration architecture that allows us to manage the network in a modular way. Then, we provide a seamless integration between the architecture and the standard SDN paradigm following the separation between the control and data planes. This work is a first step towards the deployment of our proposal in the University of California, Los Angeles (UCLA) campus network with differentiating services and stringent QoS requirements. We also plan to exploit our solution to manage the handoff between different network technologies, e.g., Wi-Fi and WiMAX. Indeed, the model can be run with different parameters, depending on the communication protocol and can provide optimal results to be implemented on the campus network.

NLGA based Active Control in Aerospace: fault tolerability, disturbance rejection, and parameter estimation

A new control scheme has been presented in this thesis. Based on the NonLinear Geometric Approach, the proposed Active Control System represents a new way to see the reconfigurable controllers for aerospace applications. The presence of the Diagnosis module (providing the estimation of generic signals which, based on the case, can be faults, disturbances or system parameters), mean feature of the depicted Active Control System, is a characteristic shared by three well known control systems: the Active Fault Tolerant Controls, the Indirect Adaptive Controls and the Active Disturbance Rejection Controls. The standard NonLinear Geometric Approach (NLGA) has been accurately investigated and than improved to extend its applicability to more complex models. The standard NLGA procedure has been modified to take account of feasible and estimable sets of unknown signals. Furthermore the application of the Singular Perturbations approximation has led to the solution of Detection and Isolation problems in scenarios too complex to be solved by the standard NLGA. Also the estimation process has been improved, where multiple redundant measuremtent are available, by the introduction of a new algorithm, here called "Least Squares - Sliding Mode". It guarantees optimality, in the sense of the least squares, and finite estimation time, in the sense of the sliding mode. The Active Control System concept has been formalized in two controller: a nonlinear backstepping controller and a nonlinear composite controller. Particularly interesting is the integration, in the controller design, of the estimations coming from the Diagnosis module. Stability proofs are provided for both the control schemes. Finally, different applications in aerospace have been provided to show the applicability and the effectiveness of the proposed NLGA-based Active Control System.

A New Test Rig for In-Vitro Evaluation of the Knee Joint Behaviour

The evaluation of the knee joint behavior is fundamental in many applications, such as joint modeling, prosthesis and orthosis design. In-vitro tests are important in order to analyse knee behavior when simulating various loading conditions and studying physiology of the joint. A new test rig for in-vitro evaluation of the knee joint behavior is presented in this paper. It represents the evolution of a previously proposed rig, designed to overcome its principal limitations and to improve its performances. The design procedure and the adopted solution in order to satisfy the specifications are presented here. Thanks to its 6-6 Gough-Stewart parallel manipulator loading system, the rig replicates general loading conditions, like daily actions or clinical tests, on the specimen in a wide range of flexion angles. The restraining actions of knee muscles can be simulated when active actions are simulated. The joint motion in response to the applied loads, guided by passive articular structures and muscles, is permitted by the characteristics of the loading system which is force controlled. The new test rig guarantees visibility so that motion can be measured by an optoelectronic system. Furthermore, the control system of the new test rig allows the estimation of the contribution of the principal leg muscles in guaranteeing the equilibrium of the joint by the system for muscle simulation. Accuracy in positioning is guaranteed by the designed tibia and femur fixation systems,which allow unmounting and remounting the specimen in the same pose. The test rig presented in this paper permits the analysis of the behavior of the knee joint and comparative analysis on the same specimen before and after surgery, in a way to assess the goodness of prostheses or surgical treatments.

Kinematics and statics of cable-driven parallel robots by interval-analysis-based methods

In the past two decades the work of a growing portion of researchers in robotics focused on a particular group of machines, belonging to the family of parallel manipulators: the cable robots. Although these robots share several theoretical elements with the better known parallel robots, they still present completely (or partly) unsolved issues. In particular, the study of their kinematic, already a difficult subject for conventional parallel manipulators, is further complicated by the non-linear nature of cables, which can exert only efforts of pure traction. The work presented in this thesis therefore focuses on the study of the kinematics of these robots and on the development of numerical techniques able to address some of the problems related to it. Most of the work is focused on the development of an interval-analysis based procedure for the solution of the direct geometric problem of a generic cable manipulator. This technique, as well as allowing for a rapid solution of the problem, also guarantees the results obtained against rounding and elimination errors and can take into account any uncertainties in the model of the problem. The developed code has been tested with the help of a small manipulator whose realization is described in this dissertation together with the auxiliary work done during its design and simulation phases.

Multicentre study for a robust protocol in single-voxel spectroscopy: quantification of MRS signals by time-domain fitting algorithms

Magnetic Resonance Spectroscopy (MRS) is an advanced clinical and research application which guarantees a specific biochemical and metabolic characterization of tissues by the detection and quantification of key metabolites for diagnosis and disease staging. The "Associazione Italiana di Fisica Medica (AIFM)" has promoted the activity of the "Interconfronto di spettroscopia in RM" working group. The purpose of the study is to compare and analyze results obtained by perfoming MRS on scanners of different manufacturing in order to compile a robust protocol for spectroscopic examinations in clinical routines. This thesis takes part into this project by using the GE Signa HDxt 1.5 T at the Pavillion no. 11 of the S.Orsola-Malpighi hospital in Bologna. The spectral analyses have been performed with the jMRUI package, which includes a wide range of preprocessing and quantification algorithms for signal analysis in the time domain. After the quality assurance on the scanner with standard and innovative methods, both spectra with and without suppression of the water peak have been acquired on the GE test phantom. The comparison of the ratios of the metabolite amplitudes over Creatine computed by the workstation software, which works on the frequencies, and jMRUI shows good agreement, suggesting that quantifications in both domains may lead to consistent results. The characterization of an in-house phantom provided by the working group has achieved its goal of assessing the solution content and the metabolite concentrations with good accuracy. The goodness of the experimental procedure and data analysis has been demonstrated by the correct estimation of the T2 of water, the observed biexponential relaxation curve of Creatine and the correct TE value at which the modulation by J coupling causes the Lactate doublet to be inverted in the spectrum. The work of this thesis has demonstrated that it is possible to perform measurements and establish protocols for data analysis, based on the physical principles of NMR, which are able to provide robust values for the spectral parameters of clinical use.