Crowd-shipping and autonomous vehicles: an optimization model for the last mile delivery

Il seguente elaborato propone un modello innovativo per la gestione della logistica distributiva nell’ultimo miglio, congiungendo l’attività di crowd-shipping con la presenza di Autonomous Vehicles, per il trasporto di prodotti all’interno della città. Il crowd-shipping utilizza conducenti occasionali, i quali deviano il loro tragitto in cambio di una ricompensa per il completamento dell’attività. Dall’altro lato, gli Autonomous Vehicles sono veicoli elettrici a guida autonoma, in grado di trasportare un numero limitato di pacchi e dotati di un sistema di sicurezza avanzato per garantire la fiducia nel trasporto. In primo luogo, nel seguente elaborato verrà mostrato il modello di ottimizzazione che congiunge i due attori principali in un unico ambiente, dove sono presenti un numero determinato di prodotti da muovere. Successivamente, poiché il problema di ottimizzazione è molto complesso e il numero di istanze valutabili è molto basso, verranno presentate due soluzioni differenti. La prima riguarda la metaeuristica chiamata Ant System, che cerca di avvicinarsi alle soluzioni ottime del precedente modello, mentre la seconda riguarda l’utilizzo di operatori di Local Search, i quali permettono di valutare soluzioni per istanze molto più grandi rispetto alla metaeuristica. Infine, i due modelli euristici verranno utilizzati per analizzare uno scenario che cerca di riprodurre una situazione reale. Tale scenario tenta di allocare strategicamente le risorse presenti e permette di dimostrare che gli Autonomous Vehicles riescono a supportare gli Occasional Drivers anche quando il numero di prodotti trasportabili è elevato. Inoltre, le due entità proposte riescono a soddisfare la domanda, garantendo un servizio che nel futuro potrebbe sostituire il tradizionale sistema di logistica distributiva last mile.

Optimization and characterization of a wheat-based biocomposite for additive manufacturing

In recent years plastic is a key material, fundamental for a large variety of implications. But its large utilization has the direct consequence of the disposal of tons of wastes, that in the major amount cannot be recycled. To pose a solution to the issue of the increasing amount of plastics that are rapidly accumulating all over the world, it is necessary to switch to biodegradable materials. This dissertation is focused on a biodegradable and biobased plastic (polylactic acid, PLA), in order to set free the material from the market and issues of oil, but the PLA is very expensive. For this reason it was added a part of natural component derived from wastes (wheat middling), that acts as reinforcement and decreases the cost of the final material forming a biocomposite. Since their interaction is difficult, the purpose of this dissertation is to improve the affinity between the PLA and the wheat middling.

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

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

Electrochemical Oxidation Of Landfill Leachate In A Flow Reactor: Optimization Using Response Surface Methodology.

Response surface methodology based on Box-Behnken (BBD) design was successfully applied to the optimization in the operating conditions of the electrochemical oxidation of sanitary landfill leachate aimed for making this method feasible for scale up. Landfill leachate was treated in continuous batch-recirculation system, where a dimensional stable anode (DSA(©)) coated with Ti/TiO2 and RuO2 film oxide were used. The effects of three variables, current density (milliampere per square centimeter), time of treatment (minutes), and supporting electrolyte dosage (moles per liter) upon the total organic carbon removal were evaluated. Optimized conditions were obtained for the highest desirability at 244.11 mA/cm(2), 41.78 min, and 0.07 mol/L of NaCl and 242.84 mA/cm(2), 37.07 min, and 0.07 mol/L of Na2SO4. Under the optimal conditions, 54.99 % of chemical oxygen demand (COD) and 71.07 ammonia nitrogen (NH3-N) removal was achieved with NaCl and 45.50 of COD and 62.13 NH3-N with Na2SO4. A new kinetic model predicted obtained from the relation between BBD and the kinetic model was suggested.

Using sentinels to detect intersections of convex and nonconvex polygons

We describe finite sets of points, called sentinels, which allow us to decide if isometric copies of polygons, convex or not, intersect. As an example of the applicability of the concept of sentinel, we explain how they can be used to formulate an algorithm based on the optimization of differentiable models to pack polygons in convex sets. Mathematical subject classification: 90C53, 65K05.

Molecular phylogeny of advanced snakes (Serpentes, Caenophidia) with an emphasis on South American Xenodontines: a revised classification and descriptions of new taxa

We present a molecular phylogenetic analysis of caenophidian (advanced) snakes using sequences from two mitochondrial genes (12S and 16S rRNA) and one nuclear (c-mos) gene (1681 total base pairs), and with 131 terminal taxa sampled from throughout all major caenophidian lineages but focussing on Neotropical xenodontines. Direct optimization parsimony analysis resulted in a well-resolved phylogenetic tree, which corroborates some clades identified in previous analyses and suggests new hypotheses for the composition and relationships of others. The major salient points of our analysis are: (1) placement of Acrochordus, Xenodermatids, and Pareatids as successive outgroups to all remaining caenophidians (including viperids, elapids, atractaspidids, and all other "colubrid" groups); (2) within the latter group, viperids and homalopsids are sucessive sister clades to all remaining snakes; (3) the following monophyletic clades within crown group caenophidians: Afro-Asian psammophiids (including Mimophis from Madagascar), Elapidae (including hydrophiines but excluding Homoroselaps), Pseudoxyrhophiinae, Colubrinae, Natricinae, Dipsadinae, and Xenodontinae. Homoroselaps is associated with atractaspidids. Our analysis suggests some taxonomic changes within xenodontines, including new taxonomy for Alsophis elegans, Liophis amarali, and further taxonomic changes within Xenodontini and the West Indian radiation of xenodontines. Based on our molecular analysis, we present a revised classification for caenophidians and provide morphological diagnoses for many of the included clades; we also highlight groups where much more work is needed. We name as new two higher taxonomic clades within Caenophidia, one new subfamily within Dipsadidae, and, within Xenodontinae five new tribes, six new genera and two resurrected genera. We synonymize Xenoxybelis and Pseudablabes with Philodryas; Erythrolamprus with Liophis; and Lystrophis and Waglerophis with Xenodon.

Spectral Region Optimization for Raman-Based Optical Biopsy of Inflammatory Lesions

Objective: The biochemical alterations between inflammatory fibrous hyperplasia (IFH) and normal tissues of buccal mucosa were probed by using the FT-Raman spectroscopy technique. The aim was to find the minimal set of Raman bands that would furnish the best discrimination. Background: Raman-based optical biopsy is a widely recognized potential technique for noninvasive real-time diagnosis. However, few studies had been devoted to the discrimination of very common subtle or early pathologic states as inflammatory processes that are always present on, for example, cancer lesion borders. Methods: Seventy spectra of IFH from 14 patients were compared with 30 spectra of normal tissues from six patients. The statistical analysis was performed with principal components analysis and soft independent modeling class analogy cross-validated, leave-one-out methods. Results: Bands close to 574, 1,100, 1,250 to 1,350, and 1,500 cm(-1) (mainly amino acids and collagen bands) showed the main intragroup variations that are due to the acanthosis process in the IFH epithelium. The 1,200 (C-C aromatic/DNA), 1,350 (CH(2) bending/collagen 1), and 1,730 cm(-1) (collagen III) regions presented the main intergroup variations. This finding was interpreted as originating in an extracellular matrix-degeneration process occurring in the inflammatory tissues. The statistical analysis results indicated that the best discrimination capability (sensitivity of 95% and specificity of 100%) was found by using the 530-580 cm(-1) spectral region. Conclusions: The existence of this narrow spectral window enabling normal and inflammatory diagnosis also had useful implications for an in vivo dispersive Raman setup for clinical applications.