Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots

This dissertation studies the geometric static problem of under-constrained cable-driven parallel robots (CDPRs) supported by n cables, with n ≤ 6. The task consists of determining the overall robot configuration when a set of n variables is assigned. When variables relating to the platform posture are assigned, an inverse geometric static problem (IGP) must be solved; whereas, when cable lengths are given, a direct geometric static problem (DGP) must be considered. Both problems are challenging, as the robot continues to preserve some degrees of freedom even after n variables are assigned, with the final configuration determined by the applied forces. Hence, kinematics and statics are coupled and must be resolved simultaneously. In this dissertation, a general methodology is presented for modelling the aforementioned scenario with a set of algebraic equations. An elimination procedure is provided, aimed at solving the governing equations analytically and obtaining a least-degree univariate polynomial in the corresponding ideal for any value of n. Although an analytical procedure based on elimination is important from a mathematical point of view, providing an upper bound on the number of solutions in the complex field, it is not practical to compute these solutions as it would be very time-consuming. Thus, for the efficient computation of the solution set, a numerical procedure based on homotopy continuation is implemented. A continuation algorithm is also applied to find a set of robot parameters with the maximum number of real assembly modes for a given DGP. Finally, the end-effector pose depends on the applied load and may change due to external disturbances. An investigation into equilibrium stability is therefore performed.

Secondary Microseisms Characterization and Green’s Function Extraction at the Larderello-Travale Geothermal Field (Italy)

Over the past ten years, the cross-correlation of long-time series of ambient seismic noise (ASN) has been widely adopted to extract the surface-wave part of the Green’s Functions (GF). This stochastic procedure relies on the assumption that ASN wave-field is diffuse and stationary. At frequencies <1Hz, the ASN is mainly composed by surface-waves, whose origin is attributed to the sea-wave climate. Consequently, marked directional properties may be observed, which call for accurate investigation about location and temporal evolution of the ASN-sources before attempting any GF retrieval. Within this general context, this thesis is aimed at a thorough investigation about feasibility and robustness of the noise-based methods toward the imaging of complex geological structures at the local (∼10-50km) scale. The study focused on the analysis of an extended (11 months) seismological data set collected at the Larderello-Travale geothermal field (Italy), an area for which the underground geological structures are well-constrained thanks to decades of geothermal exploration. Focusing on the secondary microseism band (SM;f>0.1Hz), I first investigate the spectral features and the kinematic properties of the noise wavefield using beamforming analysis, highlighting a marked variability with time and frequency. For the 0.1-0.3Hz frequency band and during Spring- Summer-time, the SMs waves propagate with high apparent velocities and from well-defined directions, likely associated with ocean-storms in the south- ern hemisphere. Conversely, at frequencies >0.3Hz the distribution of back- azimuths is more scattered, thus indicating that this frequency-band is the most appropriate for the application of stochastic techniques. For this latter frequency interval, I tested two correlation-based methods, acting in the time (NCF) and frequency (modified-SPAC) domains, respectively yielding esti- mates of the group- and phase-velocity dispersions. Velocity data provided by the two methods are markedly discordant; comparison with independent geological and geophysical constraints suggests that NCF results are more robust and reliable.

Sustainable improvement of water networks : to achieve best decisions for rehabilitation plans using advanced GIS and statistical techniques

Many of developing countries are facing crisis in water management due to increasing of population, water scarcity, water contaminations and effects of world economic crisis. Water distribution systems in developing countries are facing many challenges of efficient repair and rehabilitation since the information of water network is very limited, which makes the rehabilitation assessment plans very difficult. Sufficient information with high technology in developed countries makes the assessment for rehabilitation easy. Developing countries have many difficulties to assess the water network causing system failure, deterioration of mains and bad water quality in the network due to pipe corrosion and deterioration. The limited information brought into focus the urgent need to develop economical assessment for rehabilitation of water distribution systems adapted to water utilities. Gaza Strip is subject to a first case study, suffering from severe shortage in the water supply and environmental problems and contamination of underground water resources. This research focuses on improvement of water supply network to reduce the water losses in water network based on limited database using techniques of ArcGIS and commercial water network software (WaterCAD). A new approach for rehabilitation water pipes has been presented in Gaza city case study. Integrated rehabilitation assessment model has been developed for rehabilitation water pipes including three components; hydraulic assessment model, Physical assessment model and Structural assessment model. WaterCAD model has been developed with integrated in ArcGIS to produce the hydraulic assessment model for water network. The model have been designed based on pipe condition assessment with 100 score points as a maximum points for pipe condition. As results from this model, we can indicate that 40% of water pipeline have score points less than 50 points and about 10% of total pipes length have less than 30 score points. By using this model, the rehabilitation plans for each region in Gaza city can be achieved based on available budget and condition of pipes. The second case study is Kuala Lumpur Case from semi-developed countries, which has been used to develop an approach to improve the water network under crucial conditions using, advanced statistical and GIS techniques. Kuala Lumpur (KL) has water losses about 40% and high failure rate, which make severe problem. This case can represent cases in South Asia countries. Kuala Lumpur faced big challenges to reduce the water losses in water network during last 5 years. One of these challenges is high deterioration of asbestos cement (AC) pipes. They need to replace more than 6500 km of AC pipes, which need a huge budget to be achieved. Asbestos cement is subject to deterioration due to various chemical processes that either leach out the cement material or penetrate the concrete to form products that weaken the cement matrix. This case presents an approach for geo-statistical model for modelling pipe failures in a water distribution network. Database of Syabas Company (Kuala Lumpur water company) has been used in developing the model. The statistical models have been calibrated, verified and used to predict failures for both networks and individual pipes. The mathematical formulation developed for failure frequency in Kuala Lumpur was based on different pipeline characteristics, reflecting several factors such as pipe diameter, length, pressure and failure history. Generalized linear model have been applied to predict pipe failures based on District Meter Zone (DMZ) and individual pipe levels. Based on Kuala Lumpur case study, several outputs and implications have been achieved. Correlations between spatial and temporal intervals of pipe failures also have been done using ArcGIS software. Water Pipe Assessment Model (WPAM) has been developed using the analysis of historical pipe failure in Kuala Lumpur which prioritizing the pipe rehabilitation candidates based on ranking system. Frankfurt Water Network in Germany is the third main case study. This case makes an overview for Survival analysis and neural network methods used in water network. Rehabilitation strategies of water pipes have been developed for Frankfurt water network in cooperation with Mainova (Frankfurt Water Company). This thesis also presents a methodology of technical condition assessment of plastic pipes based on simple analysis. This thesis aims to make contribution to improve the prediction of pipe failures in water networks using Geographic Information System (GIS) and Decision Support System (DSS). The output from the technical condition assessment model can be used to estimate future budget needs for rehabilitation and to define pipes with high priority for replacement based on poor condition. rn

Bestimmung thermischer Untergrundparameter in Erdwärmesondenfeldern und Evaluierung tiefenaufgelöster Thermal-Response-Tests durch thermohydraulische Modellierungen

Die oberflächennahe Geothermie leistet im Bereich der Nutzung regenerativer Wärme einen wichtigen Beitrag zum Klima- und Umweltschutz. Um die technische Nutzung oberflächennaher Geothermie zu optimieren, ist die Kenntnis der Beschaffenheit des geologischen Untergrundes ausschlaggebend. Die vorliegende Dissertation befasst sich mit der Bestimmung verschiedener Untergrundparameter an einem Erdwärmesondenfeld. Es wurden Untersuchungen zur Bestimmung der Wärmeleitfähigkeit wie der enhanced Thermal Response Test (eTRT), sowie eine Untergrund-Temperaturüberwachung im ersten Betriebsjahr durchgeführt. Die Überwachung zeigte keine gegenseitige Beeinflussung einzelner Sonden. Ein Vergleich zwischen dem geplanten und dem tatsächlichem Wärmebedarf des ersten Betriebsjahres ergab eine Abweichung von ca. 35%. Dies zeigt, dass die Nutzungsparameter der Anlage deren Effizienz maßgeblich beeinflussen können. Der am Beispielobjekt praktisch durchgeführte eTRT wurde mittels numerischer Modellierung auf seine Reproduzierbarkeit hin überprüft. Bei einem rein konduktiven Wärmetransport im Untergrund betrug die maximale Abweichung der Messung selbst unter ungünstigen Bedingungen lediglich ca. 6% vom zu erwartenden Wert. Die Detektion von grundwasserdurchflossenen Schichten ist in den Modellen ebenfalls gut abbildbar. Problematisch bleibt die hohe Abhängigkeit des Tests von einer konstanten Wärmezufuhr. Lediglich die Bestimmung der Wärmeleitfähigkeit über das Relaxationsverhalten des Untergrundes liefert bei Wärmeeintragsschwankungen hinreichend genaue Ergebnisse. Die mathematische Nachbearbeitung von fehlerhaften Temperaturkurven bietet einen Einstiegspunkt für weiterführende Forschung.

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.

Morfometria di forme carsiche in un possibile "landing site" marziano

Starting from some satellite photos, we try to understand if someone of the many negatives roundish shapes recognized into a complex of two impacts craters could verify the karst phenomenon on Mars. This fact if confirmed could be extremely important to find microbiological life living underground in an area of contact between water and sulfates, shielded from cosmic radiation. In order to verify if these negatives shapes have a karst origin or an impact one, we made several morphometric measurements with particular attention to the length of the axes and to the depth of these depressions. We also studied some other forms (such jagged ridges) as another possible witness of the karst.

Methoden zur Analyse, Interpretation und Modellierung des elektrischen Widerstandes von archäologischen Steinstrukturen

In der Archäologie werden elektrische Widerstandsmessungen routinemäßig zur Prospektion von Fundstellen eingesetzt. Die Methode ist kostengünstig, leicht anwendbar und liefert in den meisten Fällen zuverlässige und leicht zu interpretierende Ergebnisse. Dennoch kann die Methode die archäologischen Strukturen in manchen Fällen nur teilweise oder gar nicht abbilden, wenn die bodenphysikalischen und bodenchemischen Eigenschaften des Bodens und der archäologischen Strukturen dies nicht zulassen. Der spezifische elektrische Widerstand wird durch Parameter wie Wassergehalt, Bodenstruktur, Bodenskelett, Bodentextur, Salinität und Bodentemperatur beeinflusst. Manche dieser Parameter, wie z.B. der Wassergehalt und die Bodentemperatur, unterliegen einer saisonalen Veränderung. Die vorliegende Arbeit untersucht den spezifischen elektrischen Widerstand von archäologischen Steinstrukturen und evaluiert die Möglichkeit, auf Grundlage von Geländemessungen und Laboranalysen archäologische Strukturen und Böden als numerische Modelle darzustellen. Dazu wurde eine Kombination von verschiedenen bodenkundlichen, geoarchäologischen und geophysikalischen Methoden verwendet. Um archäologische Strukturen und Bodenprofile als numerische Widerstandsmodelle darstellen zu können, werden Informationen zur Geometrie der Strukturen und ihren elektrischen Widerstandswerten benötigt. Dabei ist die Qualität der Hintergrundinformationen entscheidend für die Genauigkeit des Widerstandsmodells. Die Geometrie der Widerstandsmodelle basiert auf den Ergebnissen von Rammkernsondierungen und archäologische Ausgrabungen. Die an der Ausbildung des elektrischen Widerstands beteiligten Parameter wurden durch die Analyse von Bodenproben gemessen und ermöglichen durch Pedotransfer-Funktion, wie die Rhoades-Formel, die Abschätzung des spezifischen elektrischen Widerstandes des Feinbodens. Um den Einfluss des Bodenskeletts auf den spezifischen elektrischen Widerstand von Bodenprofilen und archäologischen Strukturen zu berechnen, kamen die Perkolationstheorie und die Effective Medium Theory zum Einsatz. Die Genauigkeit und eventuelle Limitierungen der Methoden wurden im Labor durch experimentelle Widerstandsmessungen an ungestörten Bodenproben und synthetischen Materialien überprüft. Die saisonale Veränderung des Wassergehalts im Boden wurde durch numerische Modelle mit der Software HYDRUS simuliert. Die hydraulischen Modelle wurden auf Grundlage der ermittelten bodenkundlichen und archäologischen Stratigraphie erstellt und verwenden die Daten von lokalen Wetterstationen als Eingangsparameter. Durch die Kombination der HYDRUS-Ergebnisse mit den Pedotransfer-Funktionen konnte der Einfluss dieser saisonalen Veränderung auf die Prospektionsergebnisse von elektrischen Widerstandsmethoden berechnet werden. Die Ergebnisse der Modellierungsprozesse wurden mit den Geländemessungen verglichen. Die beste Übereinstimmung zwischen Modellergebnissen und den Prospektionsergebnissen konnte für die Fallstudie bei Katzenbach festgestellt werden. Bei dieser wurden die Modelle auf Grundlage von archäologischen Grabungsergebnissen und detaillierten bodenkundlichen Analysen erstellt. Weitere Fallstudien zeigen, dass elektrische Widerstandsmodelle eingesetzt werden können, um den Einfluss von ungünstigen Prospektionsbedingungen auf die Ergebnisse der elektrischen Widerstandsmessungen abzuschätzen. Diese Informationen unterstützen die Planung und Anwendung der Methoden im Gelände und ermöglichen eine effektivere Interpretation der Prospektionsergebnisse. Die präsentierten Modellierungsansätze benötigen eine weitere Verifizierung durch den Vergleich der Modellierungsergebnisse mit detailliertem geophysikalischem Gelände-Monitoring von archäologischen Fundstellen. Zusätzlich könnten elektrische Widerstandsmessungen an künstlichen Mauerstrukturen unter kontrollierten Bedingungen zur Überprüfung der Modellierungsprozesse genutzt werden.

Analisi idrogeologica dell'area carsica dei Monti Alburni (Salerno, Campania)

The Alburni Massif is the most important karstic area in southern Italy and It contains about 250 caves. Most of these caves are located on the plateau, between 1500 m a.s.l. and 700 m a.s.l., and only a few reach the underground streams that feed the springs and the deep aquifer. The main springs are Grotta di Pertosa-Auletta (CP1) and Auso spring (CP31), both located at 280 m a.s.l., the first on the south-eastern margin whereas the second on south-west margin, and the springs present in Castelcivita area, the Castelcivita-Ausino system (CP2) and Mulino di Castelcivita spring (CP865), located at 60 m a.s.l.. Some other secondary springs are present too. We have monitored Pertosa-Auletta’s spring with a multiparameter logger. This logger has registered data from November 2014 to December 2015 regarding water level, electric conductivity and temperature. The hydrodynamic monitoring has been supported by a sampling campaign in order to obtain chemical water analyses. The work was done from August 2014 to December 2015, not only at Pertosa but also at all the other main springs, and in some caves. It was possible to clarify the behavior of Pertosa-Auletta’s spring, almost exclusively fed by full charge conduits, only marginally affected by seasonal rains. Pertosa-Auletta showed a characteristic Mg/Ca ratio and Mg2+ enrichment, as demonstrated by its saturation index that always showed a dolomite saturation. All other spring have characteristic waters from a chemical point of view. In particular, it highlights the great balance between the components dissolved in the waters of Mulino’ spring opposed to the variability of the nearby Castelcivita-Ausino spring. Regarding the Auso spring the variable behavior in terms of discharge and chemistry is confirmed, greatly influenced by rainfall and, during drought periods, by full charge conduits. Rare element concentrations were also analyzed and allowed to characterize further the different waters. Based on all these data an updated hydrogeological map of the Alburni massif has been drawn, that defines in greater detail the hydrogeological complexes on the basis of lithologies, and therefore of their chemical characteristics.

Estimating Willingness to Pay for River Amenities and Safety Measures Associated with Shale Gas Extraction

This paper utilizes a Contingent Valuation Method survey of a random sample of residents to estimate that households are willing to pay an average of $12.00 per month for public projects designed to improve river access and $10.46 per month for additional safety measures that would eliminate risks to local watersheds from drilling for natural gas from underground shale formations. These estimates can be compared to the costs of providing each of these two amenities to help foster the formation of efficient policy decisions.

Smashing the Mirror of Yamato: Sakaguchi Ango, Decadence & a Postmetaphysical Buddhist Critique of Culture

This article focuses on several key philosophical themes in the criticism of Sakaguchi Ango (1906–1955), one of postwar Japan’s most influential and controversial writers. Associated with the underground Kasutori culture as well as the Burai-ha of Tamura Taijirō (1911–1983), Oda Sakunosuke (1913–1947) and Dazai Osamu (1909–1948), Ango gained fame for two provocative essays on the theme of daraku or “decadence”—Darakuron and Zoku darakuron—pubished in 1946, in the wake of Japan’s traumatic defeat and the beginnings of the Allied Occupation. Less well-known is the fact that Ango spent his student years studying classical Buddhist texts in Sanskrit, Pali and Tibetan, and that he at at one time aspired to the priesthood. The article analyses the concept of daraku in the two essays noted above, particularly as it relates to Ango’s vision of a refashioned morality based on an interpretation of human subjectivity vis-à-vis the themes of illusion and disillusion. It argues that, despite the radical and modernist flavor of Ango’s essays, his “decadence” is best understood in terms of Mahāyāna and Zen Buddhist concepts. Moreover, when the two essays on decadence are read in tandem with Ango’s wartime essay on Japanese culture (Nihon bunka shikan, 1942), they form the foundation for a “postmetaphysical Buddhist critique of culture,” one that is pragmatic, humanistic, and non-reductively physicalist.

Iodide interaction with natural pyrite

29I is one of the major dose-determining nuclides in the safety analysis of deep storage of radioactive waste. Iodine forms anionic species that hardly sorb on the surfaces of common host-rock minerals. Recently, interest has arisen on the role of pyrite, an accessory mineral capable of binding anionic selenium. Whereas the interaction of selenium with pyrite is well documented, corresponding results on iodine sorption are still scarce and controversial. Pyrite is present in argicilleous rocks which are being considered in many countries as potential host rocks for a radioactive waste repository. The uptake of iodide (I−) on natural pyrite was investigated under nearly anoxic conditions (O2 < 5 ppm) over a wide concentration range (10−11–10−3 M total I−) using 125I as the radioactive tracer. Weak but measurable sorption was observed; distribution coefficients (R d) were less than 0.002 m3 kg−1 and decreased with increasing total iodide concentration. Iodide sorption was connected to the presence of oxidized clusters on the pyrite surface, which were presumably formed by reaction with limited amounts of dissolved oxygen. The results obtained indicated that pyrite cannot be considered as an effective scavenger of 129I under the geochemical conditions prevailing in underground radioactive waste geologic storage.