Implementación hardware de un robot humanoide.

[ES]Este trabajo describe una serie de mejoras aplicables a un kit comercial de robot humanoide Robonova, con el fin de que este reproduzca el comportamiento cinemático del ser humano con mayor autonomía. Entre ellas destacan la implementación de sensores infrarrojos, sensores de posición, cámaras de visión y conexiones en serie de servomotores. Todo ello controlado desde un ordenador de placa reducida Raspberry Pi.

Fiber Bragg Gratings, IT Techniques and Strain Gauge Validation for Strain Calculation on Aged Metal Specimens

This paper studies the feasibility of calculating strains in aged F114 steel specimens with Fiber Bragg Grating (FBG) sensors and infrared thermography (IT) techniques. Two specimens have been conditioned under extreme temperature and relative humidity conditions making comparative tests of stress before and after aging using different adhesives. Moreover, a comparison has been made with IT tecniques and conventional methods for calculating stresses in F114 steel. Implementation of Structural Health Monitoring techniques on real aircraft during their life cycle requires a study of the behaviour of FBG sensors and their wiring under real conditions, before using them for a long time. To simulate aging, specimens were stored in a climate chamber at 70 degrees C and 90% RH for 60 days. This study is framed within the Structural Health Monitoring (SHM) and Non Destructuve Evaluation (NDE) research lines, integrated into the avionics area maintained by the Aeronautical Technologies Centre (CTA) and the University of the Basque Country (UPV/EHU).

Influence of Humidity on Fiber Bragg Grating Sensors

We demonstrate the influence of the relative humidity (RH) on the wavelength of fiber Bragg grating sensors (FBGS), performing tests with five FBGS at different humidity and temperature conditions. These tests were performed in a climate chamber whose RH changes according to a scheduled profile from 30% to 90%, in steps of 10%. These profiles were repeated for a wide range of temperatures from to , in steps of . Two different types of instrumentation methods have been tested, spot welding and epoxy bonding, in two different materials, steel and carbon fiber reinforced polymer (CFRP). We discuss the results for each type of sensor and instrumentation method by analyzing the linearity of the Bragg wavelength with RH and temperature.