Control remoto del robot ABB IRB 120 por tecnología Wifi

Durante toda la evolución de la tecnología, se han empleado aparatos interconexionados por cables. Los cables limitan la libertad de movimiento del usuario y pueden captar interferencias entre ellos si la red de cableado es elevada. Mientras avanzaba la tecnología inalámbrica, se ha ido adaptando al equipamiento electrónico a la vez que se iban haciendo cada vez más pequeños. Por esto, se impone la necesidad de utilizarlos como controles a distancia sin el empleo de cables debido a los inconvenientes que estos conllevan. El presente trabajo, pretende unificar tres tecnologías que pueden tener en el futuro una gran afinidad. · Dispositivos basados en el sistema Android. Desde sus inicios, han tenido una evolución meteórica. Se han ido haciendo cada vez más rápidos y mejores. · Sistemas inalámbricos. Los sistemas wifi o bluetooth, se han ido incorporando a nuestras vidas cada vez más y están prácticamente en cualquier aparato. · Robótica. Cualquier proceso de producción incorpora un robot. Son necesarios para hacer muchos trabajos que, aunque el hombre lo puede realizar, un robot reduce los tiempos y la peligrosidad de los procesos. Aunque las dos primeras tecnologías van unidas, ¿quién no tiene un teléfono con conexión wifi y bluetooth?, pocos diseños aúnan estos campos con la Robótica. El objetivo final de este trabajo es realizar una aplicación en Android para el control remoto de un robot, empleando el sistema de comunicación inalámbrico. La aplicación desarrollada, permite controlar el robot a conveniencia del usuario en un entorno táctil/teledirigido. Gracias a la utilización de simulador en ambos lenguajes (RAPID y Android), ha sido posible realizar la programación sin tener que estar presente ante el robot objeto de este trabajo. A través de su progreso, se ha ido evolucionando en la cantidad de datos enviados al robot y complejidad en su procesamiento, a la vez que se ha mejorado en la estética de la aplicación. Finalmente se usó la aplicación desarrollada con el robot, consiguiendo con éxito que realizara los movimientos que eran enviados con la tablet programada.

Relay-assisted transmission and radio resource management for wireless networks

The following paper presents an overview of the Ph.D Thesis1 presented in [1], which compiles all the research done during the period of time between 2004-2007. In that dissertation the relay-assisted transmission with half-duplex relays is analyzed from different points of view. This study is motivated by the necessity of finding innovative solutions to cope with the requirements of next generation wireless services, and with current radio technology. The use of relayed communications represents a change of paradigm of conventional communications, and requires the definition and evaluation of protocols to be applied to single or multiple-user relay communication. With the two fold goal of enhancing spectral efficiency and homogenize service in cellular communications, system design is investigated at physical (type of transmissions of the relay, decoding mode, ..) and upper layers (resource allocation, dynamic link control).

Implementació d'un demostrador wireless: network cording i virtualització d'interfícies sense fils

El treball realitzat en aquest projecte es basa en l'implementació d'un demostrador wireless, i més específicament, en l'estudi de les tècniques network coding i virtualització. Network coding és un nou mètode de transmissió de dades que es basa en la codificació de paquets per incrementar el rendiment fins ara obtingut als mètodes de transmissió convencionals. La virtualització és una tècnica que consisteix en compartir de forma més eficient els recursos d'un sistema. En el nostre cas s'utilitzarà la virtualització per dividir una interfície sense fils en diferents usuaris virtuals transmetent i rebent dades simultàniament. L'objectiu del projecte és realitzar un seguit de proves i estudis per veure els avantatges d'aquestes dues tècniques.

Monitoratge remot d'esdeveniments per al control i supervisió utilitzant "System on chip" i "w-USB"

Aquesta memòria descriu el procés de desenvolupament d'un projecte que consisteix en un conjunt de hardware, “PSoC” (Programmable System on Chip), i un software, C#, mitjançant els quals s'automatitza la gestió de comandes a les taules d'un restaurant. A cada taula trobem un aparell anomenat “WaiterClient”, a través del qual els clients sol·liciten l'atenció d'un cambrer. Aquest hardware té una pantalla on es mostrarà informació i un conjunt de polsadors per demanar. Per una altra banda, trobem un altre aparell, “WaiterServidor”, encarregat de rebre els senyals enviats per wireless des dels “WaiterClients” que hi ha a cada taula. Un cop rebudes, les transmet a un ordinador central per cable sèrie RS-232.

Distributed fire detector system

Aquest treball pretén elaborar un sistema de detecció d'incendis implementat sota una xarxa de sensors sense fils. Aquesta xarxa està formada per petits dispositius autònoms equipats amb un transmissor de ràdio, un microcontrolador, diferents sensors (temperatura, lluminositat i efecte Hall) i alimentació per bateries (AA).

A WiMAX-based implementation of network MIMO for indoor wireless systems

It is well known that multiple-input multiple-output (MIMO) techniques can bring numerous benefits, such as higher spectral efficiency, to point-to-point wireless links. More recently, there has been interest in extending MIMO concepts tomultiuser wireless systems. Our focus in this paper is on network MIMO, a family of techniques whereby each end user in a wireless access network is served through several access points within its range of influence. By tightly coordinating the transmission and reception of signals at multiple access points, network MIMO can transcend the limits on spectral efficiency imposed by cochannel interference. Taking prior information-theoretic analyses of networkMIMO to the next level, we quantify the spectral efficiency gains obtainable under realistic propagation and operational conditions in a typical indoor deployment. Our study relies on detailed simulations and, for specificity, is conducted largely within the physical-layer framework of the IEEE 802.16e Mobile WiMAX system. Furthermore,to facilitate the coordination between access points, we assume that a high-capacity local area network, such as Gigabit Ethernet,connects all the access points. Our results confirm that network MIMO stands to provide a multiple-fold increase in spectralefficiency under these conditions.

Optimum pilot overhead in wireless communication: a unified treatment of continuous and block-fading channels

The optimization of the pilot overhead in wireless fading channels is investigated, and the dependence of this overhead on various system parameters of interest (e.g., fading rate, signal-to-noise ratio) is quantified. The achievable pilot-based spectral efficiency is expanded with respect to the fading rate about the no-fading point, which leads to an accurate order expansion for the pilot overhead. This expansion identifies that the pilot overhead, as well as the spectral efficiency penalty with respect to a reference system with genie-aided CSI (channel state information) at the receiver, depend on the square root of the normalized Doppler frequency. It is also shown that the widely-usedblock fading model is a special case of more accurate continuous fading models in terms of the achievable pilot-based spectral efficiency. Furthermore, it is established that the overhead optimization for multiantenna systems is effectively the same as for single-antenna systems with thenormalized Doppler frequency multiplied by the number of transmit antennas.

High-performance payload data handling system for Gaia

Gaia is the most ambitious space astrometry mission currently envisaged and is a technological challenge in all its aspects. We describe a proposal for the payload data handling system of Gaia, as an example of a high-performance, real-time, concurrent, and pipelined data system. This proposal includes the front-end systems for the instrumentation, the data acquisition and management modules, the star data processing modules, and the payload data handling unit. We also review other payload and service module elements and we illustrate a data flux proposal.

High-performance payload data handling system for Gaia

Gaia is the most ambitious space astrometry mission currently envisaged and is a technological challenge in all its aspects. We describe a proposal for the payload data handling system of Gaia, as an example of a high-performance, real-time, concurrent, and pipelined data system. This proposal includes the front-end systems for the instrumentation, the data acquisition and management modules, the star data processing modules, and the payload data handling unit. We also review other payload and service module elements and we illustrate a data flux proposal.

Inorganic Nanoparticles and the Immune System: Detection, Selective Activation and Tolerance

The immune system is the responsible for body integrity and prevention of external invasion. On one side, nanoparticles are no triggers that the immune system is prepared to detect, on the other side it is known that foreign bodies, not only bacteria, viruses and parasites, but also inorganic matter, can cause various pathologies such as silicosis, asbestosis or inflammatory reactions. Therefore, nanoparticles entering the body, after interaction with proteins, will be either recognized as self-agents or detected by the immune system, encompassing immunostimulation or immunosuppression responses. The nature of these interactions seems to be dictated not specially by the composition of the material but by modifications of NP coating (composition, surface charge and structure). Herein, we explore the use of gold nanoparticles as substrates to carry multifunctional ligands to manipulate the immune system in a controlled manner, from undetection to immunostimulation. Murine bone marrow macrophages can be activated with artificial nanometric objects consisting of a gold nanoparticle functionalized with peptides. In the presence of some conjugates, macrophage proliferation was stopped and pro-inflammatory cytokines were induced. The biochemical type of response depended on the type of conjugated peptide and was correlated with the degree of ordering in the peptide coating. These findings help to illustrate the basic requirements involved in medical NP conjugate design to either activate the immune system or hide from it, in order to reach their targets before being removed by phagocytes. Additionally, it opens up the possibility to modulate the immune response in order to suppress unwanted responses resulting from autoimmunity, or allergy or to stimulate protective responses against pathogens.

Combined dielectrophoretic and impedance system for on-chip controlled bacteria concentration: Application to Escherichia coli

The present paper reports a bacteria autonomous controlled concentrator prototype with a user-friendly interface for bench-top applications. It is based on a micro-fluidic lab-on-a-chip and its associated custom instrumentation, which consists in a dielectrophoretic actuator, to pre-concentrate the sample, and an impedance analyser, to measure concentrated bacteria levels. The system is composed by a single micro-fluidic chamber with interdigitated electrodes and a instrumentation with custom electronics. The prototype is supported by a real-time platform connected to a remote computer, which automatically controls the system and displays impedance data used to monitor the status of bacteria accumulation on-chip. The system automates the whole concentrating operation. Performance has been studied for controlled volumes of Escherichia coli (E. coli) samples injected into the micro-fluidic chip at constant flow rate of 10 μL/min. A media conductivity correcting protocol has been developed, as the preliminary results showed distortion of the impedance analyser measurement produced by bacterial media conductivity variations through time. With the correcting protocol, the measured impedance values were related to the quantity of bacteria concentrated with a correlation of 0.988 and a coefficient of variation of 3.1%. Feasibility of E. coli on-chip automated concentration, using the miniaturized system, has been demonstrated. Furthermore, the impedance monitoring protocol had been adjusted and optimized, to handle changes in the electrical properties of the bacteria media over time.