Diseño, implementación y verificación de un controlador para robots educativos

[EN] This project briefly analyzes the scope and applications of Industrial Robotics, as well as the importance that this technical discipline has gained in the past decades. In addition, it proposes a modern platform to assist in teaching this discipline in colleges and universities. This new educational platform for the teaching of Industrial Robotics is based on the robotic systems from Rhino Robotics Ltd., using the existing robotic arms and replacing the control electronics by a newer, modern and yet backwards-compatible controller. In addition to the controller, this platform also provides new, up-to-date software utilities that are more intuitive than those provided with the old system. The work to be done consists essentially in receiving commands from a personal computer which the controller must interpret in order to control the motors of the robotic arm. The controller itself will be implemented as an embedded system based on microcontrollers. This requires the implementation of a communication protocol between the personal computer and the microcontroller, the design of a command interpreter, the design of the electronics for motor control using PWM and H-bridges, and the implementation of control techniques (more precisely, PID control). Hence, this project combines software and hardware design and integration techniques with motor control techniques and feedback control methods from Control Engineering, along with the kinematic analysis of the Rhino XR-4 robotic arm. 

Cardiac output and leg and arm blood flow during incremental exercise to exhaustion on the cycle ergometer

[EN] To determine central and peripheral hemodynamic responses to upright leg cycling exercise, nine physically active men underwent measurements of arterial blood pressure and gases, as well as femoral and subclavian vein blood flows and gases during incremental exercise to exhaustion (Wmax). Cardiac output (CO) and leg blood flow (BF) increased in parallel with exercise intensity. In contrast, arm BF remained at 0.8 l/min during submaximal exercise, increasing to 1.2 +/- 0.2 l/min at maximal exercise (P < 0.05) when arm O(2) extraction reached 73 +/- 3%. The leg received a greater percentage of the CO with exercise intensity, reaching a value close to 70% at 64% of Wmax, which was maintained until exhaustion. The percentage of CO perfusing the trunk decreased with exercise intensity to 21% at Wmax, i.e., to approximately 5.5 l/min. For a given local Vo(2), leg vascular conductance (VC) was five- to sixfold higher than arm VC, despite marked hemoglobin deoxygenation in the subclavian vein. At peak exercise, arm VC was not significantly different than at rest. Leg Vo(2) represented approximately 84% of the whole body Vo(2) at intensities ranging from 38 to 100% of Wmax. Arm Vo(2) contributed between 7 and 10% to the whole body Vo(2). From 20 to 100% of Wmax, the trunk Vo(2) (including the gluteus muscles) represented between 14 and 15% of the whole body Vo(2). In summary, vasoconstrictor signals efficiently oppose the vasodilatory metabolites in the arms, suggesting that during whole body exercise in the upright position blood flow is differentially regulated in the upper and lower extremities.

Leg and arm lactate and substrate kinetics during exercise

[EN] To study the role of muscle mass and muscle activity on lactate and energy kinetics during exercise, whole body and limb lactate, glucose, and fatty acid fluxes were determined in six elite cross-country skiers during roller-skiing for 40 min with the diagonal stride (Continuous Arm + Leg) followed by 10 min of double poling and diagonal stride at 72-76% maximal O(2) uptake. A high lactate appearance rate (R(a), 184 +/- 17 micromol x kg(-1) x min(-1)) but a low arterial lactate concentration ( approximately 2.5 mmol/l) were observed during Continuous Arm + Leg despite a substantial net lactate release by the arm of approximately 2.1 mmol/min, which was balanced by a similar net lactate uptake by the leg. Whole body and limb lactate oxidation during Continuous Arm + Leg was approximately 45% at rest and approximately 95% of disappearance rate and limb lactate uptake, respectively. Limb lactate kinetics changed multiple times when exercise mode was changed. Whole body glucose and glycerol turnover was unchanged during the different skiing modes; however, limb net glucose uptake changed severalfold. In conclusion, the arterial lactate concentration can be maintained at a relatively low level despite high lactate R(a) during exercise with a large muscle mass because of the large capacity of active skeletal muscle to take up lactate, which is tightly correlated with lactate delivery. The limb lactate uptake during exercise is oxidized at rates far above resting oxygen consumption, implying that lactate uptake and subsequent oxidation are also dependent on an elevated metabolic rate. The relative contribution of whole body and limb lactate oxidation is between 20 and 30% of total carbohydrate oxidation at rest and during exercise under the various conditions. Skeletal muscle can change its limb net glucose uptake severalfold within minutes, causing a redistribution of the available glucose because whole body glucose turnover was unchanged.

Real-time tracking system using C80 DSPs and a binocular robotic head

[EN]An active vision system to perform tracking of moving objects in real time is described. The main goal is to obtain a system integrating off-the-self components. These components includes a stereoscopic robotic-head, as active perception hardware; a DSP based board SDB C80, as massive data processor and image acquisition board; and finally, a Pentium PC running Windows NT that interconnects and manages the whole system. Real-time is achieved taking advantage of the special architecture of DSP. An evaluation of the performance is included.