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. 

Three-dimensional CT reconstruction: other tool to teach in the veterinary colleges

[ES]The purpose of this paper was to use threedimensional computed tomographic reconstruction as another tool to teach in the veterinary colleges. 2-millimeters thick transverse images of two foals and one dog were obtained. Images provided excellent detail of relevant anatomic structures and detailed information regarding the extent of disease and accurate discrimination of neoplastic versus non-neoplastic diseases. Tridimensional reconstruction can be a valuable diagnostic aid for clinical evaluation of several disturbances and could be used as a tool for teaching anatomy in veterinary schools.

Production of banana fiber yarns for technical textile reinforced composites

[EN]Natural fibers have been used as an alternative to synthetic ones for their greener character; banana fibers have the advantage of coming from an agricultural residue. Fibers have been extracted by mechanical means from banana tree pseudostems, as a strategy to valorize banana crops residues. To increase the mechanical properties of the composite, technical textiles can be used as reinforcement, instead of short fibers. To do so, fibers must be spun and woven. The aim of this paper is to show the viability of using banana fibers to obtain a yarn suitable to be woven, after an enzymatic treatment, which is more environmentally friendly.