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. 

Cardiovascular responses to dynamic exercise with acute anemia in humans

[EN] We hypothesized that reducing arterial O2 content (CaO2) by lowering the hemoglobin concentration ([Hb]) would result in a higher blood flow, as observed with a low PO2, and maintenance of O2 delivery. Seven young healthy men were studied twice, at rest and during two-legged submaximal and peak dynamic knee extensor exercise in a control condition (mean control [Hb] 144 g/l) and after 1-1.5 liters of whole blood had been withdrawn and replaced with albumin [mean drop in [Hb] 29 g/l (range 19-38 g/l); low [Hb]]. Limb blood flow (LBF) was higher (P < 0.01) with low [Hb] during submaximal exercise (i.e., at 30 W, LBF was 2.5 +/- 0.1 and 3.0 +/- 0.1 l/min for control [Hb] and low [Hb], respectively; P < 0.01), resulting in a maintained O2 delivery and O2 uptake for a given workload. However, at peak exercise, LBF was unaltered (6.5 +/- 0.4 and 6.6 +/- 0.6 l/min for control [Hb] and low [Hb], respectively), which resulted in an 18% reduction in O2 delivery (P < 0.01). This occurred despite peak cardiac output in neither condition reaching >75% of maximal cardiac output (approximately 26 l/min). It is concluded that a low CaO2 induces an elevation in submaximal muscle blood flow and that O2 delivery to contracting muscles is tightly regulated.