Studio e ottimizzazione di un riduttore aeronautico di potenza per motori alternativi

Come ogni campo dell'ingegneria, anche quello inerente allo sviluppo di motori aerei, è in continuo sviluppo, e, di volta in volta, la progettazione richiede nuove soluzioni per rendere sempre più efficienti ed affidabili i velivoli, mantenendo ridotti i costi di produzione e manutenzione. In particolare, si è pensato di porre rimedio a queste molteplici necessità introducendo l'utilizzo di motori diesel di derivazione automobilistica: economici dal punto di vista della manutenzione e della produzione, in quanto largamente diffusi e testati, ben si prestano all'adattamento ad uso aeronautico. Nel caso specifico del progetto che intendo affrontare, si tratta di un motore Audi V12 tdi, elaborato fino a raggiungere i 900 hp e velocità su albero motore 5,000 rpm. Naturalmente, l'adattamento di tale motore implica una riprogettazione del riduttore, affinché si ottenga in uscita una velocità di 1185 rpm. Infatti, la rotazione dell'elica non dovrebbe mai superare i 2700-2800 giri al minuto, in quanto ad una velocità di rotazione superiore, le pale dell'elica raggiungerebbero una velocità prossima a quella del suono, creando rumori insopportabili e fastidiose vibrazioni, nonché la perdita dell'efficacia dell'elica stessa. La mia tesi nasce dal lavoro precedentemente sviluppato da un mio collega, il quale aveva elaborato un riduttore in grado di modificare la potenza in entrata da 600 a 900 hp, riprogettando le ruote dentate e selezionando nuovi cuscinetti, pur mantenendo i carter iniziali, opportunamente modificati. Il mio obiettivo è quello di elaborare ulteriormente il compito da lui svolto, sviluppando un nuovo riduttore in grado di utilizzare sempre la potenza in entrata di un motore da 900 hp ma di rendere il riduttore nel suo insieme, più compatto e leggero possibile.

Sismica ed archeologia industriale: Il Ponte di Riccardo Morandi a Vagli di Sotto (LU)

In questa tesi abbiamo effettuato la caratterizzazione dinamica del celebre ponte pedonale sito a Vagli di Sotto, in Garfagnana (Lucca) e del suo suolo di fondazione. L’opera fu progettata dall’ing. Riccardo Morandi nel 1953 per mettere in comunicazione l’abitato di Vagli di Sopra con i paesi circostanti, dopo l’allagamento della valle sottostante ad opera di una diga in costruzione nello stesso anno. L’opera è interessante per il modo in cui fu costruita in sito e per il fatto di essere - esempio raro - un ponte con fondazioni sommerse da un invaso artificiale per gran parte del tempo e per essere stato costruito in una zona in cui la progettazione antisismica moderna prevederebbe accortezze molto diverse a livello di progettazione. Abbiamo avuto occasione di effettuare la caratterizzazione dinamica dell’opera e del sottosuolo prima ad invaso completamente svuotato (evento che si verifica in media solo ogni 20 anni, per lavori di manutenzione della diga) e successivamente ad invaso riempito. Questo ha permesso di verificare come e se il livello dell’acqua influenzi la risposta dinamica del ponte. E’ stata infine effettuata un’analisi numerica di risposta sismica locale per stimare le accelerazioni tipiche a cui sarebbe sottoposta la struttura in caso di terremoto e le accelerazioni tipiche con cui tale opera dovrebbe essere progettata o sismicamente adeguata al giorno d’oggi.

Programmable electronic platform for the remote control of the cell-migration galvanotaxis

Il presente lavoro di tesi nasce come collaborazione tra il Laboratorio di Progettazione Elettronica e il Laboratorio di Microscopia a Fluorescenza del Dipartimento di Fisica e Astronomia dell' Università di Bologna. In particolare nasce dalla volontà di dotare il dipartimento di un apparato sperimentale in grado di svolgere studi sulla Galvanotassia, un fenomeno biologico consistente nella migrazione di cellule sottoposte a stimolazione elettrica. La Galvanotassia è nota da fine '800 ma non sono ancora chiari i meccanismi cellulari che la provocano. Una migliore comprensione di tale fenomeno potrebbe portare importanti sviluppi in ambito medico, sia diagnostici che terapeutici. Dalla letteratura a riguardo non è emersa l'esistenza di apparecchi elettronici di controllo che permettano lo studio della Galvanotassia e che possano essere duttili a seconda del tipo di esperimento che si voglia svolgere. Da qui l'idea di iniziare lo sviluppo di un dispositivo elettronico, che fosse riprogrammabile, a basso costo e facilmente trasportabile. La progettazione di questo dispositivo ha portato ad una prima fase di test e verifiche sperimentali che hanno permesso di migliorare e affinare la costruzione di uno strumento di misura e controllo dei parametri relativi alla Galvanotassia. Sono già stati programmati test futuri che porteranno ad una versione definitiva dell' apparecchiatura alla quale succederanno più approfondite ricerche sul fenomeno della Galvanotassia.

Sistema Bluetooth-based di remarketing pervasivo

Il progetto si propone di dotare la realta fisica di un estensione digitale. Sensori, attuatori e tecnologie embedded hanno cambiato il nostro modo di lavorare, allenarci e seguire i nostri interessi. Il mondo del commercio non e rimasto a guardare ed ha dovuto adattarsi alla metamorfosi high-tech del settore dei servizi. Il sistema proposto costituisce un promotore per acquisti ed un raccoglitore intelligente di abitudini sullo shopping e si compone di applicazione mobile, microcontroller e web server. Caratteristica prima e principale del progetto e sicuramente la pervasivita. All'utente ed utilizzatore dell'app dello shopping center deve essere certamente resa nota la collaborazione al fine di raccogliere dati statistici sulle sue abitudini, tuttavia sono le modalita di tale operazione a dover rimanere velate, in modo da non appesantire il cliente con tediose operazioni di invio di feedback e valutazioni ed allo stesso tempo permettere una raccolta capillare delle informazioni. Parallelamente alla raccolta di dati funzionali al producer, sono state implementate features per il consumatore, come notifiche promozionali place-triggered e pubblicita mirata. Tra tutte le tecnologie adibite allo scambio di informazioni, si e scelto l'utilizzo del Bluetooth e del piu recente Bluetooth Low Energy (BLE) per permettere ai dispositivi di comunicare tra loro.

Smart shower: un sistema intelligente basato su internet of things per la gestione delle docce in impianti sportivi e piscine

La seguente tesi ha come scopo la progettazione e la realizzazione di un sistema intelligente per la gestione e il monitoraggio dell'acqua in impianti facenti uso di docce attraverso 'l'Internet Of Things', con l'obiettivo di ridurre gli sprechi favorendo cosi un risparmio sia di tipo energetico sia di tipo idrico. Stabiliti i requisiti si passa alla fase di progettazione dove vengono analizzate tutte le funzionalità che il sistema deve soddisfare. Segue la fase di implementazione, il cui scopo e realizzare concretamente le funzionalità producendo un prototipo iniziale. Quest'ultimo sara sottoposto ad eventuali test per verificare il corretto funzionamento del sistema e delle singole parti che lo costituiscono.

Inherited cavernous malformations of the central nervous system: clinical and genetic features in 19 Swiss families

Cavernous malformations (CCMs) are benign, well-circumscribed, and mulberry-like vascular malformations that may be found in the central nervous system in up to 0.5% of the population. Cavernous malformations can be sporadic or inherited. The common symptoms are epilepsy, hemorrhages, focal neurological deficits, and headaches. However, CCMs are often asymptomatic. The familiar form is associated with three gene loci, namely 7q21-q22 (CCM1), 7p13-p15 (CCM2), and 3q25.2-q27 (CCM3) and is inherited as an autosomal dominant trait with incomplete penetrance. The CCM genes are identified as Krit 1 (CCM1), MGC4607 (CCM2), and PDCD10 (CCM3). Here, we present the clinical and genetic features of CCMs in 19 Swiss families. Furthermore, surgical aspects in such families are also discussed.

Incidence, clinical presentation and imaging findings of cavernous malformations of the CNS. A twenty-year experience

Up to 88% of cavernous malformations (CMs) of the central nervous system can become symptomatic and cause long-term disability. The aim of this study was to document the characteristics of CMs in the catchment area of our institution.

Long-term outcome of acute spinal cord ischemia syndrome

BACKGROUND AND PURPOSE: Current knowledge of long-term outcome in patients with acute spinal cord ischemia syndrome (ASCIS) is based on few studies with small sample sizes and <2 years' follow-up. Therefore, we analyzed clinical features and outcome of all types of ASCIS to define predictors of recovery. METHODS: From January 1990 through October 2002, 57 patients with ASCIS were admitted to our center. Follow-up data were available for 54. Neurological syndrome and initial degree of impairment were defined according to American Spinal Injury Association (ASIA)/International Medical Society of Paraplegia criteria. Functional outcome was assessed by walking ability and bladder control. RESULTS: Mean age was 59.4 years; 29 were women; and mean follow-up was 4.5 years. The origin was atherosclerosis in 33.3%, aortic pathology in 15.8%, degenerative spine disease in 15.8%, cardiac embolism in 3.5%, systemic hypotension in 1.8%, epidural anesthesia in 1.8%, and cryptogenic in 28%. The initial motor deficit was severe in 30% (ASIA grades A and B), moderate in 28% (ASIA C), and mild in 42% (ASIA D). At follow-up, 41% had regained full walking ability, 30% were able to walk with aids, 20% were wheelchair bound, and 9% had died. Severe initial impairment (ASIA A and B) and female sex were independent predictors of unfavorable outcome (P=0.012 and P=0.043). CONCLUSIONS: Considering a broad spectrum of clinical presentations and origins, the outcome in our study was more favorable than in previous studies reporting on ASCIS subgroups with more severe initial deficits.

Intra-arterial thrombolysis in 100 patients with acute stroke due to middle cerebral artery occlusion

BACKGROUND AND PURPOSE: The purpose of this study was to evaluate the safety and efficacy of local intra-arterial thrombolysis (LIT) using urokinase in patients with acute stroke due to middle cerebral artery (MCA) occlusion. METHODS: We analyzed clinical and radiological findings and functional outcome 3 months after LIT with urokinase of 100 consecutive patients. To measure outcome, the modified Rankin scale (mRs) score was used. RESULTS: Angiography showed occlusion of the M1 segment of the MCA in 57 patients, of the M2 segment in 21, and of the M3 or M4 segment in 22. The median National Institutes of Health Stroke Scale (NIHSS) score at admission was 14, and, on average, 236 minutes elapsed from symptom onset to LIT. Forty-seven patients (47%) had an excellent outcome (mRs score 0 to 1), 21 (21%) a good outcome (mRs score 2), and 22 (22%) a poor outcome (mRs score 3 to 5). Ten patients (10%) died. Excellent or good outcome (mRs score < or =2) was seen in 59% of patients with M1 or M2 and 95% of those with M(3) or M(4) MCA occlusions. Recanalization as seen on angiography was complete (thrombolysis in myocardial infarction [TIMI] grade 3) in 20% of patients and partial (TIMI grade 2) in 56% of patients. Age <60 years (P<0.05), low NIHSS score at admission (P<0.00001), and vessel recanalization (P=0.0004) were independently associated with excellent or good outcome and diabetes with poor outcome (P=0.002). Symptomatic cerebral hemorrhage occurred in 7 patients (7%). CONCLUSIONS: LIT with urokinase that is administered by a single organized stroke team is safe and can be as efficacious as thrombolysis has been in large multicenter clinical trials.

Thrombolysis in patients with acute stroke caused by cervical artery dissection: analysis of 9 patients and review of the literature

BACKGROUND: Results of recently published studies suggest that intravenous thrombolysis (IVT) and local intra-arterial thrombolysis (LIT) are feasible procedures in acute stroke after cervical artery dissection (CAD). OBJECTIVES: To describe 9 patients with acute stroke caused by CAD who were treated by LIT (n = 7) or IVT (n = 2) and to review the literature. METHODS: Retrospective analysis of clinical and neuroradiological findings; literature review from 1980 to present. MAIN OUTCOME MEASURE: Modified Rankin Scale (mRS) score. RESULTS: Of 7 patients treated with LIT, 3 had good outcomes (mRS score of 0-2) and 4 had bad outcomes (mRS score of 3-6) at 3 months. The 2 patients who had received IVT recovered to mRS scores of 0 and 3. Twenty-one patients were identified in the literature. Overall (N = 30), in the IVT group (n = 19), the outcome was good in 8 patients (42%) and bad in 11 (58%); in the LIT group (n = 11), 6 patients (55%) had a good outcome and 5 (45%) had a bad outcome. Overall, 47% (14/30) of the patients (IVT and LIT groups) had a good outcome. Total mortality was 13% (4/30). There were no secondary complications due to extension of wall hematoma or angiography. One symptomatic hemorrhage occurred. CONCLUSIONS: Thrombolysis is feasible in acute stroke caused by CAD. Local complications from extension of wall hematoma did not occur. Further prospective studies are needed to determine the safety and efficacy of thrombolysis in the special circumstance of acute stroke caused by CAD.

Monitoreo de condiciones de higiene y seguridad del ambiente en entornos industriales usando redes de sensores inalámbricos

Resumen: Las redes de sensores inalámbricos han atraído mucha atención en los últimos años debido a la integración de tecnología inalámbrica, computación y tecnología de sensores. Estas redes consisten en una serie de nodos equipados con capacidades de procesamiento, comunicación y sensado. Utilizan protocolos especiales de radio para transmitir datos en un modo multisalto de operación. En este trabajo se propone utilizar una red de sensores para el monitoreo de las condiciones ambientales de Higiene y Seguridad en entornos industriales. Concretamente se monitorean Temperatura, Humedad, Ruido y Luminosidad. Se propone esta recolección de datos para dar soporte a la inspección anual de un auditor externo, por lo que no se considera esta recolección como crítica dado que no controlan ningún dispositivo. En primera instancia se aborda el problema utilizando una red de sensores con módulos que utilizan el protocolo 802.15 los cuales transmiten a un nodo maestro que sirve como gateway para enviar la información a un servidor que la almacena. La recolección de datos se realiza a través de una plataforma arduino como interface entre el módulo inalámbrico y los sensores. Esta primera propuesta es contrastada con un enfoque de Internet de las Cosas (IoT) utilizando módulos Arduino con WiFi embebido, denominados Wido, que permiten la comunicación de datos directamente al servidor de almacenaje. El trabajo comprende la caracterización del problema, elección del hardware, diseño de la red y la realización de pruebas para evaluar el funcionamiento de ambos enfoques.

Technical developments for computed tomography on the CENBG nanobeam line

The use of ion microbeams as probes for computedtomography has proven to be a powerful tool for the three-dimensional characterization of specimens a few tens of micrometers in size. Compared to other types of probes, the main advantage is that quantitative information about mass density and composition can be obtained directly, using specific reconstruction codes. At the Centre d’Etudes Nucléaires de Bordeaux Gradignan (CENBG), this technique was initially developed for applications in cellular biology. However, the observation of the cell ultrastructure requires a sub-micron resolution. The construction of the nanobeamline at the Applications Interdisciplinaires des Faisceaux d’Ions en Region Aquitaine (AIFIRA) irradiation facility has opened new perspectives for such applications. The implementation of computedtomography on the nanobeamline of CENBG has required a careful design of the analysis chamber, especially microscopes for precise sample visualization, and detectors for scanning transmission ion microscopy (STIM) and for particle induced X-ray emission (PIXE). The sample can be precisely positioned in the three directions X, Y, Z and a stepper motor coupled to a goniometer ensures the rotational motion. First images of 3D tomography were obtained on a reference sample containing microspheres of certified diameter, showing the good stability of the beam and the sample stage, and the precision of the motion.

Sonar bat for visually impaired people

Visually impaired people have many difficulties when traveling because it is impossible for them to detect obstacles that stand in their way. Bats instead of using the sight to detect these obstacles use a method based on ultrasounds, as their sense of hearing is much more developed than that of sight. The aim of the project is to design and build a device based on the method used by the bats to detect obstacles and transmit this information to people with vision problems to improve their skills. The method involves sending ultrasonic waves and analyzing the echoes produced when these waves collide with an obstacle. The sent signals are pulses and the information needed is the time elapsed from we send a pulse to receive the echo produced. The speed of sound is fixed within the same environment, so measuring the time it takes the wave to make the return trip, we can easily know the distance where the object is located. To build the device we have to design the necessary circuits, fabricate printed circuit boards and mount the components. We also have to design a program that would work within the digital part, which will be responsible for performing distance calculations and generate the signals with the information for the user. The circuits are the emitter and the receiver. The transmitter circuit is responsible for generating the signals that we will use. We use an ultrasonic transmitter which operates at 40 kHz so the sent pulses have to be modulated with this frequency. For this we generate a 40 kHz wave with an astable multivibrator formed by NAND gates and a train of pulses with a timer. The signal is the product of these two signals. The circuit of the receiver is a signal conditioner which transforms the signals received by the ultrasonic receiver in square pulses. The received signals have a 40 kHz carrier, low voltage and very different shapes. In the signal conditioner we will amplify the voltage to appropriate levels, eliminate the component of 40 kHz and make the shape of the pulses square to use them digitally. To simplify the design and manufacturing process in the digital part of the device we will use the Arduino platform. The pulses sent and received echoes enter through input pins with suitable voltage levels. In the Arduino, our program will poll these two signals storing the time when a pulse occurs. These time values are analyzed and used to generate an audible signal with the user information. This information is stored in the frequency of the signal, so that the generated signal frequency varies depending on the distance at which the objects are. RESUMEN Las personas con discapacidad visual tienen muchas dificultades a la hora de desplazarse ya que les es imposible poder detectar los obstáculos que se interpongan en su camino. Los murciélagos en vez de usar la vista para detectar estos obstáculos utilizan un método basado en ultrasonidos, ya que su sentido del oído está mucho más desarrollado que el de la vista. El objetivo del proyecto es diseñar y construir un dispositivo basado en el método usado por los murciélagos para detectar obstáculos y que pueda ser usado por las personas con problemas en la vista para mejorar sus capacidades. El método utilizado consiste en enviar ondas de ultrasonidos y analizar el eco producido cuando estas ondas chocan con algún obstáculo. Las señales enviadas tendrán forma de pulsos y la información necesaria es el tiempo transcurrido entre que enviamos un pulso y recibimos el eco producido. La velocidad del sonido es fija dentro de un mismo entorno, por lo que midiendo el tiempo que tarda la onda en hacer el viaje de ida y vuelta podemos fácilmente conocer la distancia a la que se encuentra el objeto. Para construir el dispositivo tendremos que diseñar los circuitos necesarios, fabricar las placas de circuito impreso y montar los componentes. También deberemos diseñar el programa que funcionara dentro de la parte digital, que será el encargado de realizar los cálculos de la distancia y de generar las señales con la información para el usuario. Los circuitos diseñados corresponden uno al emisor y otro al receptor. El circuito emisor es el encargado de generar las señales que vamos a emitir. Vamos a usar un emisor de ultrasonidos que funciona a 40 kHz por lo que los pulsos que enviemos van a tener que estar modulados con esta frecuencia. Para ello generamos una onda de 40 kHz mediante un multivibrador aestable formado por puertas NAND y un tren de pulsos con un timer. La señal enviada es el producto de estas dos señales. El circuito de la parte del receptor es un acondicionador de señal que transforma las señales recibidas por el receptor de ultrasonidos en pulsos cuadrados. Las señales recibidas tienen una portadora de 40 kHz para poder usarlas con el receptor de ultrasonidos, bajo voltaje y formas muy diversas. En el acondicionador de señal amplificaremos el voltaje a niveles adecuados además de eliminar la componente de 40 kHz y conseguir pulsos cuadrados que podamos usar de forma digital. Para simplificar el proceso de diseño y fabricación en la parte digital del dispositivo usaremos la plataforma Arduino. Las señales correspondientes el envío de los pulsos y a la recepción de los ecos entraran por pines de entrada después de haber adaptado los niveles de voltaje. En el Arduino, nuestro programa sondeara estas dos señales almacenando el tiempo en el que se produce un pulso. Estos valores de tiempo se analizan y se usan para generar una señal audible con la información para el usuario. Esta información ira almacenada en la frecuencia de la señal, por lo que la señal generada variará su frecuencia en función de la distancia a la que se encuentren los objetos.

Sistema para cambiar la geometría de un motor

En este proyecto se desarrolla un sistema electrónico para variar la geometría de un motor de un monoplaza que participa en la competición Fórmula SAE. Fórmula SAE es una competición de diseño de monoplazas para estudiantes, organizado por “Society of Automotive Enginners” (SAE). Este concurso busca la innovación tecnológica de la automoción, así como que estudiantes participen en un trabajo real, en el cual el objetivo es obtener resultados competitivos cumpliendo con una serie de requisitos. La variación de la geometría de un motor en un vehículo permite mejorar el rendimiento del monoplaza consiguiendo elevar el par de potencia del motor. Cualquier mejora en del vehículo en un ámbito de competición puede resultar determinante en el desenlace de la misma. El objetivo del proyecto es realizar esta variación mediante el control de la longitud de los tubos de admisión de aire o “runners” del motor de combustión, empleando un motor lineal paso a paso. A partir de la información obtenida por sensores de revoluciones del motor de combustión y la posición del acelerador se debe controlar la distancia de dichos tubos. Integrando este sistema en el bus CAN del vehículo para que comparta la información medida al resto de módulos. Por todo esto se realiza un estudio aclarando los aspectos generales del objetivo del trabajo, para la comprensión del proyecto a realizar, las posibilidades de realización y adquisición de conocimientos para un mejor desarrollo. Se presenta una solución basada en el control del motor lineal paso a paso mediante el microcontrolador PIC32MX795F512-L. Dispositivo del fabricante Microchip con una arquitectura de 32 bits. Este dispone de un módulo CAN integrado y distintos periféricos que se emplean en la medición de los sensores y actuación sobre el motor paso a paso empleando el driver de Texas Instruments DRV8805. Entonces el trabajo se realiza en dos líneas, una parte software de programación del control del sistema, empleando el software de Microchip MPLABX IDE y otra parte hardware de diseño de una PCB y circuitos acondicionadores para la conexión del microcontrolador, con los sensores, driver, motor paso a paso y bus CAN. El software empleado para la realización de la PCB es Orcad9.2/Layout. Para la evaluación de las medidas obtenidas por los sensores y la comprobación del bus CAN se emplea el kit de desarrollo de Microchip, MCP2515 CAN Bus Monitor Demo Board, que permite ver la información en el bus CAN e introducir tramas al mismo. ABSTRACT. This project develops an electronic system to vary the geometry of a car engine which runs the Formula SAE competition. Formula SAE is a design car competition for students, organized by "Society of Automotive Engineers" (SAE). This competition seeks technological innovation in the automotive industry and brings in students to participate in a real job, in which the objective is to obtain competitive results in compliance with certain requirements. Varying engine’s geometry in a vehicle improves car’s performance raising engine output torque. Any improvement in the vehicle in a competition field can be decisive in the outcome of it. The goal of the project is the variation by controlling the length of the air intake pipe or "runners" in a combustion engine, using a linear motor step. For these, uses the information gathered by speed sensors from the combustion engine and by the throttle position to control the distance of these tubes. This system is integrated in the vehicle CAN bus to share the information with the other modules. For all this is made a study to clarify the general aspects of the project in order to understand the activities developed inside the project, the different options available and also, to acquire knowledge for a better development of the project. The solution is based on linear stepper motor control by the microcontroller PIC32MX795F512-L. Device from manufacturer Microchip with a 32-bit architecture. This module has an integrated CAN various peripherals that are used in measuring the performance of the sensors and drives the stepper motor using Texas Instruments DRV8805 driver. Then the work is done in two lines, first, control programming software system using software MPLABX Microchip IDE and, second, hardware design of a PCB and conditioning circuits for connecting the microcontroller, with sensors, driver stepper motor and CAN bus. The software used to carry out the PCB is Orcad9.2/Layout. For the evaluation of the measurements obtained by the sensors and CAN bus checking is used Microchip development kit, MCP2515 CAN Bus Monitor Demo Board, that allows you to see the information on the CAN bus and enter new frames in the bus.

VladBot. Robot para posicionamiento de medida

VladBot es un robot autónomo diseñado para posicionar en interiores un micrófono de medida. Este prototipo puede valorar la idea de automatizar medidas acústicas en interiores mediante un robot autónomo. Posee dos ruedas motrices y una rueda loca. Ésta rueda loca aporta maniobrabilidad al robot. Un soporte extensible hecho de aluminio sostiene el micrófono de medida. VladBot ha sido diseñado con tecnologías de bajo coste y bajo una plataforma abierta, Arduino. Arduino es una plataforma electrónica libre. Esto quiere decir que los usuarios tienen libre acceso a toda la información referente a los micro-controladores (hardware) y referente al software. Ofrece un IDE (Integrated Development Environment, en español, Entorno de Desarrollo Integrado) de forma gratuita y con un sencillo lenguaje de programación, con el que se pueden realizar proyectos de cualquier tipo. Además, los usuarios disponen de un foro donde encontrar ayuda, “Arduino Forum”. VladBot se comunica con el usuario a través de Bluetooth, creando un enlace fiable y con un alcance suficiente (aproximadamente 100 metros) para que controlar a VladBot desde una sala contigua. Hoy en día, Bluetooth es una tecnología implantada en casi todos los ordenadores, por lo que no necesario ningún sistema adicional para crear dicho enlace. Esta comunicación utiliza un protocolo de comunicaciones, JSON (JavaScript Object Notation). JSON hace que la comunicación sea más fiable, ya que sólo un tipo de mensajes preestablecidos son reconocidos. Gracias a este protocolo es posible la comunicación con otro software, permitiendo crear itinerarios en otro programa externo. El diseño de VladBot favorece su evolución hasta un sistema más preciso ya que el usuario puede realizar modificaciones en el robot. El código que se proporciona puede ser modificado, aumentando las funcionalidades de VladBot o mejorándolas. Sus componentes pueden ser cambiados también (incluso añadir nuevos dispositivos) para aumentar sus capacidades. Vladbot es por tanto, un sistema de transporte (de bajo coste) para un micrófono de medida que se puede comunicar inalámbricamente con el usuario de manera fiable. ABSTRACT. VladBot is an autonomous robot designed to indoor positioning of a measurement microphone. This prototype can value the idea of making automatic acoustic measurements indoor with an autonomous robot. It has two drive wheels and a caster ball. This caster ball provides manoeuvrability to the robot. An extendible stand made in aluminium holds the measurement microphone. VladBot has been designed with low cost technologies and under an open-source platform, Arduino. Arduino is a freeFsource electronics platform. This means that users have free access to all the information about micro-controllers (hardware) and about the software. Arduino offers a free IDE (Integrated Development Environment) with an easy programming language, which any kind of project can be made with. Besides, users have a forum where find help, “Arduino Forum”. VladBot communicates with the user by Bluetooth, creating a reliable link with enough range (100 meters approximately) for controlling VladBot in the next room. Nowadays, Bluetooth is a technology embedded in almost laptops, so it is not necessary any additional system for create this link. This communication uses a communication protocol, JSON (JavaScript Object Notation). JSON makes the communication more reliable, since only a preFestablished kind of messages are recognised. Thanks to this protocol is possible the communication with another software, allowing to create routes in an external program. VladBot´s design favours its evolution to an accurate system since the user can make modifications in the robot. The code given can be changed, increasing VladBot´s uses or improving these uses. Their components can be changed too (even new devices can be added) for increasing its abilities. So, VladBot is a (low cost) transport system for a measurement microphone, which can communicate with the user in a reliable way.