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.

Age-Related Tooth Wear Differs between Forest and Savanna Primates

Tooth wear in primates is caused by aging and ecological factors. However, comparative data that would allow us to delineate the contribution of each of these factors are lacking. Here, we contrast age-dependent molar tooth wear by scoring percent of dentine exposure (PDE) in two wild African primate populations from Gabonese forest and Kenyan savanna habitats. We found that forest-dwelling mandrills exhibited significantly higher PDE with age than savanna yellow baboons. Mandrills mainly feed on large tough food items, such as hard-shell fruits, and inhabit an ecosystem with a high presence of mineral quartz. By contrast, baboons consume large amounts of exogenous grit that adheres to underground storage organs but the proportion of quartz in the soils where baboons live is low. Our results support the hypothesis that not only age but also physical food properties and soil composition, particularly quartz richness, are factors that significantly impact tooth wear. We further propose that the accelerated dental wear in mandrills resulting in flatter molars with old age may represent an adaptation to process hard food items present in their environment.

BD-US: les comics vus par l'Europe

Cet ouvrage réunit des spécialistes de l'étude de la bande dessinée qui proposent une série d'éclairages sur la manière dont les productions culturelles européennes ont diffusé, exploité, reformulé ou détourné l'imaginaire et le langage des comics venus d'outre-Atlantique. L'approche se veut résolument comparative, interculturelle et intermédiale : les chercheurs abordent autant Edgar P. Jacobs ou les récents albums de Serge Lehman que les séries TV de science-fiction britanniques ou les films d'Alain Resnais, et se proposent d'interroger la réception et les réappropriations de motifs et genres populaires situés au croisement d'influences et de références diverses. La production américaine est ainsi discutée dans toute sa richesse, des super-héros à l'underground, à travers des (re)lectures proposées en Europe.

Effects of modern variable frequency drive on the reliability of an old crane induction motor

The work aims to analyze the possibilities of utilizing old crane driving AC induction motors in modern pulse-width-modulated variable frequency drives. Bearing currents and voltage stresses are the two main problems associated with modern IGBT inverters, and they may cause premature failure of an old induction motor. The origins of these two problems are studied. An analysis of the mechanism of bearing failure is proposed. Certain types of bearing currents are considered in detail. The most effective and economical means are chosen for bearing currents mitigation. Transient phenomena of cables and mechanism of over voltages occurring at motor terminals are studied in the work. The weakest places of the stator winding insulation system are shown and recommendations are given considering the mitigation of voltage stresses. Only the most appropriate and cost effective preventative methods are chosen for old motor drives. Rewinding of old motors is also considered.

Proposta per a la mobilitat en transport públic : MoveOnApp

This paper wants to show a solution for mobility in public transport. Nowadays, the high number of mobile devices with wireless geolocation and Internet data connection has become commonly used tools, as well as partial solutions to facilitate public transport focused on one means of transport (Bus, Underground ...). We collect information from public transport (means of transport, routes, schedules, fare information ...) and adapt it to different users (residents, visitors, public service staff ...). MoveOnApp is the solution adapting its user interface: finding nearby stops, planning a route, knowing schedules or real time service (connecting to the available services), or showing the route of the line. The system could incorporate new cities and regions, or new means of transport with updating service; at first we offered information of public transport from Palma (Majorca Island, Spain): moveOn Palma.

Puhdistetun jäteveden patogeenit ja desinfiointitarve

Turun seudulla kuuden kunnan jätevesien käsittely keskitetään Kakolanmäen kallion sisälle rakennettuun jätevedenpuhdistamoon, joka otetaan käyttöön vuoden 2008 lopulla. Kakolanmäen jätevedenpuhdistamolla on varauduttu tulevaisuudessa kiristyviin lupaehtoihin sekä mahdollisiin puhdistetun jäteveden hygieenistä laatua koskeviin lisämääräyksiin jättämällä tilavaraus puhdistetun jäteveden desinfioimiselle ultraviolettivalolla. Diplomityössä on selvitetty vuoden kestäneessä tutkimusjaksossa 1.9.2006- 31.8.2007 Turun kaupungin keskuspuhdistamolta mereen johdetun puhdistetun jäteveden ja esiselkeytetyn ohitusveden hygieenisen laadun vaihtelua. Jäteveden desinfiointitarvetta on arvioitu tarkastelemalla jätevedenpuhdistamon hygieenistä puhdistustulosta ja jätevesien vaikutusta purkuvesistön hygieeniseen tilaan. Tutkimuksen perusteella virtaama ei vaikuttanut merkittävästi jäteveden ulosteperäisten bakteerien määriin. Sen sijaan jäteveden bakteeripitoisuudet laskivat alhaisissa lämpötiloissa. Lämpötilan vaikutus näkyi selkeämmin esiselkeytetyssä kuin puhdistetussa jätevedessä eli bakteerien poistumiseen aktiivilietevaiheen aikana vaikuttavat muut tekijät. Mitä tehokkaammin aktiivilietevaihe toimi, sitä tehokkaammin myös bakteereja poistui. Taudinaiheuttajabakteerit selvisivät puhdistusprosessista paremmin viileän kauden aikana. Puhdistetun jäteveden hygieeninen laatu ei täyttänyt uimaveden tai kasteluveden laatuvaatimuksia, joten desinfiointitarve olisi perustelua. Jätevesien vaikutus Turun edustan merialueen hygieeniseen tilaan näkyi ajoittain korkeina bakteeripitoisuuksina purkupaikan lähistöllä. Vielä ei ole suoraa näyttöä siitä aiheuttavatko jätevedet purkupaikan lähistön uimarannoilla terveydellisiä riskejä. Jäteveden UV-desinfiointi kannattava toteuttaa vain jos hygieeninen puhdistusvelvoite määrätään. UV-desinfioinnin mitoituksessa Kakolanmäen jätevedenpuhdistamolla tulee ottaa huomioon suurin sallittu hydraulinen painehäviö. Mitoitus voidaan tehdä puhdistamon käyttöönoton jälkeen kun tarvitut prosessimittaustiedot ovat saatavilla.

Manipulador robótico con visión artificial

En los tiempos que corren la robótica forma uno de los pilares más importantes en la industria y una gran noticia para los ingenieros es la referente a las ventas de estos, ya que en 2013, unos 179.000 robots industriales se vendieron en todo el mundo, de nuevo un máximo histórico y un 12% más que en 2012 según datos de la IFR (International Federation of Robotics). Junto a esta noticia, la robótica colaborativa entra en juego en el momento que los robots y los seres humanos deben compartir el lugar de trabajo sin que nos veamos excluidos por las maquinas, por lo tanto lo que se intenta es que los robots mejoren la calidad del trabajo al hacerse cargo de los trabajos peligrosos, tediosos y sucios que no son posibles o seguros para los seres humanos. Otro concepto muy importante y directamente relacionado con lo anterior que está muy en boga y se escucha desde hace relativamente poco tiempo es el de la fabrica del futuro o “Factory Of The Future” la cual intenta que los operarios y los robots encuentren la sintonía en el entorno laboral y que los robots se consideren como maquinaria colaborativa y no como sustitutiva, considerándose como uno de los grandes nichos productivos en plena expansión. Dejando a un lado estos conceptos técnicos que nunca debemos olvidar si nuestra carrera profesional va enfocada en este ámbito industrial, el tema central de este proyecto está basado, como no podía ser de otro modo, en la robótica, que junto con la visión artificial, el resultado de esta fusión, ha dado un manipulador robótico al que se le ha dotado de cierta “inteligencia”. Se ha planteado un sencillo pero posible proceso de producción el cual es capaz de almacenar piezas de diferente forma y color de una forma autónoma solamente guiado por la imagen capturada con una webcam integrada en el equipo. El sistema consiste en una estructura soporte delimitada por una zona de trabajo en la cual se superponen unas piezas diseñadas al efecto las cuales deben ser almacenadas en su lugar correspondiente por el manipulador robótico. Dicho manipulador de cinemática paralela está basado en la tecnología de cables, comandado por cuatro motores que le dan tres grados de libertad (±X, ±Y, ±Z) donde el efector se encuentra suspendido sobre la zona de trabajo moviéndose de forma que es capaz de identificar las características de las piezas en situación, color y forma para ser almacenadas de una forma ordenada según unas premisas iníciales.

Contaminação do ambiente aquático por pesticidas. Estudo de caso: águas usadas para consumo humano em Primavera do Leste, Mato Grosso - análise preliminar

A preliminary analyses of the possible contamination of superficial and underground water by the active ingredients of the pesticide products used in the surroundings of the urban area of Primavera do Leste, Mato Grosso, Brazil, was carried out. A description of the study region and of its environmental characteristics, which can favor the contamination of the local aquatic environment, was presented. The EPA screening criteria, the groundwater ubiquity score (GUS) and the criteria proposed by Goss were used to evaluate which pesticides might contaminate the local waters. Among the active ingredients studied, several present risks to the local aquatic environment.

Overvoltage Mitigation Techniques in Wind Power Generators

Advancements in power electronic semiconductor switching devices have lead to significantly faster switching times. In motor and generator applications, the fast switching times of pulse width modulated (PWM) inverters lead to overvoltages caused by voltage reflections with shorter and shorter cables. These excessive overvoltages may lead to a failure of the electrical machine in a matter of months. In this thesis, the causes behind the overvoltage phenomenon as well as its different mitigation techniques are studied. The most suitable techniques for mitigating the overvoltage phenomenon in wind power generator applications are chosen based on both simulations and actual measurements performed on a prototype. An RC filter at the terminals of the electrical machine and an inverter output filter designed to reduce the rise and fall times of voltage pulses are presented as a solution to the overvoltage problem. The performance and losses of both filter types are analysed.

Fármacos no meio ambiente

Pharmaceutical drugs have been detected in sewage treatment plants, surface waters, underground waters and potable waters. Some investigations have been conducted in several countries such as Germany, Brazil, Canada, United States, The Netherlands, England and Italy. Patients and animals excrete part of pharmaceuticals used for human and veterinary medicine after administration in domestic sewage or on the soil. Drugs residues which have not been completely removed during passage through a sewage treatment plant (STP) enter the aquatic environment. The effects of such residual drugs in terrestrial and aquatic organisms are scarcely known.

Contaminação de águas por BTXs e processos utilizados na remediação de sítios contaminados

After decades of polluting actions the environment manifests serious and global consequences. The contamination of soils and groundwater by organic compounds is a widespread problem mainly on account of contamination by leakage from underground storage tanks, which often results in the release of gasoline or other chemicals. The main problem about groundwater contamination is due to the toxicity of water-soluble components such as benzene, toluene and xylene (BTX). In the present work a study about classical and modern methods for remediation of BTX is reported.

Counteracting incentive sensitization in severe alcohol dependence using deep brain stimulation of the nucleus accumbens: clinical and basic science aspects

The ventral striatum / nucleus accumbens has been implicated in the craving for drugs and alcohol which is a major reason for relapse of addicted people. Craving might be induced by drug-related cues. This suggests that disruption of craving-related neural activity in the nucleus accumbens may significantly reduce craving in alcohol-dependent patients. Here we report on preliminary clinical and neurophysiological evidence in three male patients who were treated with high frequency deep brain stimulation of the nucleus accumbens bilaterally. All three had been alcohol dependent for many years, unable to abstain from drinking, and had experienced repeated relapses prior to the stimulation. After the operation, craving was greatly reduced and all three patients were able to abstain from drinking for extended periods of time. Immediately after the operation but prior to connection of the stimulation electrodes to the stimulator, local field potentials were obtained from the externalized cables in two patients while they performed cognitive tasks addressing action monitoring and incentive salience of drug related cues. LFPs in the action monitoring task provided further evidence for a role of the nucleus accumbens in goal-directed behaviors. Importantly, alcohol related cue stimuli in the incentive salience task modulated LFPs even though these cues were presented outside of the attentional focus. This implies that cue-related craving involves the nucleus accumbens and is highly automatic.

Change of Electricity Distribution Industry: Drivers and Opening Business Opportunities

As a result of the recent regulatory amendments and other development trends in the electricity distribution business, the sector is currently witnessing radical restructuring that will eventually impact the business logics of the sector. This report represents upcoming changes in the electricity distribution industry and concentrates on the factors that are expected to be the most fundamental ones. Electricity network companies nowadays struggle with legislative and regulatory requirements that focus on both the operational efficiency and the reliability of electricity distribution networks. The forces that have an impact on the distribution network companies can be put into three main categories that define the transformation at a general level. Those are: (1) a requirement for a more functional marketplace for energy, (2) environmental aspects (combating climate change etc.), and (3) a strongly emphasized requirement for the security of energy supply. The first point arises from the legislators’ attempt to increase competition in electricity retail markets, the second one concerns both environmental protection and human safety issues, and the third one indicates societies’ reduced willingness to accept interruptions in electricity supply. In the future, regulation of electricity distribution business may lower the threshold for building more weather-resistant networks, which in turn means increased underground cabling. This development pattern is reinforced by tightening safety and environmental regulations that ultimately make the overhead lines expensive to build and maintain. The changes will require new approaches particularly in network planning, construction, and maintenance. The concept for planning, constructing, and maintaining cable networks is necessary because the interdependencies between network operations are strong, in other words, the nature of the operation requires a linkage to other operations.

Contaminação de aqüífero por hidrocarbonetos: estudo de caso na Vila Tupi, Porto Velho - Rondônia

Underground storage tanks (UST) are widely used in the Porto Velho area. A large number of these USTs are in bad condition due to corrosion processes causing groundwater contamination. A large number of these leaking underground fuel tanks (LUFT) are in urban areas but due to the lack of water quality monitoring, they are only detected when there is a high contamination level. This study identified petroleum hydrocarbons, derived from a LUFT, by a silica gel/petroleum ether partitioning gravimetric method and by gas chromatographic analysis of samples collected in wells dug in a gas station and in houses in the aforementioned neighborhood.

Control d'una bobinadora automàtica

Un dels problemes típics de regulació en el camp de l’automatització industrial és el control de velocitat lineal d’entrada del fil a les bobines, ja que com més gruix acumulem a igual velocitat de rotació de la bobina s’augmenta notablement la velocitat lineal d’entrada del fil, aquest desajust s’ha de poder compensar de forma automàtica per aconseguir una velocitat d’entrada constant. Aquest problema de regulació de velocitats és molt freqüent i de difícil control a la indústria on intervé el bobinat d’algun tipus de material com cablejat, fil, paper, làmines de planxa, tubs, etc... Els dos reptes i objectius principals són, primer, la regulació de la velocitat de rotació de la bobina per aconseguir una velocitat lineal del fil d’entrada, i segon, mitjançant el guiatge de l’alimentació de fil a la bobina, aconseguir un repartiment uniforme de cada capa de fil. El desenvolupament consisteix amb l’automatització i control d’una bobinadora automàtica mitjançant la configuració i programació de PLC’s, servomotors i encoders. Finalment es farà el muntatge pràctic sobre una bancada per verificar i simular el seu correcte funcionament que ha de donar solució a aquests problemes de regulació de velocitats. Com a conclusions finals s’han aconseguit els objectius i una metodologia per fer una regulació de velocitats de rotació per bobines, amb accionaments de servomotors amb polsos, i a nivell de coneixements he aconseguit dominar les aplicacions d’aquest tipus d’accionaments aplicats a construccions mecàniques.