Interacción y programación de trayectorias de robot industrial tipo SCARA.

[ES]En el desarrollo de este Trabajo de Fin De Grado (TFG) en el curso 2014-2015 se ha trabajado con un robot de tipo SCARA, muy utilizado en la industria. El objetivo era analizar su cinemática y programar trayectorias que el robot pudiera realizar. En primer lugar se ha llevado a cabo un estudio del Estado del Arte, en el que se describe la robótica industrial y su desarrollo histórico hasta nuestros días, desarrollo que presenta un futuro prometedor. Además, se han descrito las particularidades que atañen al SCARA: sus características, su relevancia y su historia. En cuanto al robot, previamente se ha realizado un análisis cinemático del SCARA. Mediante métodos matriciales se han resuelto los problemas de posiciones y velocidades, para luego programarlas en MATLAB. Una vez comprendida su cinemática, se ha interactuado con él en el taller para poder entender su funcionamiento, sus componentes y su control. Después, con los conocimientos que se han adquirido, se han programado varias trayectorias usando el lenguaje del robot, el lenguaje V+, para finalmente ejecutar esos movimientos. El Trabajo se completa con la descripción de las tareas mediante un diagrama de Gantt, el presupuesto, la declaración de gastos y el análisis de riesgos.

Diseño e implementación software de un robot humanoide.

[ES]Este documento tiene la intención de presentar un Trabajo de Fin de Grado (TFG). Este proyecto consiste en una serie de herramientas que permitan el diseño, implementación y desarrollo del software de control de un robot humanoide. El proyecto se centra en la mejora de la efectividad, robustez, rendimiento y fiabilidad del software. Los cambios propuestos introducen mejoras sobre el robot comercial robo nova. En concreto la capacidad de ser modular, permitiendo de esta forma el uso total o parcial de las soluciones escogidas, ahorrando tiempo y dinero en futuros desarrollos de esta plataforma

Implementación hardware de un robot humanoide.

[ES]Este trabajo describe una serie de mejoras aplicables a un kit comercial de robot humanoide Robonova, con el fin de que este reproduzca el comportamiento cinemático del ser humano con mayor autonomía. Entre ellas destacan la implementación de sensores infrarrojos, sensores de posición, cámaras de visión y conexiones en serie de servomotores. Todo ello controlado desde un ordenador de placa reducida Raspberry Pi.

Desarrollo de una herramienta analítica para resolución del problema directo e inverso de un robot serie de 6 grados de libertad.

[ES]En el presente trabajo de fin de grado se expondrá el análisis cinemático de un robot IRB120 de ABB y el desarrollo de una herramienta grafica para su visualización. Comenzando por un estudio del estado del arte de la robótica industrial. El análisis cinemático es plantear las ecuaciones del robot y la resolución del problema directo e inverso mediante el software Matlab. Por último, la herramienta grafica muestra el movimiento del robot y los sistemas de referencia en la trayectoria introducida por el usuario.

Environmental friendly aquaculture key to sustainable fish farming development in Nigeria

Aquaculture production in Nigeria has increased tremendously in recent times; along with this increase is the rise in the level of waste outputs from aquaculture practices. The discharge of waste from aquaculture operations on continuous basis leads to eutrophication and destruction of natural ecosystem in receiving water body. Controlled wastes production strategies is necessary to maintain sustainable aquaculture growth into the future, as long-term sustainability of fish culture systems depends on their ability to reduce their waste outputs. The release of solid wastes is mainly a function of the digestibility of various dietary components while the release of dissolved wastes is mainly a function of the metabolism of nutrients by the fish. This paper critically reviews the impacts of aquaculture wastes on the environment and the strategies to mitigate the effect of these impacts. Future trends and research needs on aquaculture induced effluents are outlined. As the amount of nutrient discharge is typically site and operation specific, effective farm management has been identified as the most important factor to avoid effluent pollution.

Skeletal malformations among the Clarias species from fish mongers in Ekiti State

Clarias species purchased from fish mongers from Ado – Ekiti, Ikun Ekiti, Itapaji – Ekiti Nigeria were examined for possible deformities in any part of their body. A total number of 360, 140, and 40 fish samples were from Ado – Ekiti, Ikun – Ekiti, and Itapaji – Ekiti respectively. Deformities of various types were observed only from Ado – Ekiti collection. The deformities observed are malformed mouth, big head, stumpy body, and multiple vertebral deformities. The possible cause (s) of the deformities may be as a result of stress, pollution from human activities or other factors such as poor nutrition, hereditary, diseases, etc. but these causes has not been properly determined

Review of aquaculture and fish consumption in Bangladesh

Fish play a crucial role in the Bangladeshi diet, providing more than 60% of animal source food, representing a crucial source of micro-nutrients, and possessing an extremely strong cultural attachment. Fish (including shrimp and prawn) is the second most valuable agricultural crop, and its production contributes to the livelihoods and employment of millions. The culture and consumption of fish therefore has important implications for national food and nutrition security, poverty and growth. This review examines the current state of knowledge on the aquaculture sector and fish consumption in Bangladesh, based on extensive analysis of secondary sources (including unpublished data unavailable elsewhere), consultation with various experts and specially conducted surveys.

River Lune juvenile fish stock assessment 1997 with particular reference to salmonids

This report presents data from the juvenile salmonid fish stock assessment which is part of the routine Environment Agency riverine monitoring programme. A total of 110 sites was electrofished throughout the Lune catchment between 15th July 1997 and 14th October 1997. These sites included 84 that had been previously sampled in the last comprehensive survey of the catchment, in 1991. The aim of this survey was to assess the distribution and abundance of juvenile salmon and trout in the River Lune catchment and to compare results with those of previous surveys.

River Lune juvenile fish stock assessment 2002 (annotated draft copy, Site Reports only)

This draft copy of the River Lune juvenile fish stock assessment from 2000 provides "Site Reports" from different water bodies in the Lune catchment. These Site Reports provide brief information on habitat features, fishery classification and comments on species caught and stocking. This document provides no summary or interpretation of the given data.

An investigation into the potential losses of fish on the filter plates at the Hodder Water Treatment Works Stocks Reservoir

Stocks Reservoir is situated amidst the Forest of Bowland in the upper reaches of the old river valley of the Hodder. The reservoir was built in 1927 for the Fylde Water Board who primarily supplied water to Blackpool. The objective of this study is to assess the degree and likelihood of fish ingress onto the fish plates at the present and proposed stocking densities. An additional aim is to evaluate the operational implications, and if necessary suggest methods of alleviating the problem. Three spheres of study have been undertaken to achieve these objectives, these being: 1. To selectively stock the reservoir and monitor the angling club catches in order to assess the total population, relating it to fish plate losses and proposed stocking densities. 2. To monitor the fish taken from the fish plates and assess the reasons for their ingress. 3. To study the draw off tower and fish plates, and suggest ways of ameliorating or halting the loss of fish and consequent operational problems.

The effects of water quality on freshwater fish populations - final report

There is a need to determine quantitative relationships between fishery status and water quality in order to make informed judgements concerning fishery health and the setting of environmental quality standards for fishery protection. Such relationships would also assist in the formulation of a system for classifying fisheries. A national database of fisheries and water quality has been collated from the archives of pollution control authorities throughout the UK. A number of probable and potential water quality effects on fish populations have been identified from a thorough analysis of the database, notwithstanding large confounding effects such as habitat variation and fish mobility, and the generally sparse nature of water quality information. A number of different approaches to data analysis was utilised, and the value of each has been appraised. Recommendations concerning the integration of water quality assessment approaches have been made and further research on fishery status, and its measurement, in relation to water quality has been suggested.

Environmental quality standards to protect identified uses of controlled waters: salmonid fisheries, cyprinid fisheries, migratory fisheries, commercial harvesting of marine fish for public consumption, commercial harvesting of shellfish for for public consumption

This report considers the development of environmental quality standards (EQSs) for the salmonid fishery, cyprinid fishery, migratory fishery, commercial harvesting of marine fish for public consumption and commercial harvesting of shellfish for public consumption uses of controlled surface waters. Previous reports have been used to identify those parameters necessary for the maintenance of these five uses. Each water use is considered in a separate section within which identified parameters are discussed and standards proposed, a summary of the proposed standards is presented at the beginning of the relevant section. For salmonid, cyprinid and migratory fisheries, EQSs for substances in water have been proposed for the protection of these fisheries. For the commercial harvesting of marine fish and shellfish for public consumption uses 'Warning Levels' of substances in waters have been proposed. These 'Warning Levels' have been proposed by considering data on bioaccumulation and food standards and aim to prevent acceptable intake values and concentrations in fish/shellfish flesh exceeding statutory or recommended levels. For the commercial harvesting of marine fish for public consumption it has been concluded that the current EQSs for most List II substances for the protection of salt water life should be adequately stringent to protect this use, however for the commercial harvesting of shellfish for public consumption, these List II EQSs do not appear adequate to protect this use and more stringent 'Warning Levels' have been proposed. For all five uses considered in this report there has been found to be limited information on a number of the parameters considered and in general for indigenous species, this has been found to be especially so when considering migratory fisheries and the commercial harvesting of marine fish and shellfish.