Manipulador Robótico

El uso de robots industriales junto con los sistemas de diseño asistidos por computadora (CAD), y los sistemas de fabricación asistidos por computadora (CAM), son la última tendencia en automatización de los procesos de fabricación. Aunque el crecimiento del mercado de la industria Robótica ha sido lento en comparación con los primeros años de la década de los 80´s, de acuerdo a algunas predicciones, la industria de la robótica está en su infancia. Ya sea que éstas predicciones se realicen completamente, o no, es claro que la industria robótica, en una forma o en otra, permanecerá. En la actualidad el uso de los robots industriales está concentrado en operaciones muy simples, como tareas repetitivas que no requieren tanta precisión. En los 80´s las tareas relativamente simples como las máquinas de inspección, transferencia de materiales, pintado automotriz, y soldadura son económicamente viables para ser robotizadas. Los análisis de mercado en cuanto a fabricación predicen que en ésta década y en las posteriores los robots industriales incrementarán su campo de aplicación, ésto debido a los avances tecnológicos en sensórica, los cuales permitirán tareas mas sofisticadas. El futuro es muy incierto y seguramente los ROBOTS tendrán mucho que ver en nuestra vida diaria en los próximos años y tenemos que lograr que la Argentina no solo este presente, en desarrollos que ameriten una publicación Internacional, si no también que puedan ser, en conjunción con la Universidad, la industria y aportes de capitales privados, diseñados, construidos, aplicados y comercializados según las necesidades de nuestro medio, desde el reemplazo de miembros humanos a personas con discapacidades, el alivio al hombre en tareas inhumanas y también en aplicaciones industriales aun no explotadas. Actualmente la investigación en el área de robótica en la Argentina, esta enfocada a problemas de electrónica y control. La mecánica no forma parte de dicho ambiente científico como puede verse en las 4 últimas Jornadas Argentinas de Robótica. En todos los casos se trabaja en la investigación de algoritmos o métodos de control montados en pequeños robots comerciales. El proyecto ROBOT-01 propone la construcción de un manipulador de 7 grados de libertad, aplicando las mas modernas técnicas de Simulación, diseño, CAD-3D, materiales compuestos, construcción de micro-mecánica, electrónica y software. El brazo manipulador estará diseñado para ser continuado o asociado con una mano robótica y con una base móvil autónoma, las que serán encaradas en proyectos futuros, o con interacción con otros grupos de investigación similares de otras Universidades

Manipulador Robótico (Similar a brazo Humano)

El proyecto ROBOT-01 propone la construcción de un manipulador de 7 grados de libertad, aplicando las mas modernas técnicas de Simulación, diseño, CAD-3D, materiales compuestos, construcción de micro-mecánica, electrónica y software. Con el diseño detallado finalizado en CATIA se iniciará el modelado de las ecuaciones de movimiento y su simulación en la computadora, la construcción de los componentes mecánicos que serán realizados en empresas locales, se iniciara con las pruebas de los componentes electrónicos drivers de motores y de sistemas de control con sensores y de la interface con una PC que será la que controlará los componentes electrónicos y de simulación del modelo 3D en tiempo real. Finalmente se procederá al ensamblado de todos los componentes mecánicos y electrónicos para el inicio de las pruebas de laboratorio y sus ensayos de funcionamiento y testeos de acuerdo a los requerimientos previstos. El brazo manipulador estará diseñado para ser continuado o asociado con una mano robótica y con una base móvil autónoma, las que serán encaradas en proyectos futuros, o con interacción con otros grupos de investigación similares de otras Universidades.

Diseño de sistemas de comunicaciones de alta velocidad. Design of high-speed communication systems.

El crecimiento exponencial del tráfico de datos es uno de los mayores desafíos que enfrentan actualmente los sistemas de comunicaciones, debiendo los mismos ser capaces de soportar velocidades de procesamiento de datos cada vez mas altas. En particular, el consumo de potencia se ha transformado en uno de los parámetros de diseño más críticos, generando la necesidad de investigar el uso de nuevas arquitecturas y algoritmos para el procesamiento digital de la información. Por otro lado, el análisis y evaluación de nuevas técnicas de procesamiento presenta dificultades dadas las altas velocidades a las que deben operar, resultando frecuentemente ineficiente el uso de la simulación basada en software como método. En este contexto, el uso de electrónica programable ofrece una oportunidad a bajo costo donde no solo se evaluan nuevas técnicas de diseño de alta velocidad sino también se valida su implementación en desarrollos tecnológicos. El presente proyecto tiene como objetivo principal el estudio y desarrollo de nuevas arquitecturas y algoritmos en electrónica programable para el procesamiento de datos a alta velocidad. El método a utilizar será la programación en dispositivos FPGA (Field-Programmable Gate Array) que ofrecen una buena relación costo-beneficio y gran flexibilidad para integrarse con otros dispositivos de comunicaciones. Para la etapas de diseño, simulación y programación se utilizaran herramientas CAD (Computer-Aided Design) orientadas a sistemas electrónicos digitales. El proyecto beneficiara a estudiantes de grado y postgrado de carreras afines a la informática y las telecomunicaciones, contribuyendo al desarrollo de proyectos finales y tesis doctorales. Los resultados del proyecto serán publicados en conferencias y/o revistas nacionales e internacionales y divulgados a través de charlas de difusión y/o encuentros. El proyecto se enmarca dentro de un área de gran importancia para la Provincia de Córdoba, como lo es la informática y las telecomunicaciones, y promete generar conocimiento de gran valor agregado que pueda ser transferido a empresas tecnológicas de la Provincia de Córdoba a través de consultorias o desarrollos de productos.

Proyecto integrado en el área de microelectrónica para el diseño de circuitos integrados (Programa de Modernización Tecnológica III I-P - PAE 2006).

El objetivo general de este proyecto estratégico es incorporar una actividad de alto valor agregado como es el diseño de circuitos integrados dentro del segmento de alta tecnología de la cadena productiva nacional. Para ello resulta necesario cumplimentar los siguientes objetivos específicos: • Fortalecer los grupos de investigación y desarrollo que realizan tareas dentro de este área temática, tanto en infraestructura como en recursos humanos; • Fortalecer y desarrollar la Industria Electrónica mediante la incorporación de estas nuevas tecnologías en sus productos; • Representar y asistir a los grupos de diseño locales en la búsqueda de oportunidades para realizar "outsourcing" de diseño para compañías del exterior; • Establecer una primer masa crítica de diseñadores, que funcione como impulsora de la actividad en el medio; • Generar una red a nivel local, donde convivan empresas, universidades y profesionales. La mejora continua en las prestaciones de los productos y en los procesos productivos ha llevado a que la microelectrónica esté presente en los más diversos ámbitos de la actividad humana, con la perspectiva de ir incrementando constantemente su participación. Por eso mismo, un país que pretenda insertarse en el mundo de manera soberana no puede menospreciar la necesidad de incrementar la capacidad de su industria en el área. Los componentes de la Cadena de valor de la ME son los siguientes: • Diseño del circuito, con valor agregado de conocimientos y experiencia del diseñador; • Herramientas de Software de diseño (CAD) con verificación y simulación; • Prototipeo de circuitos y ensayo (testing); • Fabricación de chip en línea; • Encapsulado y testeo.

Energy from waste (EfW): a feasibility study on the economic and the environmental co-benefits of biogas production within rural communities

Energy from waste (E/W) technologies in the form o f biogas plants, CHP plants and other municipal solid waste (MSW) conversion technologies, have been gaining steady ground in the provision o f energy throughout Europe and the UK. Urban Waste Water Treatment Plants (UWWTP) are utilising much o f the same biochemical processes common to these E/W plants. Previous studies on Centralised Anaerobic Digestion (CAD) within Ireland found that the legislative and economic conditions were not conducive to such an operation on the grounds o f low energy price for electric and heat energy, and due to the restrictive nature o f the allowable feedstocks. Recent changes to the Irish REFIT tariff on energy produced from Anaerobic digestion; alterations to the regulation o f the allowable use o f animal by products(ABP); the recent enactment o f the Renewable Energy D irective (09/28/EC) and a subsequent review o f the draft Biowaste Directive (2001) required that the issue o f decentralised energy production in Ireland be reassessed. In this instance the feasibility study is based on a extant rural community, centred around the village o f Woodford Co Galway. The review found that the prevailing conditions were now such that it was technically and economically feasible for this biochemical process to provide energy and waste treatment facilities at the above location. The review also outlines the last item which is preventing this process from becoming achievable, specifically the lack o f a digestate regulation on land spreading which deals specifically with biowaste. The study finds that the implementation o f the draft EU biowaste regulations, with amendments for Cr and Hg levels to match the proposed Irish regulation for compost, would ensure that Ireland has some o f the most restrictive regulations in Europe for this application. The delay in completing this piece o f legislation is preventing national energy and waste issues from being resolved in a planned and stepwise fashion. A proposed lay out for the new Integrated Waste from Energy Plant (IW/EP) is presented. Budget economic projections and alternative revenue streams are outlined. Finally a review o f the national policies regarding the Rural Development Plan (RDP), the Rural Planning Guidelines (RPG) and the National Renewable Energy Action Plan (NREAP) are examined against the relevant EU directives.

Potentially viable solar powered appliances cooling and distillation

Stand alone solar powered refrigeration and water desalination, two of the most popular and sought after applications of solar energy systems, have been selected as the topic of research for the works presented in this thesis. The water desalination system based on evaporation and condensation was found to be the most suitable one to be powered by solar energy. It has been established that highoutput fast-response solar heat collectors used to achieve high rates of evaporation and reliable solar powered cooling system for faster rates of condensation are the most important factors in achieving increased outputs in solar powered desalination systems. Comprehensive reviews of Solar powered cooling/refrigeration and also water desalination techniques have been presented. In view of the fact that the Institute of Technology, Sligo has a well-established long history of research and development in the production of state of the art high-efficiency fast-response evacuated solar heat collectors it was decided to use this know how in the work described in this thesis. For this reason achieving high rates of evaporation was not a problem. It was, therefore, the question of the solar powered refrigeration that was envisaged to be used in the solar powered desalination tofacilitate rapid condensation of the evaporated water that had to be addressed first. The principles of various solar powered refrigeration techniques have also been reviewed. The first step in work on solar powered refrigeration was to successfully modify a conventional refrigerator working on Platen-Munters design to be powered by highoutput fast-response evacuated solar heat collectors. In this work, which was the first ever successful attempt in the field, temperatures as low as —19°C were achieved in the icebox. A new approach in the use of photovoltaic technology to power a conventional domestic refrigerator was also attempted. This was done by modifying a conventional domestic refrigerator to be powered by photovoltaic panels in the most efficient way. In the system developed and successfully tested in this approach, the power demand has been reduced phenomenally and it is possible to achieve 48 hours of cooling power with exposure to just 7 hours of sunshine. The successful development of the first ever multi-cycle intermittent solar powered icemaker is without doubt the most exciting breakthrough in the work described in this thesis. Output of 74.3kg of ice per module with total exposure area of 2.88 m2, or 25.73kg per m2, per day is a major improvement in comparison to about 5-6kg of ice per m2 per day reported for all the single cycle intermittent systems. This system has then become the basis for the development of a new solar powered refrigeration system with even higher output, named the “composite” system described in this thesis. Another major breakthrough associated with the works described in this thesis is the successful development and testing of the high-output water desalination system. This system that uses a combination of the high-output fast-response evacuated solar heat collectors and the multi-cycle icemaker. The system is capable of producing a maximum of 141 litres of distilled water per day per module which has an exposure area of 3.24m2, or a production rate of 43.5 litres per m2 per day. Once again when this result is compared to the reported daily output of 5 litres of desalinated water per m per day the significance of this piece of work becomes apparent. In the presentation of many of the components and systems described in this thesis CAD parametric solid modelling has been used instead of photographs to illustrate them more clearly. The multi-cycle icemaker and the high-output desalination systems are the subject of two patent applications.

Development of a disassembly methodology for DFE

The research described in this thesis was developed as part of the Information Management for Green Design (IMAGREE) Project. The IMAGREE Project was funded by Enterprise Ireland under Strategic Research Grant Scheme as a partnership project between Galway-Mayo Institute of Technology and CIMRU University of Galway. The project aimed to develop a CAD integrated software tool to support environmental information management for design.

Intervenções nutricionais em Síndrome Metabólica: uma revisão sistemática

Não existe consenso sobre a estratégia nutricional mais adequada para tratar a Síndrome Metabólica (SM), de tal forma que ocorra redução do risco cardiovascular. O presente estudo foi desenhado para avaliar a força de evidência dos benefícios de diferentes intervenções nutricionais na remissão da SM. A busca virtual foi realizada nas bases de dados Medline, Cochrane Library e PubMed, de ensaios clínicos randomizados publicados no período entre 1999 a 2009, em qualquer língua, em indivíduos com 18 anos ou mais e diagnóstico de SM, independente do critério. O operador booleano and foi utilizado na combinação dos MeSH terms "Metabolic Syndrome", "Síndrome x Metabólica" e "Metabolic Syndrome X"; dos entry terms "Dysmetabolic Syndrome X", Metabolic Cardiovascular Syndrome", "Metabolic X Syndrome", "Syndrome X, Metabolic" adicionados dos termos "diet", "intervention and diet", "treatment and diet" e "supplementation". Para cada estudo incluído na revisão foi estimada a Prevalência de SM e o Cálculo da Eficácia após o período de seguimento. Medidas de risco relativo para cada estudo foram descritas pelo Forest Plot. Foram identificados 131 artigos, os quais após critérios de elegibilidade resultaram em 15 estudos. Estes foram separados em quatro grupos: dieta normocalórica associada a exercícios; dieta normocalórica isolada; dieta hipocalórica associada a exercícios; e dieta hipocalórica isolada. Os ensaios com dieta hipocalórica associada à prática de exercícios apresentaram valores mais elevados de eficácia, colaborando para ressaltar os aspectos globais da mudança do estilo de vida no tratamento da SM, onde a alimentação saudável e reduzida em calorias deve ser complementada com a prática de atividade física.

Capturing the essence of shape of polygonal meshes

Polygonal meshes, essential shape representation, feature detection, external skeleton, mesh decimation, progrssive meshes, silhouettes, hidden line removal, non-photorealistic rendering, OpenNPAR

Investigation Route of the Coronary Patient in the Public Health System in Curitiba, São Paulo and in Incor - IMPACT Study

Background: The investigation of stable coronary artery disease (CAD) and its treatment depend on risk stratification for decision-making on the need for cardiac catheterization and revascularization. Objective: To analyze the procedures used in the diagnosis and invasive treatment of patients with CAD, at the Brazilian Unified Health System (SUS) in the cities of Curitiba, São Paulo and at InCor-FMUSP. Methods: Retrospective, descriptive, observational study of the diagnostic and therapeutic itineraries of the Brazilian public health care system patient, between groups submitted or not to prior noninvasive tests to invasive cardiac catheterization. Stress testing, stress echocardiography, perfusion scintigraphy, catheterization and percutaneous or surgical revascularization treatment procedures were quantified and the economic impact of the used strategies. Results: There are significant differences in the assessment of patients with suspected or known CAD in the metropolitan region in the three scenarios. Although functional testing procedures are most often used the direct costs of these procedures differ significantly (6.1% in Curitiba, 20% in São Paulo and 27% in InCor-FMUSP). Costs related to the procedures and invasive treatments represent 59.7% of the direct costs of SUS in São Paulo and 87.2% in Curitiba. In InCor-FMUSP, only 24.3% of patients with stable CAD submitted to CABG underwent a noninvasive test before the procedure. Conclusion: Although noninvasive functional tests are the ones most often requested for the assessment of patients with suspected or known CAD most of the costs are related to invasive procedures/treatments. In most revascularized patients, the documentation of ischemic burden was not performed by SUS.

Sudden Cardiac Death in Brazil: A Community-Based Autopsy Series (2006-2010)

Background: Sudden cardiac death (SCD) is a sudden unexpected event, from a cardiac cause, that occurs in less than one hour after the symptoms onset, in a person without any previous condition that would seem fatal or who was seen without any symptoms 24 hours before found dead. Although it is a relatively frequent event, there are only few reliable data in underdeveloped countries. Objective: We aimed to describe the features of SCD in Ribeirão Preto, Brazil (600,000 residents) according to Coroners’ Office autopsy reports. Methods: We retrospectively reviewed 4501 autopsy reports between 2006 and 2010, to identify cases of SCD. Specific cause of death as well as demographic information, date, location and time of the event, comorbidities and whether cardiopulmonary resuscitation (CPR) was attempted were collected. Results: We identified 899 cases of SCD (20%); the rate was 30/100000 residents per year. The vast majority of cases of SCD involved a coronary artery disease (CAD) (64%) and occurred in men (67%), between the 6th and the 7th decades of life. Most events occurred during the morning in the home setting (53.3%) and CPR was attempted in almost half of victims (49.7%). The most prevalent comorbidity was systemic hypertension (57.3%). Chagas’ disease was present in 49 cases (5.5%). Conclusion: The majority of victims of SCD were men, in their sixties and seventies and the main cause of death was CAD. Chagas’ disease, an important public health problem in Latin America, was found in about 5.5% of the cases.