An implemetation of a teleoperated robot control architecture on a PLC and field-bus based plarform

Teleoperated robots are used to perform hazardous tasks that human operators cannot carry out. The purpose of this paper is to present a new architecture (ACROSET) for the development of these systems that takes into account the current advances in robotic architectures while adopting the component-oriented approach. ACROSET provides a common framework for developing this kind of robotized systems and for integrating intelligent components. The architecture is currently being used, tested and improved in the development of a family of robots, teleoperated cranes and vehicles which perform environmentally friendly cleaning of ship-hull surfaces (the EFTCoR project). This paper summarises the features of this project and describes the implementation of ACROSET on a hardware platform based on a PLC (Programmed Logic Controller) SIEMENS SIMATIC S7-300 and the Field-Bus PROFIBUS DP

Automatic ada code generation using a model-driven engineering approach

Currently, Model-Driven Engineering (MDE) is considered one of the most promising approaches for software development. In this paper, a simple but complete example based on state-machines will be used to demonstrate the benefits of this approach. After defining a modelling language (meta-model) for state-machines, a graphical tool will be presented which is aimed at easing the description and validation of state-machine models. These models will then be used as inputs for another tool which will automatically generate the corresponding Ada code, including a simulation program to test the correctness and performance of the implemented application.Proyecto MEDWSA (TIN2006-15175-C05-02)de CICYT y PMPDI-UPCT-2006 programa de la Universidad Politécnica de Cartagena

MDE para el desarrollo de redes de sensores inalámbricas siguiendo un enfoque de líneas de producto

Las redes de sensores inalámbricas constituyen una tecnología de creciente interés para la adquisición de datos del entorno. El desarrollo de aplicaciones basadas en dicha tecnología sigue un proceso tradicional excesivamente dependiente de la infraestructura empleada para su implementación, limitando en consecuencia la reutilización de los recursos desarrollados para aplicaciones similares. Un enfoque de Líneas de Producto permite mejorar dicha reutilización, sin embargo adolece de falta de automatización. La combinación de este enfoque con la ingeniería dirigida por modelos permite la obtención de un método de desarrollo de aplicaciones en el dominio referido que combina reuso y automatización tal y como se muestra en este trabajo.La CICYT (TIC2006-15175-C05-02) y la Fundación Séneca (02998-PI-05)

A reference architecture for managing variability among teleoperated service robots

Teleoperated robots are used to perform hazardous tasks that human operators cannot carry out. The purpose of this paper is to present a new architecture (ACROSET) for the development of these systems that takes into account the current advances in robotic architectures while adopting the component-oriented approach. ACROSET provides a common framework for developing this kind of robotized systems and for integrating intelligent components. The architecture is currently being used, tested and improved in the development of a family of robots, teleoperated cranes and vehicles which perform environmentally friendly cleaning of ship-hull surfaces (the EFTCoR project).The DSIE wishes to thank the Spanish Government (CICYT) and the Regional Government of Murcia (Seneca Programmes) for their support: TIC2003- 07804-C05-02 and PB/5/FS/02

Active and collaborative learning experience for the acquisition of information competences

[SPA] Este artículo concluye que la aplicación de la metodología de aprendizaje activo colaborativo en la docencia de Adquisición de Competencias en Información, donde el alumno es el principal protagonista, favorece la participación de los alumnos en las actividades docentes, permite alcanzar un elevado porcentaje de aprobados y consigue un alto grado de la satisfacción de los alumnos. [ENG] This paper concludes that the application of the collaborative active learning methodology in the teaching of Acquisition of Competencies in Information, where the student is the main protagonist, favors the participation of the students in the teaching activities, allows to reach a high percentage of approved and Achieves a high degree of student satisfaction

Applications of N,N-bis(phosphonomethyl)glycine-derived Sn4+ or Co2+ phosphonates as proton conductors or energy-conversion electrocatalysts.

Metal phosphonates (MPs), a subclass of coordination polymers, may exhibit acidic groups such as POH, SO3H, COOH, N+-H, etc. Combining these features with electrocatalytically active transition metals, make them highly appealing in the field of fuel cells and electrolysers, as potential proton conductors and/or precursors of electrocatalysts [1,2]. Herein, we investigate the synthesis, characterization and applications of a series of Co2+ and Sn4+ phosphonates derived from glycine-N,N-bis(methylenenphosphonic acid) (BPMGLY). In the case of the tin derivative, an amorphous compound, Sn(C4H11O8NP2)0.75Cl2.5(H2O)2.5 (Sn4+- BPMGLY), was obtained by hydrothermal synthesis. Its pyrolytic treatment at 700 ºC in air led to an amorphous pyrophosphate, (Sn4+- BPMGLY@700). Regarding cobalt phosphonates, three crystalline phases with composition [Co(C4H9O8NP2(H2O)2]·nH2O (n=0, 2) were obtained and their crystal structure were solved. All families were extensively studied as proton conductors across a wide range of temperature and humidity conditions, displaying the Sn4+ derivatives the highest conductivity values of 7.99·10-4 and 6.63·10-3 S·cm-1 for Sn4+-BPMGLY and Sn4+-BPMGLY@700, respectively, at 95 °C and 95% relative humidity (RH) (Figure 1a). Furthermore, the cobalt phosphonates were utilized as precursors for non-precious metal catalysts (NPMCs), by pyrolysis in 5%-H2/Ar at different temperatures and studied as electrocatalysts towards the oxygen evolution reaction (OER), hydrogen evolution reaction (HER) and oxygen reduction reaction (ORR)Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Simulador electromagnético de estructuras mixtas conductoras de hilo grueso y superficies planas

This paper presents a recently developed electromagnetic simulator which overcomes some of the traditional limitations of commercial software packages that analyze wire antennas combined with surface patches. A full Galerkin approach of the Method of Moments using subdomain triangle functions is employed to solve the frequency domain Electric Field Integral Equation (EFIE) for wire conducting structures. The full kernel of the EFIE is numerically computed using a suitable integration scheme. By doing so, it is possible to properly analyze moderately thick wire antennas. The analysis of the flattened surface patches is performed using rooftop basis and testing functions defined in triangular or rectangular cells. The junction of the wire and surface patches is modeled by using a new attachment mode which allows the wire to be placed everywhere inside the mesh cells. The new attachment mode has shown to be specially well suited for working in conjunction with rooftop basis functions.Los autores quieren agradecer la financiación recibida para la realización de este trabajo por parte de IZAR-CARENAS S.A. También se agradece el soporte a los proyectos nacionales ESP2001-4546-PE, TIC2000-0591-C03-03 y proyecto Séneca 2003

Nueva familia de filtros microstrip para aplicaciones de alta selectividad

In this paper the design of novel planar narrowband microstrip filter is presented. The structure is designed and manufactured in microstrip technology, and it is formed by set of pairs of resonators of different lengths. The length of one resonator in each pair is adjusted so that a suitable odd resonance is tuned to the center frequency of the filter. The length of the other resonator is adjusted so that the next even resonance is tuned again to the center frequency of the filter. The different path of the signal in each resonator produces a cancellation of energy at a given frequency, therefore implementing a transmission zero in the insertion loss response of the filter. First, this paper presents a design example of a single set of resonators (basic unit cell) working at fifth and sixth resonances. Then, two basic unit cells working at the first and second resonances are first optimized, and then they are cascaded to show how higher order filter responses can be implemented. Measured results confirm the theorical predictions, and validate the new structure for high selectivity applications.Este trabajo ha sido desarrollado gracias a los proyectos nacionales ESP2001-4546-PE, TIC2000-0591-C03-03, proyecto Séneca 2003, y soporte de la Agencia Espacial Europea

Una familia de robots para la limpieza de cascos de buques

Actualmente, la mayoría de las operaciones de reparación que se llevan a cabo en astilleros no están automatizadas. Un ejemplo es la limpieza de cascos de buques. Este trabajo describe una solución: el sistema EFTCoR. Se trata de un conjunto de robots cuya misión es la realización de diferentes operaciones de mantenimiento en los cascos de buques como granallado, pintura, etc. respetando el medio ambiente. Para ello, se combinan técnicas de diferentes disciplinas con la experiencia en el desarrollo de sistemas teleoperados.Los trabajos aquí presentados han sido desarrollados dentro del V Programa Marco (GROWTH G3RD-CT-00794), y parcialmente financiados por el Ministerio de Ciencia y Tecnología (CICYT DPI2002-11583-EEscuela Técnica Superior de Ingeniería de Telecomunicació

Redes de sensores y actuadores (WSAN) en domótica

La domótica, definida como la automatización de viviendas y edificios, es uno de los campos más atractivos para la aplicación de las redes de sensores inalámbricas, siendo todavía un área de estudio poco desarrollada. El presente artículo recoge nuestras primeras experiencias en la integración de estas tecnologías. Para ello se ha realizado una maqueta de una vivienda unifamiliar de tamaño medio, y se han implementado un conjunto de actuadores y sensores domóticos inalámbricos basándonos en la tecnología actual disponible para el desarrollo de redes de sensores.Fundación Séneca de la Región de Murcia y a la CICYT del Ministerio de Educación y Ciencia de Españ