Robotic manipulators for in situ inspections of jet engines

Jet engines need to be inspected periodically and, in some instances, repaired. Currently, some of these maintenance operations require the engine to be removed from the wing and dismantled, which has a significant associated cost. The capability of performing some of these inspections and repairs while the engine is on-wing could lead to important cost savings. However, existing technology for on-wing operations is limited, and does not suffice to satisfy some of the needs. In this work, the problem of performing on-wing operations such as inspection and repair is analysed, and after an extensive literature review, a novel robotic system for the on-wing insertion and deployment of probes or other tools is proposed. The system consists of a fine-positioner, which is a miniature and dexterous robotic manipulator; a gross-positioner, which is a device to insert the fine-positioner to the engine region of interest; an end-effector, such as a probe; a deployment mechanism, which is a passive device to ensure correct contact between probe and component; and a feedback system that provides information about the robot state for control. The research and development work conducted to address the main challenges to create this robotic system is presented in this thesis. The work is focussed on the fine-positioner, as it is the most relevant and complex part of the system. After a literature review of relevant work, and as part of the exploration of potential robot concepts for the system, the kinematic capabilities of concentric tube robots (CTRs) are first investigated. The complete set of stable trajectories that can be traced in follow-the-leader motion is discovered. A case study involving simulations and an experiment is then presented to showcase and verify the work. The research findings indicate that CTRs are not suitable for the fine-positioner. However, they show that CTRs with non-annular cross section can be used for the gross-positioner. In addition, the new trajectories discovered show promise in minimally invasive surgery (MIS). Soft robotic manipulators with fluidic actuation are then selected as the most suitable concept for the fine-positioner. The design of soft robotic manipulators with fluidic actuation is investigated from a general perspective. A general framework for the design of these devices is proposed, and a set of design principles are derived. These principles are first applied in a MIS case study to illustrate and verify the work. Finite element (FE) simulations are then reported to perform design optimisation, and thus complete the case study. The design study is then applied to determine the most suitable design for the fine-positioner. An additional analytical derivation is developed, followed by FE simulations, which extend those of the case study. Eventually, this work yields a final design of the fine-positioner. The final design found is different from existing ones, and is shown to provide an important performance improvement with respect to existing soft robots in terms of wrenches it can support. The control of soft and continuum robots relevant to the fine-positioner is also studied. The full kinematics of continuum robots with constant curvature bending and extending capabilities are first investigated, which correspond to a preliminary design concept conceived for the fine-positioner. Closed-form solutions are derived, closing an open problem. These kinematics, however, do not exactly match the final fine-positioner design selected. Thus, an alternative control approach based on closed-loop control laws is then adopted. For this, a mechanical model is first developed. Closed-loop control laws are then derived based on this mechanical model for planar operation of a segment of the fine-positioner. The control laws obtained represent the foundation for the subsequent development of control laws for a full fine-positioner operating in 3D. Furthermore, work on path planning for nonholonomic systems is also reported, and a new algorithm is presented, which can be applied for the insertion of the overall robotic system. Solutions to the other parts of the robotic system for on-wing operations are also reported. A gross-positioner consisting of a non-annular CTR is proposed. Solutions for a deployment mechanism are also presented. Potential feedback systems are outlined. In addition, methods for the fabrication of the systems are reported, and the electronics and systems required for the assembly of the different parts are described. Finally, the use of the robotic system to perform on-wing inspections in a representative case study is studied to determine the viability. Inspection strategies are shortlisted, and simulations and experiments are used to study them. The results, however, indicate that inspection is not viable since the signal to noise ratio is excessively low. Nonetheless, the robotic system proposed, and the research conducted, are still expected to be useful to perform a range of on-wing operations that require the insertion and deployment of a probe or other end-effector. In addition, the trajectories discovered for CTRs, the design found for the fine-positioner, and the advances on control, also have significant potential in MIS, where there is an important need for miniature robotic manipulators and similar devices.Open Acces

Actualització de la cartera de serveis i dels criteris de planificació per a l’atenció als nounats: recomanacions generals i detall per als nounats complexos

Nounats; Planificació; Cartera de serveis; Centres hospitalaris; SISCATRecién nacidos; Planificación; Cartera de servicios; Centros hospitalarios; SISCATNewborns; Planning; Portfolio of services; Hospital centers; SISCATEl CatSalut proposa com a objectiu principal actualitzar els criteris operatius de planificació i cartera de serveis establerts en relació amb l’atenció dels nounats als centres hospitalaris del SISCAT de Catalunya prenent com a referència principal el Pla estratègic d'ordenació de l’atenció maternoinfantil de l’any 2008. Per tal d’aconseguir aquest propòsit, es defineixen els objectius específics següents: Actualitzar els nivells d’atenció neonatal i la prestació de serveis associada a cada nivell. Actualitzar els indicadors i criteris d’activitat associat a cada nivell. Valorar els criteris d’organització i recursos en relació amb les cures intensives i intermèdies

Jardins per a la salut

Facultat de Farmàcia, Universitat de Barcelona. Ensenyament: Grau de Farmàcia. Assignatura: Botànica farmacèutica. Curs: 2014-2015. Coordinadors: Joan Simon, Cèsar Blanché i Maria Bosch.Els materials que aquí es presenten són el recull de les fitxes botàniques de 128 espècies presents en el Jardí Ferran Soldevila de l’Edifici Històric de la UB. Els treballs han estat realitzats manera individual per part dels estudiants dels grups M-3 i T-1 de l’assignatura Botànica Farmacèutica durant els mesos de febrer a maig del curs 2014-15 com a resultat final del Projecte d’Innovació Docent «Jardins per a la salut: aprenentatge servei a Botànica farmacèutica» (codi 2014PID-UB/054). Tots els treballs s’han dut a terme a través de la plataforma de GoogleDocs i han estat tutoritzats pels professors de l’assignatura. L’objectiu principal de l’activitat ha estat fomentar l’aprenentatge autònom i col·laboratiu en Botànica farmacèutica. També s’ha pretès motivar els estudiants a través del retorn de part del seu esforç a la societat a través d’una experiència d’Aprenentatge-Servei, deixant disponible finalment el treball dels estudiants per a poder ser consultable a través d’una Web pública amb la possibilitat de poder-ho fer in-situ en el propi jardí mitjançant codis QR amb un smartphone

Ultrasons

Treball de recerca realitzat per alumnes d’ensenyament secundari i guardonat amb un Premi CIRIT per fomentar l'esperit científic del Jovent l’any 2008. Els ultrasons són la franja de freqüències de so pel damunt de 20 kHz que ja no poden ser escoltades per l’oïda humana, però si per altres animals i es poden detectar amb instruments adeqüats. Es presenta un estudi experimental sobre els ultrasons tant en l’àmbit de la física com en el de la química, amb materials senzills