An Implemented of a Real-Time Experimental Setup for Robotic Teleoperation System

The development of this work presents the implementation of an experimental platform, which will permit to investigate on a methodology for the design and analysis of a teleoperated system, considering the delay in the communication channel. The project has been developed in partnership with the laboratory of Automatic and Robotics of the Universidad Politécnica de Madrid and the Laboratory at the Centro de Tecnologías Avanzadas de Manufactura at the Pontificia Universidad Católica del Perú. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement. The experimental test of the Teleoperation system has been developed. The PC104 card commands the power interface and sensors of the DC motor of each articulation of the arm. Has developed the drives for the management of the operations of the master and the slave: send/reception of position, speed, acceleration and current data through a CAN network. The programs for the interconnection through a LAN network, between the Windows Operating System and the Real-time Operating System (QNX), has been developed. The utility of the developed platform (hardware and software) has been demonstrated

Optimal design of a photovaltaic station using Markov and energy price modelling

This paper addresses the optimization of photovoltaic (PV) systems to increase their efficiency. The study introduces a new pricing model that considers the current price of PV inverters. In addition, Markov modeling is used in a new optimization framework to determine the optimal configuration, considering the number of PV modules and inverters, operational constraints, and failure events of PV inverters up to 100 kW. A case study with six real PV inverters confirms the effectiveness of the proposed framework. It calculates the average daily hours of rated power generation considering geographic location, temperature, and solar irradiance using real data from a real PV system. The study identifies both local and global optimal solutions for PV inverters (15 kW to 100 kW), while minimizing the effective levelized cost of energy. The results of the study have important implications for future assessments of PV module failures and repairs

Wireless intelligent sensors based in nanostructures with energy self-sufficiency to study the consequences of high temperatures in combustion motors

In this research are proposed the consequences of high temperatures in Internal Combustion Motors (ICM) as correlation of its performance according to give information of the ICM fault detector, which also can be useful for preventive maintenance. It was possible to achieve the proposed target because of it was designed a smart sensor based in nanostructures prepared over Anodic Aluminum Oxide (AAO) samples, which proportionated short response time and high robustness in the measurement tasks of the smart sensor, as well as, the designed sensor has the possibility to work by energy self-sufficiency and sending the measurement data to external users by wireless. In fact, it is waited that this research could be a support for researchers of ICM enhancement, who could look for new techniques of environment conditions cares in compensation to keep the balance between the useful energy obtained from ICM and the environment conditions, where are developed economical activities such as public transport or mining in Peru

Active Noise Control proposal design enhanced because of using sensors/actuators based on nanostructures

Big machines and motors, that under operating work produces high decibels of noise in wide range of work, these values are near 90 dB that is not healthy for humans. Normally, it is used passive mechanisms to attenuate noise such as big headphones. However that solution is not enough when noise has changes in frequency domain. Therefore, it is proposed in this work a solution by noise cancellation with Active Mechanisms; nevertheless, we designed a hybrid algorithm improved through predictive/adaptive concurrent algorithms strategies, with Active Noise Cancellation (ANC). By other side, based on nanostructures, it has been analyzed the effect in robustness and wide range of work by frequency domain in order to enhance noise cancellation

Magnetic Bearing Proposal Design for a General Unbalanced Rotor System enhanced because of using sensors/actuators based in nanostructures

Rotor systems need bearings in order to keep uniformity of rotational movement transmission. However, bearingsgenerate friction and energy losses due to heating transmisssion through the friction; for this reason, mechanicak bearings are replaced by magnetic bearings owing to avoid energy losing because of friction. We designed Active Magnetic Bearings (AMB) to transmit rotational movement from source of movement (motor) through the rotor to the movement receptor (such as a conveyor belt). Magnetic Bearings need accuracy during System Identification process and a sophisticated control algorithm to get an uniform rotation movement transmission. In this work also it was analyzed and proved by simulations that Active Magnetic Bearings composed with sensors /actuators based in nanostructures are faster and robust compared with AMB based in traditional sensors/actuators. It because, nanostructures receive and send signals better way tan traditional sensors/actuators, because of high oredered nanoarrays improve sensor/actuator properties

Optimal Analysis for the Enhancement in the Thermal Variables Measurement by Smart and Modular Solid State Sensors

The proposed research aims to analyze and optimize the measurement of thermal physical variables during the operation of a hydrogen combustion engine. The optimal measurement of the flow, temperature, pressure, and volume is given over the hydrogen, which is the main fuel of the studied combustion motor. Hence, the success of the measurement is based on the polynomial analysis of the combustion motor operation, which needs nonlinear algorithms to get the optimal correlation of the measured physical variables as well as a high robustness and short response time during the transduction of the measured physical variable, which is achieved as a consequence of the anodic aluminum oxide (AAO) amorphous nanostructures properties that are modular solid state integration of the designed smart sensor. The short response time and high robustness is a good advantage for the designed smart sensor since it gives more time to execute sophisticated algorithms in order to get the optimal physical variables measurement. In fact, the proposed smart sensor keeps the possibility to be modular and solid state for the interaction with the hydrogen fuel as well as recognizing the presence of other molecules mixed in the fluid, which can alarm the user who is able to recognize whether it is joined oxygen or carbon residues. Therefore, the proposed research work toward a good compromise to care for the environment condition based on a cleaner combustion motor operation

Cytokines and T-Lymphocute count in patients in the acute and chronic phases of Bartonella bacilliformis infection in an endemic area in peru: a pilot study

Human Bartonellosis has an acute phase characterized by fever and hemolytic anemia, and a chronic phase with bacillary angiomatosis-like lesions. This cross-sectional pilot study evaluated the immunology patterns using pre- and post-treatment samples in patients with Human Bartonellosis. Patients between five and 60 years of age, from endemic areas in Peru, in the acute or chronic phases were included. In patients in the acute phase of Bartonellosis a state of immune peripheral tolerance should be established for persistence of the infection. Our findings were that elevation of the anti-inflammatory cytokine IL-10 and numeric abnormalities of CD4+ and CD8+ T-Lymphocyte counts correlated significantly with an unfavorable immune state. During the chronic phase, the elevated levels of IFN-γ and IL-4 observed in our series correlated with previous findings of endothelial invasion of B. henselae in animal models

Mechanical design of a 5 kg/h cleaning machine for vicuña wool

Actas de: XIV Congreso Iberoamericano de Ingeniería Mecánica (CIBIM 2019), 12-15 noviembre 2019, Cartagena, Colombia.La vicuña está considerada patrimonio nacional del Perú y posee la fibra animal más fina del mundo (12µm de diámetro). Según la FAO, el Perú es el primer productor de fibra de vicuña en el mundo (70%) seguido por Bolivia, Argentina, Chile y Ecuador. El proceso de lavado consiste en la inmersión de la fibra en un medio acuoso formado por agua caliente (50°C) y detergentes que, a través de movimientos suaves por medio de sistemas mecánicos, elimina las impurezas que posee la fibra (grasa, suintina, polvo, suciedad, etc). En el Perú miles de comunidades campesinas encargadas de la explotación de este producto no realizan ningún tipo lavado; comercializan la fibra sin tratar. En este trabajo se ha diseñado un equipo de lavado pequeño, acorde a la capacidad de producción de los productores vicuñeros del Perú, que permite la limpieza de la fibra mediante la alimentación, arrastre, sumergido y exprimido de la misma; y cumpliendo con los estándares de lavado según la norma IWTO-19-981. La utilización de este equipo supondrá la obtención de una fibra más limpia sin ningún tipo de enfieltrado, un ahorro del 20% de agua y un rendimiento del 90% con respecto al lavado tradicional manual.Vicuña is considered a national animal symbol of Peru and has the finest wool in the world (12µm diameter). According to the FAO, Peru is the largest producer of vicuña wool in the world (70%) followed by Bolivia, Argentina, Chile and Ecuador. The cleaning process consists in the immersion of the wool in an aqueous medium formed by hot water (50 °C) and detergents that, through smooth movements by means of mechanical systems, eliminate the contaminants that the fiber has (lanolin, suint , dust, dirt, etc.). In Peru the Andean Communities are responsibles for the vicuña management and they do not perform any type of cleaning process selling the fleece at low prices without value added. This paper describes the design of small cleaning equipment according with the production capacity of the vicuña producers. The equipment cleans the wool through a mechanical system that feeds, moves, immerses and drains the fiber, fulfilling the cleaning requirements according to IWTO-19-981 standard. The use of this equipment will provide a clean vicuña wool without any damage, saving 20% water needs and with an efficiency ratio of 90% compared to traditional manually washing.Este artículo de Congreso se enmarca dentro del proyecto de investigación "Diseño y Fabricación de una mini lavadora para fibra de vicuña de 5kg/h" concedido por el FONDECYT, con fecha de inicio 01/01/2019 y fecha de finalización 31/12/2020. La Universidad Carlos III ha colaborado en este proyecto