{"id":32406,"date":"1997-01-01T00:00:00","date_gmt":"1997-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/diseno-y-construccion-de-un-sistema-robotico-teleoperado-arquitectura-y-subsistema-sensorial\/"},"modified":"1997-01-01T00:00:00","modified_gmt":"1997-01-01T00:00:00","slug":"diseno-y-construccion-de-un-sistema-robotico-teleoperado-arquitectura-y-subsistema-sensorial","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/diseno-y-construccion-de-un-sistema-robotico-teleoperado-arquitectura-y-subsistema-sensorial\/","title":{"rendered":"Dise\u00f1o y construccion de un sistema robotico teleoperado: arquitectura y subsistema sensorial."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Paul Bustamante Merino <\/strong><\/h2>\n<p>Uno de los objetivos principales de esta tesis, entre otros, es el dise\u00f1o y construccion de un sistema robotico neumatico teleoperado (srnt), de facil descontaminacion, que pueda ser capaz de subir por paredes y que lleve un sistema sensorial modular, es decir, que pueda ser facilmente intercambiable. El ambiente de trabajo de este sistema es una central nuclear. Tanto el robot como el sistema sensorial (cabeza sensora) estan basados en tarjetas de control embarcado, para lo cual se ha utilizado un microprocesador de la familia 8051 de intel.  ambos sistemas son configurados como esclavos, recibiendo las ordenes via serie rs-232 del ordenador de teleoperacion.  el robot esta dotado de un cordon umbilical (por especificaciones del proyecto), por el cual se le suministra tanto el aire para los componentes neumaticos, como la energia para las tarjetas de control y amplificacion. Ademas, por dicho cordon viajan las se\u00f1ales de control serie, las se\u00f1ales de audio (bidireccionales) y las se\u00f1ales de las camaras de video.  las tareas principales a realizar por este sistema robotico son:  . Tareas de inspeccion, para lo cual llevara dos camaras de video para vision 3d.  . Monitorizacion de variables ambientales (temperatura, humedad y radiacion).  . Deteccion de fugas de vapor, para lo cual se le ha dotado al robot de un sistema basado en microfonos y un sensor de ultrasonidos.  . Medicion de espesores en tuberias y chapas metalicas mediante un sistema de instrumentacion basado en ultrasonidos.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Dise\u00f1o y construccion de un sistema robotico teleoperado: arquitectura y subsistema sensorial.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Dise\u00f1o y construccion de un sistema robotico teleoperado: arquitectura y subsistema sensorial. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Paul Bustamante Merino <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Navarra<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1997<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Miguel Angel Serna Oliveira<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Julian Florez Esnal <\/li>\n<li> Pasqual Del Pobil Ferre Angel (vocal)<\/li>\n<li> Tagle Gonzalez Jos\u00e9 Antonio (vocal)<\/li>\n<li>Luis Fontan Agorreta (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Paul Bustamante Merino Uno de los objetivos principales de esta tesis, entre otros, es el dise\u00f1o y [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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