{"id":65869,"date":"2008-03-07T00:00:00","date_gmt":"2008-03-07T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modelado-matematico-y-control-vectorial-de-robots-submara%c2%adnos-de-geometria-variables\/"},"modified":"2008-03-07T00:00:00","modified_gmt":"2008-03-07T00:00:00","slug":"modelado-matematico-y-control-vectorial-de-robots-submara%c2%adnos-de-geometria-variables","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/tecnologia-de-la-automatizacion\/modelado-matematico-y-control-vectorial-de-robots-submara%c2%adnos-de-geometria-variables\/","title":{"rendered":"Modelado matem\u00e1tico y control vectorial de robots submar\u00ednos de geometr\u00eda variables"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Eugenio Yime Rodr\u00edguez <\/strong><\/h2>\n<p>La rob\u00f3tica submarina es un \u00e1rea importante por cuanto permite al hombre realizar operaciones bajo agua en condiciones extremas, como son la inspecci\u00f3n de tuber\u00edas en el lecho mar\u00edtimo, el mantenimiento de instalaciones a grandes profundidades con baja visibilidad, y el rescate de veh\u00edculos y equipos naufragados. En a\u00f1os recientes se han desarrollado nuevos veh\u00edculos con formas geom\u00e9tricas variables que imitan en cierto grado la manera como navegan las ballenas, tiburones y atunes. Este nuevo paradigma abre la puerta a nuevas investigaciones y desarrollos tendientes a mejorar el desempe\u00f1o y control de los veh\u00edculos propuestos. en la presente tesis se ha dise\u00f1ado un nuevo robot submarino de geometr\u00eda variable formado por dos impulsores y un sistema de control de par por gir\u00f3scopos. La estructura mec\u00e1nica que permite el cambio de configuraci\u00f3n geom\u00e9trica es un robot paralelo basado en la plataforma stewart-gough. El robot paralelo realiza el cambio de orientaci\u00f3n y posici\u00f3n de uno de los anillos respecto al otro. El sistema de control de par por gir\u00f3scopos logra la orientaci\u00f3n del primer anillo respecto al sistema de referencia absoluto, permitiendo de esta manera que los dos anillos se orienten de forma independiente en el espacio. el dise\u00f1o del prototipo implica la concepci\u00f3n mec\u00e1nica, la selecci\u00f3n de componentes el\u00e9ctricos y electr\u00f3nicos, para posteriormente armar y ensamblar el robot y as\u00ed poder proceder con las pruebas necesarias. Para poner en funcionamiento el robot fue necesario realizar un desarrollo inform\u00e1tico de tiempo real que permitiese la comunicaci\u00f3n r\u00e1pida entre los diferentes componentes del robot, y a su vez con el equipo remoto de control. los aportes logrados en el desarrollo incluyen un nuevo modelo para la simulaci\u00f3n del comportamiento din\u00e1mico y cinem\u00e1tico de los robots submarinos de geometr\u00eda variable, la propuesta de nuevos m\u00e9todos para el control y navegaci\u00f3n del submarino y el dise\u00f1o de una interfaz de usuario para la operaci\u00f3n remota del mismo.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modelado matem\u00e1tico y control vectorial de robots submar\u00ednos de geometr\u00eda variables<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modelado matem\u00e1tico y control vectorial de robots submar\u00ednos de geometr\u00eda variables <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Eugenio Yime Rodr\u00edguez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 03\/07\/2008<\/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>Roque Saltaren Pazmi\u00f1o<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: ram\u00f3n Gal\u00e1n l\u00f3pez <\/li>\n<li>Manuel \u00e1lvarez (vocal)<\/li>\n<li>Carlos Ranz (vocal)<\/li>\n<li>Jos\u00e9 Mar\u00eda Sabater navarro (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Eugenio Yime Rodr\u00edguez La rob\u00f3tica submarina es un \u00e1rea importante por cuanto permite al hombre realizar operaciones [&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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