{"id":68061,"date":"2018-03-09T22:56:30","date_gmt":"2018-03-09T22:56:30","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/concepcion-y-desarrollo-de-un-veha%c2%adculo-submarino-robotico-de-estructura-paralela-de-geometria-variable\/"},"modified":"2018-03-09T22:56:30","modified_gmt":"2018-03-09T22:56:30","slug":"concepcion-y-desarrollo-de-un-veha%c2%adculo-submarino-robotico-de-estructura-paralela-de-geometria-variable","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/tecnologia-de-la-automatizacion\/concepcion-y-desarrollo-de-un-veha%c2%adculo-submarino-robotico-de-estructura-paralela-de-geometria-variable\/","title":{"rendered":"Concepci\u00f3n y desarrollo de un veh\u00edculo submarino robotico de estructura paralela de geometr\u00eda variable"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Cesar Francisco Alvarez Rocha <\/strong><\/h2>\n<p>En el siguiente trabajo se presenta una aplicaci\u00f3n innovadora de una plataforma stewart &#8211; gough, la cual es la base del funcionamiento del veh\u00edculo submarino rob\u00f3tico de estructura paralela remo i. Este veh\u00edculo submarino es operado remotamente desde la superficie mediante un sistema de comunicaci\u00f3n con fibras \u00f3pticas, lo cual permite a un operador realizar tareas de inspecci\u00f3n y visualizaci\u00f3n de cualquier problema que pueda ocurrir bajo el agua. Para ello se emplea una interfaz de usuario que facilita en gran medida la operaci\u00f3n, la visualizaci\u00f3n y la obtenci\u00f3n de datos en el agua. El remo i tiene como parte central, una estructura paralela del tipo stewart &#8211; gough, la cual le permite: realizar movimientos con 6 grados de libertad, adquirir m\u00faltiples formas para poder hacer maniobras de navegaci\u00f3n con mucha flexibilidad y variar la orientaci\u00f3n y el desplazamiento de un \u00fanico impulsor que est\u00e1 en la parte trasera. Esto presenta la ventaja de describir trayectorias de mucha exigencia dentro del agua para entraren lugares de dif\u00edcil acceso. Otras caracter\u00edsticas que ofrece este veh\u00edculo submarino rob\u00f3tico, es la utilizaci\u00f3n de un sistema neum\u00e1tico de control de lastrado, el cual se utiliza para compensar autom\u00e1ticamente su flotabilidad, y un control de presurizaci\u00f3n interno, el cual le permite mantener la cabina con una presi\u00f3n positiva a cualquier profundidad. En esta tesis doctoral se har\u00e1 una descripci\u00f3n mec\u00e1nica del remo i, sus arquitecturas de hardware, software y control, la instrumentaci\u00f3n utilizada, la identificaci\u00f3n de los modelos matem\u00e1ticos, las estrategias a utilizar para el control que se emplea para la navegaci\u00f3n y los resultados de las pruebas de control de navegaci\u00f3n y lastrado. palabras claves: veh\u00edculos submarinos, arquitectura de robots submarinos, estructuras paralelas, impulsores vectoriales, plataformas stewart -gough, rov, auv.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Concepci\u00f3n y desarrollo de un veh\u00edculo submarino robotico de estructura paralela de geometr\u00eda variable<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Concepci\u00f3n y desarrollo de un veh\u00edculo submarino robotico de estructura paralela de geometr\u00eda variable <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Cesar Francisco Alvarez Rocha <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 18\/11\/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>Rafael Aracil Santonja<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: agustin Jimenez avello <\/li>\n<li>gabriel Oliver codina (vocal)<\/li>\n<li>alejo Guillen (vocal)<\/li>\n<li>Luis Perez rojas (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Cesar Francisco Alvarez Rocha En el siguiente trabajo se presenta una aplicaci\u00f3n innovadora de una plataforma stewart [&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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