{"id":87906,"date":"2018-03-10T00:12:46","date_gmt":"2018-03-10T00:12:46","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/arquitectura-para-sillas-de-ruedas-con-guiado-autonomo\/"},"modified":"2018-03-10T00:12:46","modified_gmt":"2018-03-10T00:12:46","slug":"arquitectura-para-sillas-de-ruedas-con-guiado-autonomo","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/arquitectura-para-sillas-de-ruedas-con-guiado-autonomo\/","title":{"rendered":"Arquitectura para sillas de ruedas con guiado aut\u00f3nomo"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Pedro Mart\u00edn S\u00e1nchez <\/strong><\/h2>\n<p>En esta tesis se propone una arquitectura de procesamiento redundante que permite incrementar la seguridad en el control y guiado de una silla de ruedas. Para ello, se proponen distitnas estrategias teniendo presente que se trata de un sistema de tiempo real donde la integridad f\u00edsica del usuario puede estar en peligro. La arquitectura se ha dise\u00f1ado teniendo en cuenta tres ideas fundamentales: modularidad, estructura y funcionalidad configurable, y m\u00e1xima fiabilidad.  para conseguir la modularidad, se proponen cuatro modos de funcionamiento y se analizan los recursos hardware y software que precisan cada uno de ellos. La propuesta de los mdos de funcionamiento se hace considerando que a\u00f1adir nuevas funciones no suponga la modificaci\u00f3n de las ya existentes. para ello, la funcionalidad de los modos se estructura en tareas concurrentes que son gestionadas por un n\u00facleo de tiempo real, lo que permite a\u00f1adir neuvas tareas sin modificar las anteriroes. As\u00ed, el modo b\u00e1sico incorpora el control de velocidad de la silla a trav\u00e9s de distintas alternativas de interfaz usuario. Este modo no precisa ning\u00fan tipo de informaci\u00f3n sensorial del entorno y el usuario tiene el control total de la silla. El siguiente modo se implementa a\u00f1adiendo nuevas funciones al anterior e incorporando sensores de contacto para que, en caso de choque con alg\u00fan obst\u00e1culo, la silla se detenga de forma autom\u00e1tica, sin intervenci\u00f3n del usuario. El tercer modo dispone de informaci\u00f3n sensorial del entorno a trav\u00e9s de sensores que permiten el seguimiento de trayectorias libres de obst\u00e1culos de forma aut\u00f3noma. Por \u00faltimo, el cuarto modo implementa tareas especiales de maniobrabilidad.  una de las aportaciones m\u00e1s relevantes, es el dise\u00f1o de una arquitectura de procesamiento configurable. As\u00ed, para aumentar la funcionalidad se pueden a\u00f1adir nuevas tareas a una \u00fanica plataforma hardware o disponer de varias conectadas en red, lo que permitir\u00e1 aumentar la<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Arquitectura para sillas de ruedas con guiado aut\u00f3nomo<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Arquitectura para sillas de ruedas con guiado aut\u00f3nomo <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Pedro Mart\u00edn S\u00e1nchez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Alcal\u00e1<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 14\/12\/2000<\/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>Manuel Mazo Quintas<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: joaquin Luque rodriguez <\/li>\n<li>Antonio Calvo cuenca (vocal)<\/li>\n<li>ram\u00f3n Ceres ruiz (vocal)<\/li>\n<li>felipe Espinosa zapata (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Pedro Mart\u00edn S\u00e1nchez En esta tesis se propone una arquitectura de procesamiento redundante que permite incrementar la [&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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