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- 저자 : Enrique Fernando Castillo (검색결과 2 건)
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Guillermo Rubio-Gómez,Sergio Juárez,David Rodríguez-Rosa,Enrique Bravo,Erika Ottaviano,Antonio Gonzalez-Rodriguez,Fernando J. Castillo-Garcia 국제구조공학회 2021 Smart Structures and Systems, An International Jou Vol.27 No.2
Cable-driven robots are parallel manipulators in which rigid links are replaced by actuated cables. The end-effector is then supported by a set of cables commanded by motors that are usually placed in a fixed frame. By varying the cables length, it is possible to change the end-effector position and/or orientation. Among the advantages presented by cable robots are they light-weight structure, high energy efficiency and their ability to cover large workspaces since cables are easy to wind. When high-speed operation is not required, a safer solution is to design cable-driven suspended robots, where all vertical components of cables tension are against gravity direction. Cable-driven suspended robots present limited workspace due to the elevated torque requirements for the higher part of the workspace. In this paper, the addition of a passive carriage in the top of the frame is proposed, allowing to achieve a much greater feasible workspace than the conventional one, i.e., with the same size as the desired inspection area while maintaining the same motor requirements. In the opposite, this new scheme presents non-desired vibration during the end-effector maneuvers. These vibrations can be removed by means of a more complex control strategy. Kinematics and dynamics models are developed in this paper. An analysis of sensor system is carried out and a control scheme is proposed for controlling the end-effector pose. Simulation and experimental results show that the feasible workspace can be notoriously increased while end-effector pose is controlled. This new architecture of cable-driven robot can be easily applied for automated inspection and monitoring of very large vertical surfaces of civil infrastructures, such as facades or dams.
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Ruth Mery Ló,pez,Jorge Skiold Ló,pez,Jair Lozano,Hé,ctor Flores,Rosa Angelica Carranza,Antonio Franco,Enrique Fernando Castillo 대한생리학회-대한약리학회 2020 The Korean Journal of Physiology & Pharmacology Vol.24 No.4
We aimed to characterize the participation of rapid non-genomic and delayed non-genomic/genomic or genomic mechanisms in vasoactive effects to triiodothyronine (T3), emphasizing functional analysis of the involvement of these mechanisms in the genesis of nitric oxide (NO) of endothelial or muscular origin. Influences of in vitro and in vivo T3 treatments on contractile and relaxant responsiveness of isolated rat aortas were studied. In vivo T3-treatment was 500 μg·kg⁻¹·d⁻¹, subcutaneous injection, for 1 (T31d) and 3 (T33d) days. In experiments with endothelium- intact aortic rings contracted with phenylephrine, increasing concentrations of T3 did not alter contractility. Likewise, in vitro T3 did not modify relaxant responses induced by acetylcholine or sodium nitroprusside (SNP) nor contractile responses elicited by phenylephrine or angiotensin II in endothelium-intact aortas. Concentration- response curves (CRCs) to acetylcholine and SNP in endothelium-intact aortic rings from T31d and T33d rats were unmodified. T33d, but not T31d, treatment diminished CRCs to phenylephrine in endothelium-intact aortic rings. CRCs to phenylephrine remained significantly depressed in both endothelium-denuded and endothelium- intact, nitric oxide synthase inhibitor-treated, aortas of T33d rats. In endotheliumdenuded aortas of T33d rats, CRCs to angiotensin II, and high K⁺ contractures, were decreased. Thus, in vitro T3 neither modified phenylephrine-induced active tonus nor CRCs to relaxant and contractile agonists in endothelium-intact aortas, discarding rapid non-genomic actions of this hormone in smooth muscle and endothelial cells. Otherwise, T33d-treatment inhibited aortic smooth muscle capacity to contract, but not to relax, in an endothelium- and NO-independent manner. This effect may be mediated by delayed non-genomic/genomic or genomic mechanisms.
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