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- 저자 : Sergio Juárez (검색결과 3 건)
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Closed loop cable robot for large horizontal workspaces
Sergio Juárez-Pérez,Antonio González-Rodriguez,Guillermo Rubio-Gómez,David Rodríguez-Rosa,Erika Ottaviano,Fernando J. Castillo-Garcia 국제구조공학회 2021 Smart Structures and Systems, An International Jou Vol.27 No.2
Inspection and maintenance of civil structures are important issues for sustainability of existing and new infrastructures. Classical approach relies on large human activities eventually performed in unsafe conditions. This paper proposed a non-invasive solution for inspecting horizontal surface such as decks of bridges. The proposal presented here is based in cable-driven robots and allows to inspect large surfaces maintaining a very low vertical occupancy in comparison to the conventional architecture of this kind of robot. Using closed cables loop instead of a set of cables a device with low motorization power and very large workspace is designed and prototyped. As example of control an inverse dynamics technique is applied to control the end-effector where inspection tool is located, e.g., a vision system. Experimental results demonstrate that this novel device allows to inspect large horizontal surfaces, with low motorization and low vertical occupancy.
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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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Pacheco-Hernández Yesenia,Jonnathan Castro-Juárez Carlos,Alberto Ramírez-García Sergio,Cruz-Durán Ramiro,Lozoya-Gloria Edmundo,Villa-Ruano Nemesio 한국응용곤충학회 2021 Journal of Asia-Pacific Entomology Vol.24 No.2
Preventive measures based in the control of insect vectors are considered as the best choice to decrease the incidence of insect-borne diseases. Herein we report on the volatile content of the leaf essential oils from Marina neglecta, a medicinal plant distributed in the tropical regions of southern Mexico. In order to investigate the chemical variation of the essential oils, a volatile screening was performed during the four seasons of the years 2016–2019. Simultaneously, their biological activity was tested on distinct life stages of Meccus pallidipennis, M. bassolsae, Aedes aegypti and A. albopictus. Essential oils were mainly constituted of β-pinene (>30%) β-car yophyllene (>25%) and germacrene D (>13%). Dorsal-abdomen application of essential oils on triatomines, revealed an efficient LC 50 for nymphs of the stages I to III (4 µg/insect), nymphs of the stages IV to V (5–6 µg/ insect), and adults (7–8 µg/insect). The LT 50 for the stages I to III was between 6 and 8 h, whereas that for the stages IV to V and adults oscillated between 12 and 16 h and 22 to 26 h, respectively. Fumigation experiments performed on nymph V, demonstrated that 300 µg L − 1 air produced 100% mortality after 72 h post-treatment. Among tested volatiles, β-pinene and β-caryophyllene produced a comparable mortality rate (p < 0.01) than that of essential oils in the stages assayed. Essential oils showed strong larvicidal (LC 50 , 24–36 µg mL − 1 ) and adul ticidal (35–48 µg mL − 1 ) activities in mosquito species with an LT 50 of 4.5 h and 25–35 min, respectively. The evaluation of β-pinene produced a significant mortality rate (p < 0.01) in larvae whereas germacrene D was the most effective volatile (p < 0.01) against adults of both mosquito species. According to our results, β-pinene was the most effective volatile against the four insect species evaluated and its effect was comparable to that of the essential oil.
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