Browsing by Author "Uran, Suzana"

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    PublicationOpen Access
    Hole detection, gripping and I2C communication of a climbing robot
    (2016) Dios Ursúa, Carlos Juan de; Uran, Suzana; Escuela Técnica Superior de Ingenieros Industriales y de Telecomunicación; Telekomunikazio eta Industria Ingeniarien Goi Mailako Eskola Teknikoa; Ingeniería Eléctrica y Electrónica; Ingeniaritza Elektrikoa eta Elektronikoa
    This project will consist in programming a part of the entire climbing robot programming. In the Image 2 is shown a scheme of the different programs that the robot is going to have. First of all, the gripper program is the one that is going to be develop in this project, then, there will be also needed a program for controlling the servos, another one to control the central microchip, which will be the I2C master and, finally, one extern program for a Raspberry Pi to communicate with the central microchip using Bluetooth. Image 2. Scheme of robot communication The aims of this project, as a part of the robot climbing to program the gripper, are mainly three. The first is detecting the holes on the wall with a distance sensor, the second one, controlling the motor that lets the robot grip on the wall and the third one communicate the pic with other pics of the robot using I2C protocol. The gripper, which is the final element of the robot, is in which the sensors and the mechanism to grip are held and, as consequence, is the only structure that has been used to develop this project. For this project, have been needed two sharp sensors GP2Y0A21YK0F, the gripper, and a printed board with the microchip. After this little introduction to have an idea of how the project is organized and its objectives, the different parts of the project will be carefully explained.
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    PublicationOpen Access
    MATLAB simulation for different number of pillars of a microfluidic rotational motor driven by circular vibrations
    (2020) Ruiz de Esquide Crespo, Iker; Elso Torralba, Jorge; Šafarič, Riko; Uran, Suzana; Escuela Técnica Superior de Ingeniería Industrial, Informática y de Telecomunicación; Industria, Informatika eta Telekomunikazio Ingeniaritzako Goi Mailako Eskola Teknikoa
    The purpose of this bachelor thesis is to create a MATLAB code able to simulate the velocity distribution of the liquid of a microfluidic rotational motor for a changeable number of pillars and parameters, so the results of different configurations of the motor can be theoretically shown. The main idea of this microfluidic rotational motor is inducing a circular vibration to a glass plate with two perpendicular piezoelectric devices, so a circular flux is created in the liquid around the pillar that is glued perpendicular to the plate. This rotational movement is used to drive a rotor floating in the liquid. This motor has already been experimentally tested, but a possible improvement is searched by the change of the individual pillar for a “pot”. It is especially interesting to observe the velocity distribution of the fluid when there are enough pillars creating a circle, so they overlap and create a pot shape configuration. This is interesting because the pot shape reduces the evaporation of the droplet which has been a persistent problem in the laboratory experimentation and could present improvements with respect to the pillar-motor. With this MATLAB code, it is possible to observe the velocity distribution for different changeable parameters of the motor,such as amplitude and frequency of the circular vibrations, distance between pillars and liquid chosen for the microfluidic motor. In this bachelor thesis it has been shown that the microfluidic rotational motor with a “pot” has satisfactory theoretical velocity distribution results. A MATLAB code is provided so the user can calculate by itself which will be the theorical velocity distribution for different configurations of the motor.