Examinando por Autor "Osuna Contreras, Brayan Steven"
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Ítem Esquema para el control de una mano robótica antropomorfaOsuna Contreras, Brayan Steven; García Díaz, Cristhian Camilo; Martínez, Fredy; Martínez, Fredy [0000-0002-7258-3909]This paper show the implementation of a strategy for grasp control of an anthropomorphic robotic hand, with the objective of stable grasp of a can of soda, preventing it from being damaged or displaced from the hand. The detection of the slip is done through force sensors located in the robotic hand, a circuit was implemented so that the variations of the force in the sensor are appreciated as a voltage signal. The control scheme must react before the sliding of the can of soda and quickly to avoid it. Also, it is necessary to adjust the force that apply the fingers, so that during the grasp this is not excessive and can damage the object, or very little so that it falls. The research began with an analysis of the design and control that has the hand, followed by the realization of the required improvements, the resistive force sensors are studied and implemented, and the control strategy is developed that allow an efficient grip of the soda can.Ítem Impacto de la implementación de generación distribuida en los métodos de localización de fallas de baja impedancia utilizando Python y DIgSILENTPerilla Cabra, Helman Leonardo; Osuna Contreras, Brayan Steven; Giral Ramírez, Diego ArmandoObjective: The general objective of this work is to establish the impact of the distributed generation (DG) implementation in low impedance fault location methods using Python and DIgSILENT. The specific objectives proposed correspond to the analysis of the methods in the IEEE C37.114-2014 standard, the implementation of a case study that allows evaluating the efficiency of two methods for locating faults and the construction of audiovisual material that shows the programming of the interface between Python and DIgSILENT. Methodology: With the use of new technologies for the generation of electrical energy, DG has been developed, this has posed different challenges for locating faults in distribution lines, since DG can affect the accuracy of traditional methods. To validate the effectiveness and accuracy of the location methods when presenting GD and fault resistance, the selection of two methods that meet the characteristics to be studied is made. The methodology implemented in this work is framed in four stages, in the first stage the bibliographic consultation is carried out on the methods proposed in the IEEE C37.114-2014 standard and the implementation of a test system, in the second the selection of the modified Takagi methods and synchronized measurement in two nodes for implementation in DIgSILENT Programming Language (DPL), in the third the short-circuit study implementing the methods in the test system making variations in the GD penetration levels through the interface developed in Python , in the fourth the development of the final document in conjunction with the audiovisual aids. Results: For the Takagi method when implementing GD, it is evident that the error increases as the level of GD penetration increases. The highest error is obtained for the highest penetration level of DG with 48.39%, for the system without DG the errors of the method do not exceed 1.38%. For the synchronized measurement method in two nodes when implementing GD, it is evident that the error increases as the level of GD penetration increases. The lowest error is obtained for the lowest level of penetration with 8.67%, for the system without DG the errors are 0%. Conclusions: Two low impedance fault location methods were implemented using the DIgSILENT software and the DPL programming tool. The integration of DG presents a negative impact on the efficiency of the selected methods, the higher the level of penetration that occurs in the system, the greater the error in locating the fault.