aproximaciones 23 Paso 4: Leyes físicas 23 Paso 5: Propiedades 23 Paso 6: Cálculos 23 Paso 7: Razonamiento, verificación y comentario 23 1-9 Paquetes de software para ingeniería 24 Engineering Equation Solver (EES) (Programa para resolver ecuaciones de ingeniería) 25 FLUENT 26 1-10 Exactitud, precisión y dígitos significativos 26 Resumen 30 Bibliografía y lecturas recomendadas 30 Proyector de aplicaciones: ¿qué tienen en común las explosiones nucleares? 31 Problemas 32 C A P Í T U L O D O S PROPIEDADES DE LOS FLUIDOS 35 2-1 Introducción 36 Medio continuo 36 2-2 Densidad y gravedad específica 37 Densidad de los gases ideales 38 2-3 Presión de vapor y cavitación 39 2-4 Energía y calores específicos 41 2-5 Coeficiente de compresibilidad 42 Coeficiente de expansión volumétrica 44 2-6 Viscosidad 46 2-7 Tensión superficial y efecto de capilaridad 51 Efecto de capilaridad 53 Resumen 55 Bibliografía y lecturas recomendadas 56 Proyector de aplicaciones: cavitación 57 Problemas 58 C A P Í T U L O T R E S PRESIÓN Y ESTÁTICA DE FLUIDOS 65 3-1 Presión 66 Presión en un punto 67 Variación de la presión con la profundidad 68 3-2 El manómetro 71 Otros instrumentos para medir la presión 74 3-3 El barómetro y la presión atmosférica 75 3-4 Introducción a la estática de fluidos 78 3-5 Fuerzas hidrostáticas sobre superficies planas sumergidas 79 Caso especial: placa rectangular sumergida 82 3-6 Fuerzas hidrostáticas sobre superficies curvas sumergidas 85 3-7 Flotación y estabilidad 89 Estabilidad de los cuerpos sumergidos y de los flotantes 92 C O N T E N I D O Cengel Prel.qxd 2/23/06 9:24 AM Page x
12. CONTENIDO xi 3-8 Fluidos en el movimiento del cuerpo rígido 95 Caso especial 1: Fluidos en reposo 96 Caso especial 2: Caída libre de un cuerpo de fluido 97 Aceleración sobre una trayectoria recta 97 Rotación en un recipiente cilíndrico 99 Resumen 102 Bibliografía y lecturas recomendadas 103 Problemas 103 C A P Í T U L O C U A T R O CINEMÁTICA DE FLUIDOS 121 4-1 Descripciones lagrangiana y euleriana 122 Campo de aceleraciones 124 Derivada material 127 4-2 Fundamentos de visualización del flujo 129 Líneas de corriente y tubos de corriente 129 Líneas de trayectoria 130 Líneas de traza 132 Líneas fluidas 134 Técnicas refractivas de visualización del flujo 135 Técnicas de visualización del flujo sobre la superficie 136 4-3 Gráficas de los datos sobre flujo de fluidos 136 Gráficas de perfiles 137 Gráficas vectoriales 137 Gráficas de contornos 138 4-4 Otras descripciones cinemáticas 139 Tipos de movimiento o deformación de los elementos de fluidaproximaciones 23 Paso 4: Leyes físicas 23 Paso 5: Propiedades 23 Paso 6: Cálculos 23 Paso 7: Razonamiento, verificación y comentario 23 1-9 Paquetes de software para ingeniería 24 Engineering Equation Solver (EES) (Programa para resolver ecuaciones de ingeniería) 25 FLUENT 26 1-10 Exactitud, precisión y dígitos significativos 26 Resumen 30 Bibliografía y lecturas
2024 State of Marketing Report – by HubspotMarius Sescu
https://www.hubspot.com/state-of-marketing
· Scaling relationships and proving ROI
· Social media is the place for search, sales, and service
· Authentic influencer partnerships fuel brand growth
· The strongest connections happen via call, click, chat, and camera.
· Time saved with AI leads to more creative work
· Seeking: A single source of truth
· TLDR; Get on social, try AI, and align your systems.
· More human marketing, powered by robots
ChatGPT is a revolutionary addition to the world since its introduction in 2022. A big shift in the sector of information gathering and processing happened because of this chatbot. What is the story of ChatGPT? How is the bot responding to prompts and generating contents? Swipe through these slides prepared by Expeed Software, a web development company regarding the development and technical intricacies of ChatGPT!
Product Design Trends in 2024 | Teenage EngineeringsPixeldarts
The realm of product design is a constantly changing environment where technology and style intersect. Every year introduces fresh challenges and exciting trends that mold the future of this captivating art form. In this piece, we delve into the significant trends set to influence the look and functionality of product design in the year 2024.
How Race, Age and Gender Shape Attitudes Towards Mental HealthThinkNow
Mental health has been in the news quite a bit lately. Dozens of U.S. states are currently suing Meta for contributing to the youth mental health crisis by inserting addictive features into their products, while the U.S. Surgeon General is touring the nation to bring awareness to the growing epidemic of loneliness and isolation. The country has endured periods of low national morale, such as in the 1970s when high inflation and the energy crisis worsened public sentiment following the Vietnam War. The current mood, however, feels different. Gallup recently reported that national mental health is at an all-time low, with few bright spots to lift spirits.
To better understand how Americans are feeling and their attitudes towards mental health in general, ThinkNow conducted a nationally representative quantitative survey of 1,500 respondents and found some interesting differences among ethnic, age and gender groups.
Technology
For example, 52% agree that technology and social media have a negative impact on mental health, but when broken out by race, 61% of Whites felt technology had a negative effect, and only 48% of Hispanics thought it did.
While technology has helped us keep in touch with friends and family in faraway places, it appears to have degraded our ability to connect in person. Staying connected online is a double-edged sword since the same news feed that brings us pictures of the grandkids and fluffy kittens also feeds us news about the wars in Israel and Ukraine, the dysfunction in Washington, the latest mass shooting and the climate crisis.
Hispanics may have a built-in defense against the isolation technology breeds, owing to their large, multigenerational households, strong social support systems, and tendency to use social media to stay connected with relatives abroad.
Age and Gender
When asked how individuals rate their mental health, men rate it higher than women by 11 percentage points, and Baby Boomers rank it highest at 83%, saying it’s good or excellent vs. 57% of Gen Z saying the same.
Gen Z spends the most amount of time on social media, so the notion that social media negatively affects mental health appears to be correlated. Unfortunately, Gen Z is also the generation that’s least comfortable discussing mental health concerns with healthcare professionals. Only 40% of them state they’re comfortable discussing their issues with a professional compared to 60% of Millennials and 65% of Boomers.
Race Affects Attitudes
As seen in previous research conducted by ThinkNow, Asian Americans lag other groups when it comes to awareness of mental health issues. Twenty-four percent of Asian Americans believe that having a mental health issue is a sign of weakness compared to the 16% average for all groups. Asians are also considerably less likely to be aware of mental health services in their communities (42% vs. 55%) and most likely to seek out information on social media (51% vs. 35%).
AI Trends in Creative Operations 2024 by Artwork Flow.pdfmarketingartwork
This article is all about what AI trends will emerge in the field of creative operations in 2024. All the marketers and brand builders should be aware of these trends for their further use and save themselves some time!
2024 State of Marketing Report – by HubspotMarius Sescu
https://www.hubspot.com/state-of-marketing
· Scaling relationships and proving ROI
· Social media is the place for search, sales, and service
· Authentic influencer partnerships fuel brand growth
· The strongest connections happen via call, click, chat, and camera.
· Time saved with AI leads to more creative work
· Seeking: A single source of truth
· TLDR; Get on social, try AI, and align your systems.
· More human marketing, powered by robots
ChatGPT is a revolutionary addition to the world since its introduction in 2022. A big shift in the sector of information gathering and processing happened because of this chatbot. What is the story of ChatGPT? How is the bot responding to prompts and generating contents? Swipe through these slides prepared by Expeed Software, a web development company regarding the development and technical intricacies of ChatGPT!
Product Design Trends in 2024 | Teenage EngineeringsPixeldarts
The realm of product design is a constantly changing environment where technology and style intersect. Every year introduces fresh challenges and exciting trends that mold the future of this captivating art form. In this piece, we delve into the significant trends set to influence the look and functionality of product design in the year 2024.
How Race, Age and Gender Shape Attitudes Towards Mental HealthThinkNow
Mental health has been in the news quite a bit lately. Dozens of U.S. states are currently suing Meta for contributing to the youth mental health crisis by inserting addictive features into their products, while the U.S. Surgeon General is touring the nation to bring awareness to the growing epidemic of loneliness and isolation. The country has endured periods of low national morale, such as in the 1970s when high inflation and the energy crisis worsened public sentiment following the Vietnam War. The current mood, however, feels different. Gallup recently reported that national mental health is at an all-time low, with few bright spots to lift spirits.
To better understand how Americans are feeling and their attitudes towards mental health in general, ThinkNow conducted a nationally representative quantitative survey of 1,500 respondents and found some interesting differences among ethnic, age and gender groups.
Technology
For example, 52% agree that technology and social media have a negative impact on mental health, but when broken out by race, 61% of Whites felt technology had a negative effect, and only 48% of Hispanics thought it did.
While technology has helped us keep in touch with friends and family in faraway places, it appears to have degraded our ability to connect in person. Staying connected online is a double-edged sword since the same news feed that brings us pictures of the grandkids and fluffy kittens also feeds us news about the wars in Israel and Ukraine, the dysfunction in Washington, the latest mass shooting and the climate crisis.
Hispanics may have a built-in defense against the isolation technology breeds, owing to their large, multigenerational households, strong social support systems, and tendency to use social media to stay connected with relatives abroad.
Age and Gender
When asked how individuals rate their mental health, men rate it higher than women by 11 percentage points, and Baby Boomers rank it highest at 83%, saying it’s good or excellent vs. 57% of Gen Z saying the same.
Gen Z spends the most amount of time on social media, so the notion that social media negatively affects mental health appears to be correlated. Unfortunately, Gen Z is also the generation that’s least comfortable discussing mental health concerns with healthcare professionals. Only 40% of them state they’re comfortable discussing their issues with a professional compared to 60% of Millennials and 65% of Boomers.
Race Affects Attitudes
As seen in previous research conducted by ThinkNow, Asian Americans lag other groups when it comes to awareness of mental health issues. Twenty-four percent of Asian Americans believe that having a mental health issue is a sign of weakness compared to the 16% average for all groups. Asians are also considerably less likely to be aware of mental health services in their communities (42% vs. 55%) and most likely to seek out information on social media (51% vs. 35%).
AI Trends in Creative Operations 2024 by Artwork Flow.pdfmarketingartwork
This article is all about what AI trends will emerge in the field of creative operations in 2024. All the marketers and brand builders should be aware of these trends for their further use and save themselves some time!
A report by thenetworkone and Kurio.
The contributing experts and agencies are (in an alphabetical order): Sylwia Rytel, Social Media Supervisor, 180heartbeats + JUNG v MATT (PL), Sharlene Jenner, Vice President - Director of Engagement Strategy, Abelson Taylor (USA), Alex Casanovas, Digital Director, Atrevia (ES), Dora Beilin, Senior Social Strategist, Barrett Hoffher (USA), Min Seo, Campaign Director, Brand New Agency (KR), Deshé M. Gully, Associate Strategist, Day One Agency (USA), Francesca Trevisan, Strategist, Different (IT), Trevor Crossman, CX and Digital Transformation Director; Olivia Hussey, Strategic Planner; Simi Srinarula, Social Media Manager, The Hallway (AUS), James Hebbert, Managing Director, Hylink (CN / UK), Mundy Álvarez, Planning Director; Pedro Rojas, Social Media Manager; Pancho González, CCO, Inbrax (CH), Oana Oprea, Head of Digital Planning, Jam Session Agency (RO), Amy Bottrill, Social Account Director, Launch (UK), Gaby Arriaga, Founder, Leonardo1452 (MX), Shantesh S Row, Creative Director, Liwa (UAE), Rajesh Mehta, Chief Strategy Officer; Dhruv Gaur, Digital Planning Lead; Leonie Mergulhao, Account Supervisor - Social Media & PR, Medulla (IN), Aurelija Plioplytė, Head of Digital & Social, Not Perfect (LI), Daiana Khaidargaliyeva, Account Manager, Osaka Labs (UK / USA), Stefanie Söhnchen, Vice President Digital, PIABO Communications (DE), Elisabeth Winiartati, Managing Consultant, Head of Global Integrated Communications; Lydia Aprina, Account Manager, Integrated Marketing and Communications; Nita Prabowo, Account Manager, Integrated Marketing and Communications; Okhi, Web Developer, PNTR Group (ID), Kei Obusan, Insights Director; Daffi Ranandi, Insights Manager, Radarr (SG), Gautam Reghunath, Co-founder & CEO, Talented (IN), Donagh Humphreys, Head of Social and Digital Innovation, THINKHOUSE (IRE), Sarah Yim, Strategy Director, Zulu Alpha Kilo (CA).
Trends In Paid Search: Navigating The Digital Landscape In 2024Search Engine Journal
The search marketing landscape is evolving rapidly with new technologies, and professionals, like you, rely on innovative paid search strategies to meet changing demands.
It’s important that you’re ready to implement new strategies in 2024.
Check this out and learn the top trends in paid search advertising that are expected to gain traction, so you can drive higher ROI more efficiently in 2024.
You’ll learn:
- The latest trends in AI and automation, and what this means for an evolving paid search ecosystem.
- New developments in privacy and data regulation.
- Emerging ad formats that are expected to make an impact next year.
Watch Sreekant Lanka from iQuanti and Irina Klein from OneMain Financial as they dive into the future of paid search and explore the trends, strategies, and technologies that will shape the search marketing landscape.
If you’re looking to assess your paid search strategy and design an industry-aligned plan for 2024, then this webinar is for you.
5 Public speaking tips from TED - Visualized summarySpeakerHub
From their humble beginnings in 1984, TED has grown into the world’s most powerful amplifier for speakers and thought-leaders to share their ideas. They have over 2,400 filmed talks (not including the 30,000+ TEDx videos) freely available online, and have hosted over 17,500 events around the world.
With over one billion views in a year, it’s no wonder that so many speakers are looking to TED for ideas on how to share their message more effectively.
The article “5 Public-Speaking Tips TED Gives Its Speakers”, by Carmine Gallo for Forbes, gives speakers five practical ways to connect with their audience, and effectively share their ideas on stage.
Whether you are gearing up to get on a TED stage yourself, or just want to master the skills that so many of their speakers possess, these tips and quotes from Chris Anderson, the TED Talks Curator, will encourage you to make the most impactful impression on your audience.
See the full article and more summaries like this on SpeakerHub here: https://speakerhub.com/blog/5-presentation-tips-ted-gives-its-speakers
See the original article on Forbes here:
http://www.forbes.com/forbes/welcome/?toURL=http://www.forbes.com/sites/carminegallo/2016/05/06/5-public-speaking-tips-ted-gives-its-speakers/&refURL=&referrer=#5c07a8221d9b
ChatGPT and the Future of Work - Clark Boyd Clark Boyd
Everyone is in agreement that ChatGPT (and other generative AI tools) will shape the future of work. Yet there is little consensus on exactly how, when, and to what extent this technology will change our world.
Businesses that extract maximum value from ChatGPT will use it as a collaborative tool for everything from brainstorming to technical maintenance.
For individuals, now is the time to pinpoint the skills the future professional will need to thrive in the AI age.
Check out this presentation to understand what ChatGPT is, how it will shape the future of work, and how you can prepare to take advantage.
A brief introduction to DataScience with explaining of the concepts, algorithms, machine learning, supervised and unsupervised learning, clustering, statistics, data preprocessing, real-world applications etc.
It's part of a Data Science Corner Campaign where I will be discussing the fundamentals of DataScience, AIML, Statistics etc.
Time Management & Productivity - Best PracticesVit Horky
Here's my presentation on by proven best practices how to manage your work time effectively and how to improve your productivity. It includes practical tips and how to use tools such as Slack, Google Apps, Hubspot, Google Calendar, Gmail and others.
The six step guide to practical project managementMindGenius
The six step guide to practical project management
If you think managing projects is too difficult, think again.
We’ve stripped back project management processes to the
basics – to make it quicker and easier, without sacrificing
the vital ingredients for success.
“If you’re looking for some real-world guidance, then The Six Step Guide to Practical Project Management will help.”
Dr Andrew Makar, Tactical Project Management
Unlocking the Power of ChatGPT and AI in Testing - A Real-World Look, present...Applitools
During this webinar, Anand Bagmar demonstrates how AI tools such as ChatGPT can be applied to various stages of the software development life cycle (SDLC) using an eCommerce application case study. Find the on-demand recording and more info at https://applitools.info/b59
Key takeaways:
• Learn how to use ChatGPT to add AI power to your testing and test automation
• Understand the limitations of the technology and where human expertise is crucial
• Gain insight into different AI-based tools
• Adopt AI-based tools to stay relevant and optimize work for developers and testers
* ChatGPT and OpenAI belong to OpenAI, L.L.C.
More than Just Lines on a Map: Best Practices for U.S Bike Routes
This session highlights best practices and lessons learned for U.S. Bike Route System designation, as well as how and why these routes should be integrated into bicycle planning at the local and regional level.
Presenters:
Presenter: Kevin Luecke Toole Design Group
Co-Presenter: Virginia Sullivan Adventure Cycling Association
Ride the Storm: Navigating Through Unstable Periods / Katerina Rudko (Belka G...DevGAMM Conference
Has your project been caught in a storm of deadlines, clashing requirements, and the need to change course halfway through? If yes, then check out how the administration team navigated through all of this, relocating 160 people from 3 countries and opening 2 offices during the most turbulent time in the last 20 years. Belka Games’ Chief Administrative Officer, Katerina Rudko, will share universal approaches and life hacks that can help your project survive unstable periods when there seem to be too many tasks and a lack of time and people.
This presentation was designed to provide strategic recommendations for a brand in decline. The deck also incorporates a situational assessment, including a brand identity, positioning, architecture, and portfolio strategy for the Brand.
Presentation originally created for NYU Stern's Brand Strategy course. Design by Erica Santiago & Chris Alexander.
A report by thenetworkone and Kurio.
The contributing experts and agencies are (in an alphabetical order): Sylwia Rytel, Social Media Supervisor, 180heartbeats + JUNG v MATT (PL), Sharlene Jenner, Vice President - Director of Engagement Strategy, Abelson Taylor (USA), Alex Casanovas, Digital Director, Atrevia (ES), Dora Beilin, Senior Social Strategist, Barrett Hoffher (USA), Min Seo, Campaign Director, Brand New Agency (KR), Deshé M. Gully, Associate Strategist, Day One Agency (USA), Francesca Trevisan, Strategist, Different (IT), Trevor Crossman, CX and Digital Transformation Director; Olivia Hussey, Strategic Planner; Simi Srinarula, Social Media Manager, The Hallway (AUS), James Hebbert, Managing Director, Hylink (CN / UK), Mundy Álvarez, Planning Director; Pedro Rojas, Social Media Manager; Pancho González, CCO, Inbrax (CH), Oana Oprea, Head of Digital Planning, Jam Session Agency (RO), Amy Bottrill, Social Account Director, Launch (UK), Gaby Arriaga, Founder, Leonardo1452 (MX), Shantesh S Row, Creative Director, Liwa (UAE), Rajesh Mehta, Chief Strategy Officer; Dhruv Gaur, Digital Planning Lead; Leonie Mergulhao, Account Supervisor - Social Media & PR, Medulla (IN), Aurelija Plioplytė, Head of Digital & Social, Not Perfect (LI), Daiana Khaidargaliyeva, Account Manager, Osaka Labs (UK / USA), Stefanie Söhnchen, Vice President Digital, PIABO Communications (DE), Elisabeth Winiartati, Managing Consultant, Head of Global Integrated Communications; Lydia Aprina, Account Manager, Integrated Marketing and Communications; Nita Prabowo, Account Manager, Integrated Marketing and Communications; Okhi, Web Developer, PNTR Group (ID), Kei Obusan, Insights Director; Daffi Ranandi, Insights Manager, Radarr (SG), Gautam Reghunath, Co-founder & CEO, Talented (IN), Donagh Humphreys, Head of Social and Digital Innovation, THINKHOUSE (IRE), Sarah Yim, Strategy Director, Zulu Alpha Kilo (CA).
Trends In Paid Search: Navigating The Digital Landscape In 2024Search Engine Journal
The search marketing landscape is evolving rapidly with new technologies, and professionals, like you, rely on innovative paid search strategies to meet changing demands.
It’s important that you’re ready to implement new strategies in 2024.
Check this out and learn the top trends in paid search advertising that are expected to gain traction, so you can drive higher ROI more efficiently in 2024.
You’ll learn:
- The latest trends in AI and automation, and what this means for an evolving paid search ecosystem.
- New developments in privacy and data regulation.
- Emerging ad formats that are expected to make an impact next year.
Watch Sreekant Lanka from iQuanti and Irina Klein from OneMain Financial as they dive into the future of paid search and explore the trends, strategies, and technologies that will shape the search marketing landscape.
If you’re looking to assess your paid search strategy and design an industry-aligned plan for 2024, then this webinar is for you.
5 Public speaking tips from TED - Visualized summarySpeakerHub
From their humble beginnings in 1984, TED has grown into the world’s most powerful amplifier for speakers and thought-leaders to share their ideas. They have over 2,400 filmed talks (not including the 30,000+ TEDx videos) freely available online, and have hosted over 17,500 events around the world.
With over one billion views in a year, it’s no wonder that so many speakers are looking to TED for ideas on how to share their message more effectively.
The article “5 Public-Speaking Tips TED Gives Its Speakers”, by Carmine Gallo for Forbes, gives speakers five practical ways to connect with their audience, and effectively share their ideas on stage.
Whether you are gearing up to get on a TED stage yourself, or just want to master the skills that so many of their speakers possess, these tips and quotes from Chris Anderson, the TED Talks Curator, will encourage you to make the most impactful impression on your audience.
See the full article and more summaries like this on SpeakerHub here: https://speakerhub.com/blog/5-presentation-tips-ted-gives-its-speakers
See the original article on Forbes here:
http://www.forbes.com/forbes/welcome/?toURL=http://www.forbes.com/sites/carminegallo/2016/05/06/5-public-speaking-tips-ted-gives-its-speakers/&refURL=&referrer=#5c07a8221d9b
ChatGPT and the Future of Work - Clark Boyd Clark Boyd
Everyone is in agreement that ChatGPT (and other generative AI tools) will shape the future of work. Yet there is little consensus on exactly how, when, and to what extent this technology will change our world.
Businesses that extract maximum value from ChatGPT will use it as a collaborative tool for everything from brainstorming to technical maintenance.
For individuals, now is the time to pinpoint the skills the future professional will need to thrive in the AI age.
Check out this presentation to understand what ChatGPT is, how it will shape the future of work, and how you can prepare to take advantage.
A brief introduction to DataScience with explaining of the concepts, algorithms, machine learning, supervised and unsupervised learning, clustering, statistics, data preprocessing, real-world applications etc.
It's part of a Data Science Corner Campaign where I will be discussing the fundamentals of DataScience, AIML, Statistics etc.
Time Management & Productivity - Best PracticesVit Horky
Here's my presentation on by proven best practices how to manage your work time effectively and how to improve your productivity. It includes practical tips and how to use tools such as Slack, Google Apps, Hubspot, Google Calendar, Gmail and others.
The six step guide to practical project managementMindGenius
The six step guide to practical project management
If you think managing projects is too difficult, think again.
We’ve stripped back project management processes to the
basics – to make it quicker and easier, without sacrificing
the vital ingredients for success.
“If you’re looking for some real-world guidance, then The Six Step Guide to Practical Project Management will help.”
Dr Andrew Makar, Tactical Project Management
Unlocking the Power of ChatGPT and AI in Testing - A Real-World Look, present...Applitools
During this webinar, Anand Bagmar demonstrates how AI tools such as ChatGPT can be applied to various stages of the software development life cycle (SDLC) using an eCommerce application case study. Find the on-demand recording and more info at https://applitools.info/b59
Key takeaways:
• Learn how to use ChatGPT to add AI power to your testing and test automation
• Understand the limitations of the technology and where human expertise is crucial
• Gain insight into different AI-based tools
• Adopt AI-based tools to stay relevant and optimize work for developers and testers
* ChatGPT and OpenAI belong to OpenAI, L.L.C.
More than Just Lines on a Map: Best Practices for U.S Bike Routes
This session highlights best practices and lessons learned for U.S. Bike Route System designation, as well as how and why these routes should be integrated into bicycle planning at the local and regional level.
Presenters:
Presenter: Kevin Luecke Toole Design Group
Co-Presenter: Virginia Sullivan Adventure Cycling Association
Ride the Storm: Navigating Through Unstable Periods / Katerina Rudko (Belka G...DevGAMM Conference
Has your project been caught in a storm of deadlines, clashing requirements, and the need to change course halfway through? If yes, then check out how the administration team navigated through all of this, relocating 160 people from 3 countries and opening 2 offices during the most turbulent time in the last 20 years. Belka Games’ Chief Administrative Officer, Katerina Rudko, will share universal approaches and life hacks that can help your project survive unstable periods when there seem to be too many tasks and a lack of time and people.
This presentation was designed to provide strategic recommendations for a brand in decline. The deck also incorporates a situational assessment, including a brand identity, positioning, architecture, and portfolio strategy for the Brand.
Presentation originally created for NYU Stern's Brand Strategy course. Design by Erica Santiago & Chris Alexander.
1. Brazo manipulador con servomotores desde PSoC
Designer
Francisco Javier Marin Mejia
Universidad Autónoma de Occidente
Santiago de Cali, Colombia
fjmarinmejia@gmail.com
Yesenia Gomez Alvarez
Universidad Autónoma de Occidente
Santiago de Cali, Colombia
Ainesey.11@gmail.com
Abstract— the inverted pendulum is a classic system used in the
teaching of automatic control concepts. Double inverted pendulum
adds an extra degree of complexity to the traditional system,
generating a system really challenging because it has a multi-variable
nonlinear system and also unstable, quickly dynamics. As a basis for
developing the project worked with the Quanser Company double
inverted pendulum system. Considering the parameters of the
physical system and the mathematical model that the manufacturer
provides, proceeded to simulate the designed controllers for this
system using Matlab software. In the project, a controller based on
the fusion of fuzzy controller and an LQR controller was worked.
Proceeded to implementation of the virtual prototype, for this was
used the EasyJava Simulations platform which is specially designed
for virtual laboratory.
I. INTRODUCCION
En la actualidad las industrias han desarrollado nuevas
tacnologia para la elaboracion de sus productos, acortando
procesos de produccion y minimisando tiempos de entrega,
debido que la demanda aumenta se crea la necesidad de
diseñar robots automatisados de facil control y manejo; con
esta informacion se diseño un brazo manipulador de 3 grados
de libertad en una plataforma programada de facil asceso,
abierto al rediseño por parte del usuario
Los brazos manipuladores son sistema mecánicos
multifuncionales, con un sencillo control de los cuales existen
3 tipos:
a) Manual: Cuando un operario controla directamente al
manipulador.
b) Secuencia fija: Cuando se repite de forma invariable el
proceso de trabajo preparado previamente.
c) Secuencia variable: Cuando se pueden modificar
características del ciclo de trabajo Una particularidad de estos
robots es que mientras las funciones de trabajo sean sencillas y
repetitivas son ampliamente usados.
Este proyecto se enfoca a un sistema de secuencia variable,
con el fin de lograr un dispositivo funcional en diversos
ambitos de la sociedad como la industrias, en hospitales o en
el hogar. Para esto se trabajo con un microcontrolador Psoc
Designer el cual permite un fasil funcionamiento e
implementacion [1].
II. MARCO TEORICO
Un Servo es un dispositivo pequeño que tiene un eje de
rendimiento controlado, el cual puede ser llevado a posiciones
angulares específicas al enviar una señal codificada (Figura 1).
Con tal de que una señal codificada exista en la línea de
entrada, el servo mantendrá la posición angular del engranaje.
Cuando la señal codificada cambia, la posición angular de los
piñones cambia. En la práctica, se usan servos para posicionar
superficies de control como el movimiento de palancas,
pequeños ascensores y timones.
El servomotor tiene 3 cables de conexión externa. Uno es para
alimentación Vcc (+5volts), conexión a tierra GND y el
alambre de control.
El motor del servo tiene algunos circuitos de control y un
potenciómetro que está conectado al eje central del servo
motor (Esto se puede ver en la figura 1A). Este potenciómetro
permite a la circuitería de control, supervisar el ángulo actual
del servo motor. Si el eje está en el ángulo correcto, entonces
el motor está apagado. Si el circuito chequea que el ángulo no
es el correcto, el motor girará en la dirección adecuada hasta
llegar al ángulo correcto. El eje del servo es capaz de llegar
alrededor de los 180 grados. Un servo normal se usa para
controlar un movimiento angular de entre 0 y 180 grados.
El cable de control se usa para comunicar el ángulo. El ángulo
está determinado por la duración de un pulso PWM que se
aplica al alambre de control.
El servo espera ver un pulso cada 20 milisegundos (0.2
segundos). La longitud del pulso determina los giros de motor.
Un pulso de 1.5 ms hace que el motor se torne a la posición de
90 grados la cual es su posición neutra. Si el pulso es menor
de 1.5 ms., entonces el motor se acercará a los 0 grados. Si el
pulso es mayor de 1.5ms, el eje se acercará a los 180 grados.
[2]
2. Figura 1. Circuito Driver Servomotor.
Figura 2. Circuito del Servomotor
PSoC 1 es un kit programable que proporciona la integración
analógica diseñador del sistema, enrutamiento IO flexible y
completo control de consumo de energía. Con el apoyo de un
entorno de desarrollo integrado “PSoC Designer” y de fácil
uso, PSoC 1 ofrece la solución más eficaz en sistemas de
costos para muchos diseños embebidos de 8 bits. [3]
En este kit PSoC se utilizó un microcontrolador (CY8C29466-
24PXI) en el cual se realiza la programación que controla el
funcionamiento del brazo manipulador
Figura 3. Subsistemas microcontrolador [4]
III. PROCEDIMIENTO
1) Análisis
Para determinar las frecuencias de reloj de funcionamiento del
PWM que controla el servomotor; PSoC cuenta con una
fórmula que relaciona esta frecuencia con la señal de salida
del PWM.
Donde T es el periodo de la señal (en segundos), fclk es la
señal de reloj y Tv es el valor del periodo en bits, y depende
del tipo de PWM con el que se va a trabajar en este caso es un
PWM de 8 bits (Tv ira de 0 a 255).
Sabiendo que T es 20 ms y asumiendo Tv como 199 la
frecuencia de reloj será 10 kHz
Figura4. Tabla de recursos globales
De la anterior tabla (figura 4) observamos una lista de valores
los cuales muestran parámetros con los que trabaja el micro
controlador (señales de reloj, voltajes de salida, etc), estas son
necesarias a la hora de la configuración del sistema ya q
marcan las frecuencias de muestreo óptimas para el correcto
funcionamiento de cada sistema, siendo como su fuente de
alimentación independiente según su necesidad.
(1)
3. Figura 5. Parámetros del PWM
También se establecen los parámetros para una señal
modulada poR ancho de pulso (PWM) como se ilustra en la
figura 4, se observa su configuración la cual se encuentra
alimentada con una señal de reloj (VC3) con la que se va a
controlar los servomotores por medio de ángulos
especificados en grados y mostrados en el código de lenguaje
C++ para darle precisión a nuestro brazo robótico.
Figura 6. Parámetros del Timer
Como configuración final se utiliza un temporizador (timer)
las cuales dichas características de esta configuración se
especifican en la figura 6, este temporizador cumple con la
función a configuración del timer que cumple con la función
de cronometrar la duración de cada secuencia garantizando los
tiempos de ejecución por instrucción dada desde PSoc.
Figura 7. Bloques de memoria del micro controlador
Como resumen de nuestro sistema se muestra en la figura 7
los bloques que se trabajaran, siendo estos 3 PWM de 8 bits
necesarios para el manejo de cada servo motor dándoles su
dirección y ángulo de movimiento preciso; un timer de 16 bits
el cual define el tiempo que demora cada secuencia en
ejecutarse
2) Funcionamiento:
Figura 8. Diagrama de funcionamiento
El código está diseñado para funcionar en 3 modos de trabajo
El primero: el usuario primer define cuantas secuencias desea
para su funcionamiento (de 2 a 4 secuencias) y luego
programa los puntos de trabajo del robot.
El segundo: el usuario pone en marcha una secuencia por
defecto o de ser modificada con la opción anterior, realizara
dicha secuencia.
El tercero o modo manual: en este modo el usuario podrá
mover cada una de las articulaciones del brazo robótico por
separado.
4. Figura 9. Primer prototipo del brazo manipulador
IV. CONCLUSIONES
El proyecto fue llevado a cabo de una buena forma
aplicándose los conocimientos adquiridos en micro
controlador, electrónico y robótico.
Se aplicaron en todo el proyecto de una buena forma las
interrupciones externas del micro controlador para llevar a
cabo el movimiento del brazo manipulador.
Se pudo corroborar que Psoc Designer es una buena
plataforma para sistemas en programación, ahorrando
montajes externos y adaptaciones de circuitos de potencia; lo
que facilita el diseño de un proyecto.
V. REFERENCIAS BIBLIOGRAFICAS.
[1] Servomotor - EcuRed . 2014.Servomotor - EcuRed .
[ONLINE] Available at:
http://www.ecured.cu/index.php/Servomotor. [Accessed 21
July 2014].
[2] Automatas programables - Josep Balcells, Jose Luis
Romeral, Jose Luis Romeral Martinez - Google Libros. 2014.
Automatas programables - Josep Balcells, Jose Luis Romeral,
Jose Luis Romeral Martinez - Google Libros. [ONLINE]
Available at:
http://books.google.com.co/books?id=xfsSjADge70C&pg=PT
156&dq=servomotores&hl=es&sa=X&ei=VDwXVI2HJ9XCs
ASD0oDwCA&ved=0CCsQ6AEwAQ#v=onepage&q=servo
motores&f=false. [Accessed 10 September 2014].
[3] Programmable System - on - Chip - Cypress . 2014.
Programmable System - on - Chip - Cypress . [ONLINE]
Available at: http://www.cypress.com/psoc/?source=CY-
ENG-HEADERhttp://www.cypress.com/psoc/?source=CY-
ENG-HEADER. [Accessed 21 July 2014].
[4] Servomotor - EcuRed . 2014.
Servomotor - EcuRed . [ONLINE] Available at:
http://www.ecured.cu/index.php/Servomotor. [Accessed 21
July 2014].
[5] 2014. . [ONLINE] Available at:
http://www.ieeecss.org/CSM/library/1986/oct1986/w30-
36.pdf. [Accessed 11 September 2014].