7 Anexos 20 AWG 16 AWG
Transcript of 7 Anexos 20 AWG 16 AWG
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7 Anexos
7.1 Anexo A: Sistemas Electrónicos
Unifilar del circuito eléctrico y protecciones eléctricas
ITM- 6A
Batería 24 VDC
+ -
- +(24
VDC)Acondicionador
de voltaje
- +(24 VDC)
Brazo Robótico KINOVA
Fusible 2AX1 X2 X4 F1
14 AWG
16 AWG20 AWG
KM1DO01
KM1
0.168 Kῼ 2N5551
Relé
12VDC
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7.2 Anexo B: Planos de Piezas y Ensambles
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7.3 Anexo C: Programas
Programa General
using System; using System.Collections.Generic; using System.Linq; using System.Text; using Emotiv; using System.Windows.Forms; using System.Threading; using System.Net; using System.Net.Sockets; using Encog.Neural; namespace DTF_Emotiv;
{
public class Program {
const int muestra=128; const int entrena = 1; const int umbral = 30;
EmoEngine engine; int userID = -1; static int Comando =0;
static double[,] O1_RAW = new double[entrena, muestra]; static double[,] O2_RAW = new double[entrena, muestra]; static double[,] P7_RAW = new double[entrena, muestra]; static double[,] P8_RAW = new double[entrena, muestra]; static double[,] SUMA_RAW = new double[entrena, muestra]; static double[,] PROMEDIO_RAW = new double[entrena, muestra];
static double[,] O1_Neutral = new double[entrena, muestra]; static double[,] O2_Neutral = new double[entrena, muestra]; static double[,] P7_Neutral = new double[entrena, muestra]; static double[,] P8_Neutral = new double[entrena, muestra]; static double[,] SUMA_Neutral = new double[entrena, muestra];
static double[,] Entrena_Comando1 = new double[entrena, muestra]; static double[,] Entrena_Comando4 = new double[entrena, muestra]; static double Absoluto1 ; static double Absoluto4;
static double[,] PROMEDIO_Neutral = new double[entrena, muestra];
static double[] absoluto_O1 = new double[muestra]; static double[] absoluto_O2 = new double[muestra]; static double[] absoluto_P7 = new double[muestra]; static double[] absoluto_P8 = new double[muestra]; static double[] SUMA_absoluto = new double[muestra]; static double[] PROMEDIO_absoluto = new double[muestra];
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static void Main(string[] args) {
/* const string MyValidPassword = "C6H12O6h2so4"; Kinova.API.Jaco.CJacoArm Jaco_m = new
Kinova.API.Jaco.CJacoArm(Kinova.DLL.SafeGate.Crypto.GetInstance().Encrypt(MyValidPassword));
Kinova.DLL.Data.Jaco.Config.CClientConfigurations config = new Kinova.DLL.Data.Jaco.Config.CClientConfigurations();
*/
// Thread comunicacion = new Thread(Comunicar);// se define el hilo de comunicacion con programa de BMI
string sUserChoice = ""; Program p = new Program();
while (true) {
if (Console.KeyAvailable) {
sUserChoice = Console.ReadLine(); if (sUserChoice.ToLower() == "x") {
break; }
}
////////////////////////////////////////////////////////////////////////////// /////////////////////// ENTRENAMIENTO
NEUTRAL//////////////////////////////// Console.WriteLine("Presione Enter para iniciar lectura de modo
neutral"); Console.ReadKey();
for (int n = 0; n < entrena; n++) { p.Run(O1_RAW,O2_RAW,P7_RAW,P8_RAW ,n);
System.Threading.Thread.Sleep(1000); p.Run(O1_RAW, O2_RAW, P7_RAW, P8_RAW, n);
for (int i = 0; i < muestra; i++) {
O1_Neutral[n, i] = O1_RAW[n, i]; O2_Neutral[n, i] = O2_RAW[n, i]; P7_Neutral[n, i] = P7_RAW[n, i]; P8_Neutral[n, i] = P8_RAW[n, i]; SUMA_Neutral[n, i] = O1_RAW[n, i] + O2_RAW[n, i] +
P7_RAW[n, i] + P8_RAW[n, i]; PROMEDIO_Neutral[n, i] = SUMA_Neutral[n, i] / 4;
}
}
Console.WriteLine("Presione Enter para iniciar entrenamiento Comando 1");
Console.ReadKey();
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for (int n = 0; n < entrena; n++) { p.Run(O1_RAW, O2_RAW, P7_RAW, P8_RAW, n);
System.Threading.Thread.Sleep(100);
for (int i = 0; i < muestra; i++) {
Entrena_Comando1[n,i] = (O1_RAW[n, i] + O2_RAW[n, i] + P7_RAW[n, i] + P8_RAW[n, i])/4;
}
}
Console.WriteLine("Presione Enter para iniciar entrenamiento Comando 4");
Console.ReadKey();
for (int n = 0; n < entrena; n++) { p.Run(O1_RAW, O2_RAW, P7_RAW, P8_RAW, n);
System.Threading.Thread.Sleep(100);
for (int i = 0; i < muestra; i++) {
Entrena_Comando4[n, i] = (O1_RAW[n, i] + O2_RAW[n, i] + P7_RAW[n, i] + P8_RAW[n, i])/4;
}
}
/////////////////////////////////////////////////////////////////////////////
//////// /////////TRANSFORMADA DE FOURIER DE MODO NEUTRAL //////////////////
for (int n = 0; n < entrena; n++) {
TTF_EEG(O1_Neutral, n); TTF_EEG(O2_Neutral, n); TTF_EEG(P7_Neutral, n); TTF_EEG(P8_Neutral, n); TTF_EEG(SUMA_Neutral, n);
TTF_EEG(PROMEDIO_Neutral, n); TTF_EEG(Entrena_Comando1, n); TTF_EEG(Entrena_Comando4, n);
}
///////////////////// LECTURA DE ESTIMULOS /////////////////////////
Console.WriteLine("Presione Enter para inicio de lectura");
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Console.ReadKey();
while(true) { p.Run(O1_RAW,O2_RAW,P7_RAW,P8_RAW,0);
System.Threading.Thread.Sleep(1000);
for(int n=0; n<entrena; n++) {
for (int i = 0; i < muestra; i++) {
SUMA_RAW[n, i] = O1_RAW[n, i] + O2_RAW[n, i] + P7_RAW[n, i] + P8_RAW[n, i];
PROMEDIO_RAW[n, i] = SUMA_RAW[n, i] / 4; }
}
///////////////////////////////////////////////////////////////////////////// /////////////////////// ANALISIS DE FOURIER
////////////////////////////
/////////// TRANSFORMADA DE FOURIER DE MODO ESTIMULO //////////////////////
for (int n = 0; n < entrena; n++) {
TTF_EEG(O1_RAW, n); TTF_EEG(O2_RAW, n); TTF_EEG(P7_RAW, n); TTF_EEG(P8_RAW, n); TTF_EEG(SUMA_RAW, n); TTF_EEG(PROMEDIO_RAW,n);
}
////////////////////////////////////////////////////////////////////////////
///////////////////////// COMPARACION /////////////////////////////////////
for (int n = 0; n < entrena; n++) {
for (int i = 0; i < muestra; i++) {
PROMEDIO_absoluto[i] = PROMEDIO_RAW[n, i] - Entrena_Comando1[n, i];
} Absoluto1 = 0;
for (int i = 0; i < muestra; i++) {
Absoluto1 = Absoluto1 + PROMEDIO_absoluto[i];
}
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Console.WriteLine("El valor de absoluto Comando 1 es" + Absoluto1);
for (int i = 0; i < muestra; i++) {
PROMEDIO_absoluto[i] = PROMEDIO_RAW[n, i] - Entrena_Comando4[n, i];
} Absoluto4 = 0;
for (int i = 0; i < muestra; i++) {
Absoluto4 = Absoluto4 + PROMEDIO_absoluto[i];
} Console.WriteLine("El valor de absoluto Comando 4 es"
+ Absoluto4);
for (int i = 0; i < muestra; i++) {
absoluto_O1[i] = O1_RAW[n, i] - O1_Neutral[n, i]; absoluto_O2[i] = O2_RAW[n, i] - O2_Neutral[n, i]; absoluto_P7[i] = P7_RAW[n, i] - P7_Neutral[n, i]; absoluto_P8[i] = P8_RAW[n, i] - P8_Neutral[n, i]; SUMA_absoluto[i] = SUMA_RAW[n, i] -
SUMA_Neutral[n, i]; PROMEDIO_absoluto[i] = PROMEDIO_RAW[n, i] -
PROMEDIO_Neutral[n, i]; }
///// FILTRO PASABANDA /// // System.Console.WriteLine("Electrodo O1"); // filtro_pasabanda(absoluto_O1); //System.Console.WriteLine("Electrodo O2"); //filtro_pasabanda(absoluto_O2); //System.Console.WriteLine("Electrodo P7"); //filtro_pasabanda(absoluto_P7); //System.Console.WriteLine("Electrodo P8"); //filtro_pasabanda(absoluto_P8); //System.Console.WriteLine("Suma de electrodos"); filtro_pasabanda(SUMA_absoluto); System.Console.WriteLine("Promedio de electrodos"); filtro_pasabanda(PROMEDIO_absoluto);
// brazo_robot(Comando,Jaco_m);
Comunicar(Comando);
} // Application.SetCompatibleTextRenderingDefault(false);
// Application.Run(new Form1(SUMA_absoluto, muestra)); // Console.ReadKey();
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}
}//end while Console.WriteLine("End program");
}
Program() {
engine = EmoEngine.Instance; engine.UserAdded += new
EmoEngine.UserAddedEventHandler(engine_UserAdded_Event); engine.Connect();
}
void engine_UserAdded_Event(object sender, EmoEngineEventArgs e) {
Console.WriteLine("User Added Event has occured"); userID = (int)e.userId;
engine.DataAcquisitionEnable((uint)userID, true); engine.EE_DataSetBufferSizeInSec(1);
}//end engine_UserAdded_Event
void Run(double[,] o1, double[,] o2, double[,] p7, double[,] p8, int n)
{
engine.ProcessEvents();
if ((int)userID == -1) return ;
Dictionary<EdkDll.EE_DataChannel_t, double[]> data = engine.GetData((uint)userID);
if (data == null) {
return; }//end if
int _bufferSize = data[EdkDll.EE_DataChannel_t.TIMESTAMP].Length;
Console.WriteLine("Writing " + _bufferSize + " lines of data ");
for (int i = 0; i < _bufferSize; i++) {
foreach (EdkDll.EE_DataChannel_t channel in data.Keys) {
if (channel == EdkDll.EE_DataChannel_t.O1) {
o1[n, i] = Math.Round(data[channel][i], 2);
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} if (channel == EdkDll.EE_DataChannel_t.O2) {
o2[n, i] = Math.Round(data[channel][i], 2);
}
if (channel == EdkDll.EE_DataChannel_t.P7) {
p7[n, i] = Math.Round(data[channel][i], 2);
}
if (channel == EdkDll.EE_DataChannel_t.P8) {
p8[n, i] = Math.Round(data[channel][i], 2);
} }
} //end for
// EEG_data = GyroX + "," + GyroY + "," + F3 + "," + F4 + "," + AF3 + "," + AF4;
//EEG_data = GyroX + "," + GyroY + "," + F3 + "," + F4 + "," + AF4;
//for (int i = 0; i < _bufferSize; i++) //{ // foreach (EdkDll.EE_DataChannel_t channel in data.Keys) // EEG_data = EEG_data+data[channel][i] + ","; //}//end for
// EEG_data = EEG_data + "\0"; // Console.WriteLine(EEG_data); // SendUDPData(IP, 27250, EEG_data);
// if (blink < 3750) // Console.WriteLine("----> blink");
// for (int i = 0; i < 64; i++) // { // aux[0, i] = EEG_Neutral[0, i]; // }
}//end Run
static void filtro_pasabanda(double[] absoluto) {
double ganancia1 = 10; double ganancia2 = 10; double ganancia3 = 10; double ganancia4 = 10;
for (int i = 0; i < 16; i++) {
absoluto[i] = absoluto[i] * 0; }
absoluto[20] = 0;
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absoluto[24] = 0; absoluto[28] = 0;
for (int i = 17; i < 20; i++) // 12.02 Hz {
absoluto[i] = absoluto[i] * ganancia1; }
for (int i = 21; i < 24; i++) //14.69Hz {
absoluto[i] = absoluto[i] * ganancia2; }
for (int i = 25; i < 28; i++) //17.36Hz {
absoluto[i] = absoluto[i] * ganancia3; }
for (int i = 29; i < 32; i++)//20.03Hz {
absoluto[i] = absoluto[i] * ganancia4; }
int max = 1;
for (int i = 0; i < 32; i++) {
if (absoluto[i] > absoluto[max]) {
max = i; }
}
if (absoluto[max] >= umbral) { Console.WriteLine("Frecuencia detectada: " + max * 1.0016 +
"Hz" + " Valor : " + absoluto[max]); if (max > 28 && max < 32) {
Console.WriteLine("COMANDO 4"); Comando = 4;
}
if (max > 24 && max < 28) {
Console.WriteLine("COMANDO 3"); Comando = 3;
}
if (max > 20 && max < 24) {
Console.WriteLine("COMANDO 2"); Comando = 2;
}
if (max > 16 && max < 20) {
Console.WriteLine("COMANDO 1"); Comando = 1;
}
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} else { Console.WriteLine("COMANDO 0"); Comando = 9; } } static void TTF_EEG(double[,] EEG_data, int n) { System.Numerics.Complex[] complejo = new System.Numerics.Complex[muestra]; for (int i = 0; i < muestra; i++) { complejo[i] = new System.Numerics.Complex(EEG_data[0, i], 0); } MathNet.Numerics.IntegralTransforms.Fourier.Forward(complejo); EEG_data[n,0] = 1; for (int i = 1; i < muestra; i++) { EEG_data[n,i] = System.Numerics.Complex.Abs(complejo[i]); } } static void brazo_robot(int comando, Kinova.API.Jaco.CJacoArm Jaco_m) { Jaco_m.ControlManager.StartControlAPI(); //Declare and initialize a CJoystickValue that will emulate a GeneralJoystick Kinova.DLL.Data.Jaco.CJoystickValue value = new Kinova.DLL.Data.Jaco.CJoystickValue(); if (Jaco_m.JacoIsReady()) { // int mensaje = serial_comm(); int mensaje = comando; Console.WriteLine(mensaje);
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if (mensaje != 255) { Jaco_m.ControlManager.StartControlAPI(); // X UP // if (((Button)m_Grid.Children[4]).IsPressed) if (mensaje == 4) { value.InclineLR = -1f; } // Y UP //if (((Button)m_Grid.Children[5]).IsPressed) if (mensaje == 3) { value.InclineFB = -1f; } // X DOWN //if (((Button)m_Grid.Children[7]).IsPressed) if (mensaje == 2) { value.InclineLR = 1f; } // Y DOWN //if (((Button)m_Grid.Children[8]).IsPressed) if (mensaje == 1) { value.InclineFB = 1f; } // Z DOWN if (mensaje == 9) { value.Rotate = 1f; } // Z UP if (mensaje == 8) { value.Rotate = -1f; } //abre grip // if (mensaje == 6) //abre grip // if (mensaje == 7) // Store Position if (mensaje == 5) { value.ButtonValue[2] = 1; } /* // Go To Position
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if (((Button)m_Grid.Children[11]).IsPressed) { value.ButtonValue[7] = 1; }*/ //We update JACO with the new data. /////////////////////////////////////////////////////////////// Jaco_m.ControlManager.SendJoystickFunctionality(value); if (mensaje == 15) { value.InclineFB = 0; value.InclineLR = 0; value.Rotate = 0; Thread.Sleep(50); Jaco_m.ControlManager.SendJoystickFunctionality(value); } } } } static void Comunicar(int comando) { //while (true) // { Socket cliente = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); IPEndPoint MiDireccion = new IPEndPoint(IPAddress.Parse("192.168.1.33"), 1234); // try cliente.Connect(MiDireccion); Console.WriteLine("Conectado con exito,ingrese mensaje:"); string msg = comando.ToString(); //string msg = Console.ReadLine(); byte[] msgBuffer = Encoding.Default.GetBytes(msg); cliente.Send(msgBuffer, 0, msgBuffer.Length, 0); Thread.Sleep(100); byte[] buffer = new byte[255]; int rec = cliente.Receive(buffer, 0, buffer.Length, 0); Array.Resize(ref buffer, rec); Console.WriteLine("Recibido: {0}", Encoding.Default.GetString(buffer)); cliente.Close(); // } } } }
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Programa Arduino
void setup() { // put your setup code here, to run once: pinMode(13,OUTPUT); pinMode(12, OUTPUT); pinMode(8, OUTPUT); pinMode(7, OUTPUT); #define periodo1 1000/31 #define periodo2 1000/30 #define periodo3 1000/29 #define periodo4 1000/28 }
void loop() { // put your main code here, to run repeated
int cont1=0; int cont2=0; int cont3=0; int cont4=0;
while(true) { delay(1); cont1=cont1+1; cont2=cont2+1; cont3=cont3+1; cont4=cont4+1; // LED 1 // if(cont1==(periodo1/2))
{ digitalWrite(13, HIGH);
} if(cont1==periodo1) {
digitalWrite(13, LOW); cont1=0;
}
// LED 2 //
if(cont2==(periodo2/2)) {
digitalWrite(12, HIGH); } if(cont2==periodo2) {
digitalWrite(12, LOW); cont2=0;
}
// LED 3 //
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if(cont3==(periodo3/2)) {
digitalWrite(8, HIGH); } if(cont3==periodo3) {
digitalWrite(8, LOW); cont3=0;
}
// LED 4 //
if(cont4==(periodo4/2)) {
digitalWrite(7, HIGH); } if(cont4==periodo4) {
digitalWrite(7, LOW); cont4=0;
} }
}