This paper presents theoretical, numerical, and experimental tests of a mobile robot, which starts on the emission of a strong sound, like an applause, and the direction and speed of the vehicle is controlled by an external pulsed light source (PWM signal). The simulation is performed in MATLAB-Simulink; electrical circuits and the experiment are shown in detail. The results show that the vehicle speed can be controlled with a PWM signal from an external light falling on the LDR sensors. Besides, the circuit was designed to consume less than 1 ampere with the four motors moving at full speed, which can easily be powered by lithium battery.
Abstract− Researches related with the use of Natural Ester Fluids as refrigerant of power transformers has been developed in other countries with successful results. In Colombia there is no a procedure to control the use of these esters in electrical apparatus, so the current implementations are regulated by NTC 1465 standards for mineral esters. This new proposal involves the composition and the most relevant properties (the ignition resistance, impact on the lifetime of the insulating papers and the impact on the environment), which makes the application of natural esters fluids advantageous not only to preserve the environment but also to get a better performance of power transformers.Keywords− Natural Ester Fluid, distribution transformers, electrical apparatus, environment, chemical properties.Resumen− Las investigaciones en desarrollo respecto al uso de aceites de origen vegetal como refrigerantes en transformadores de distribución han tenido resultados destacados en otros países. En Colombia no existe un procedimiento para monitorear la aplicación de estos aceites en equipos eléctricos, por lo tanto la actual implementación se regula por la norma técnica NTC 1465 para aceites de origen mineral. Esta propuesta de nueva tecnología contempla la composición y las propiedades más relevantes (resistencia a la ignición, impacto en el tiempo de vida del papel e impacto en el medio ambiente), lo cual provee de mayor número de ventajas al aceite vegetal y un mejor desempeño en eficiencia. Palabras clave−
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