Design, construction, and control of a 3d printed Diwheel prototype

This project extends beyond the successful realization of a 3D-printed Diwheel prototype by meticulously guiding the process from concept to completion. The initial stages involved a thorough review of existing Diwheel designs and the application of modular 3D printing techniques, culminating in the...

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Autores:: Pulgarín Correa, Santiago

Tipo de recurso:: Trabajo de grado de pregrado

Fecha de publicación:: 2024

Institución:: Universidad Tecnológica de Pereira

Repositorio:: Repositorio Institucional UTP

Idioma:: eng

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dc.title.eng.fl_str_mv	Design, construction, and control of a 3d printed Diwheel prototype
title	Design, construction, and control of a 3d printed Diwheel prototype
spellingShingle	Design, construction, and control of a 3d printed Diwheel prototype 530 - Física::537 - Electricidad y electrónica Impresión 3D en educación Diseño Ingeniería de prototipos 2. Ingeniería y Tecnología::2B. Ingenierías Eléctrica, Electrónica e Informática Prototipado impresión 3D técnicas modulares identificación de sistemas modelo dinámico estrategias de control estabilidad del sistema caja de engranajes, movilidad eléctrica diseño iterativo innovación en ingeniería
title_short	Design, construction, and control of a 3d printed Diwheel prototype
title_full	Design, construction, and control of a 3d printed Diwheel prototype
title_fullStr	Design, construction, and control of a 3d printed Diwheel prototype
title_full_unstemmed	Design, construction, and control of a 3d printed Diwheel prototype
title_sort	Design, construction, and control of a 3d printed Diwheel prototype
dc.creator.fl_str_mv	Pulgarín Correa, Santiago
dc.contributor.advisor.none.fl_str_mv	Giraldo Suarez, Eduardo Verlarde Gómez, Sergio
dc.contributor.author.none.fl_str_mv	Pulgarín Correa, Santiago
dc.subject.ddc.none.fl_str_mv	530 - Física::537 - Electricidad y electrónica
topic	530 - Física::537 - Electricidad y electrónica Impresión 3D en educación Diseño Ingeniería de prototipos 2. Ingeniería y Tecnología::2B. Ingenierías Eléctrica, Electrónica e Informática Prototipado impresión 3D técnicas modulares identificación de sistemas modelo dinámico estrategias de control estabilidad del sistema caja de engranajes, movilidad eléctrica diseño iterativo innovación en ingeniería
dc.subject.armarc.none.fl_str_mv	Impresión 3D en educación Diseño Ingeniería de prototipos
dc.subject.ocde.none.fl_str_mv	2. Ingeniería y Tecnología::2B. Ingenierías Eléctrica, Electrónica e Informática
dc.subject.proposal.none.fl_str_mv	Prototipado impresión 3D técnicas modulares identificación de sistemas modelo dinámico estrategias de control estabilidad del sistema caja de engranajes, movilidad eléctrica diseño iterativo innovación en ingeniería
description	This project extends beyond the successful realization of a 3D-printed Diwheel prototype by meticulously guiding the process from concept to completion. The initial stages involved a thorough review of existing Diwheel designs and the application of modular 3D printing techniques, culminating in the creation of a fully functional prototype. By employing advanced system identification methods, a dynamic model was developed to accurately represent the behavior of the Diwheel. This model enabled the implementation of control strategies, ensuring stable and responsive operation across various conditions, demonstrating the effectiveness of the design and control techniques.
publishDate	2024
dc.date.accessioned.none.fl_str_mv	2024-09-25T13:54:05Z
dc.date.available.none.fl_str_mv	2024-09-25T13:54:05Z
dc.date.issued.none.fl_str_mv	2024
dc.type.none.fl_str_mv	Trabajo de grado - Pregrado
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dc.type.content.none.fl_str_mv	Text
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dc.identifier.uri.none.fl_str_mv	https://hdl.handle.net/11059/15319
dc.identifier.instname.none.fl_str_mv	Universidad Tecnológica de Pereira
dc.identifier.reponame.none.fl_str_mv	Repositorio Universidad Tecnológica de Pereira
dc.identifier.repourl.none.fl_str_mv	https://repositorio.utp.edu.co/home
url	https://hdl.handle.net/11059/15319 https://repositorio.utp.edu.co/home
identifier_str_mv	Universidad Tecnológica de Pereira Repositorio Universidad Tecnológica de Pereira
dc.language.iso.none.fl_str_mv	eng
language	eng
dc.relation.references.none.fl_str_mv	[1] Andrew J., Kurdila, and Pinhas Ben-Tzvi. Dynamics and control of robotic systems, 2019. seccion 1.4. [2] Andre Luiz Gioia Morrell, Alexander Charles Morrell-Junior, Allan Gioia Morrell, Jose Mauricio Freitas Mendes, Francisco Tustumi, Luiz Gustavo De- Oliveira e silva, and Alexander Morrell. The history of robotic surgery and its evolution: When illusion becomes reality. Revista do Colegio Brasileiro de Cirurgioes, 48:1–9, 2021. ISSN 18094546. doi: 10.1590/0100-6991e-20202798. [3] Debbie Dailey, Nykela Jackson, Alicia Cotabish, and Jason Trumble. Stemulate engineering academy: Engaging students and teachers in engineering practices. Roeper Review, 40:97–107, 4 2018. ISSN 1940865X. doi: 10.1080/02783193. 2018.1434709. [4] F. Kamal, C. W. Budiyanto, and A. Efendi. Understanding students behavior during the adoption of modular robotics in learning. In IOP Conference Series: Materials Science and Engineering, volume 434. Institute of Physics Publishing, 12 2018. doi: 10.1088/1757-899X/434/1/012263. The paper sheds light on how students’ learning behavior can be observed during the introduction of modular robotics in learning.<br/><br/>The paper evaluates the increased understanding of the use of robotics in STEM learning for application in the real classroom environment. [5] Maria Parappilly, Christopher Hassam, and Richard J. Woodman. Race to improve student understanding of uncertainty: Using lego race cars in the physics lab. American Journal of Physics, 86:68–76, 1 2018. ISSN 0002-9505. doi: 10.1119/1.5003812. The findings of this paper can be useful for physics educators and curriculum designers to develop innovative and engaging laboratory activities that can enhance students’ learning outcomes. [6] Alan B. Craig, William R. Sherman, and Jeffrey D. Will. Applying virtual reality. Developing Virtual Reality Applications, pages 33–59, 1 2009. doi: 10. 33 1016/B978-0-12-374943-7.00002-1. URL https://www.sciencedirect.com/ science/article/pii/B9780123749437000021. Virtual Prototyping, Virtual Reality, Virtual Environments, Virtual Reality System<br/><br/>2.1 Definicion de VR. [7] Meng Zhang, Fangyuan Sui, Ang Liu, Fei Tao, and A. Y.C. Nee. Digital twin driven smart product design framework. Digital Twin Driven Smart Design, pages 3–32, 1 2020. doi: 10.1016/B978-0-12-818918-4.00001-4. [8] Jiquan Yang, Na Li, Jianping Shi, Wenlai Tang, Gang Zhang, and Feng Zhang. Introduction. Multimaterial 3D Printing Techology, page xiii, 1 2021. doi: 10. 1016/B978-0-08-102991-6.00014-8. URL https://www.sciencedirect.com/ science/article/pii/B9780081029916000148. 3D Printing, Additive Manufacturing, Fused Deposition Modeling<br/><br/>abstract, habla tanto de modelado como impresion. [9] Aditya Sachdeva, Rashi Agrawal, Chetan Chaudhary, Darshit Siddhpuria, Deepanshu Kashyap, and Seim Timung. Sustainability of 3d printing in industry 4.0: A brief review. 3D Printing Technology for Water Treatment Applications, pages 229–251, 1 2023. doi: 10.1016/B978-0-323-99861-1.00010-2. [10] Kuang-Hua Chang. Product data management. e-Design, pages 265–321, 1 2015. doi: 10.1016/B978-0-12-382038-9.00006-5. URL https://linkinghub. elsevier.com/retrieve/pii/B9780123820389000065. [11] Maksym Mokriiev. Integration of educational subsystems in an all-in-one information and education environment (with open source software). 2020. doi: 10.28925/2414-0325.2020.8.7. @article{ Mokriiev2020INTEGRATION,<br/>title={INTEGRATION OF EDUCATIONAL SUBSYSTEMS IN AN ALL-INONE INFORMATION AND EDUCATION ENVIRONMENT (with open source software)},<br/>author={Maksym Mokriiev},<br/>journal={},<br/>year={2020},<br/>volume={}<br/>doi={10.28925/2414- 0325.2020.8.7}<br/>}. [12] N. Friesen. Open source resources in education: Opportunities and challenges, norm friesen, 2009. @article{Friesen2009Open,title={Open Source Resources in Education: Opportunities and Challenges}, author={N. Friesen},journal={Open Source Business Resource}, year={2009},volume={}doi={}}. [13] Lin Zhang, Longfei Zhou, Lei Ren, and Yuanjun Laili. Modeling and simulation in intelligent manufacturing. Computers in Industry, 112:103123, 11 2019. 35 Bibliography ISSN 0166-3615. doi: 10.1016/J.COMPIND.2019.08.004. URL https://www. sciencedirect.com/science/article/abs/pii/S0166361519303239. Virtual Prototype, Virtual Prototyping, <br/><br/>Virtual Prototype definition. [14] Stanisław Sieniutycz. Systems design: Modeling, analysis, synthesis, and optimization. Complexity and Complex Thermo-Economic Systems, pages 85–115, 2020. doi: 10.1016/B978-0-12-818594-0.00005-2. [15] Lennart Ljung. Perspectives on system identification. Annual Reviews in Control, 34:1–12, 4 2010. Principios de la identificacion. [16] Kuo Yang, Yugui Tang, and Zhen Zhang. Parameter identification and stateof- charge estimation for lithium-ion batteries using separated time scales and extended kalman filter. Energies, 14, 2 2021. ISSN 19961073. doi: 10.3390/ en14041054. Results indicate that the method has higher accuracy in offline parameter identification and online state estimation than traditional recursive least squares methods. [17] Chi Yang and Jinjun Chen. Efficient nonlinear regression-based compression of big sensing data on cloud. Big Data Analytics for Sensor-Network Collected Intelligence, pages 83–98, 1 2017. doi: 10.1016/B978-0-12-809393-1. 00004-0. URL https://www.sciencedirect.com/science/article/pii/ B9780128093931000040. Nonlinear Regression Model, Nonlinear Regression,< br/><br/>Due to the complex nature and variety of real-world data, it is very clumsy and inaccurate to use a simple linear relationship to describe the changing and trend of a time series. The nonlinear regression modeling should be used to better describe those data. Between each two partition blocks, a nonlinear regression function should be calculated for prediction. The prediction should be able to approximately simulate the trend of the data. [18] Cheng Liang and Sun Lijun. Research on formation pressure prediction based on neural network system identification theory. In Proceedings - 2020 2nd International Conference on Information Technology and Computer Application, ITCA 2020, pages 702–705. Institute of Electrical and Electronics Engineers Inc., 12 2020. ISBN 9780738111414. doi: 10.1109/ITCA52113.2020.00151. [19] Badong Chen, Yu Zhu, Jinchun Hu, and Jose C. Principe. System identification under minimum error entropy criteria. System Parameter Identification, pages 61–165, 1 2013. doi: 10.1016/ B978-0-12-404574-3.00004-X. URL https://www.sciencedirect.com/ science/article/pii/B978012404574300004X. Least Mean Square, Mean Bibliography 36 Square Error<br/><br/>habla sobre la identificacion en linea, minimos cuadrados y algoritmo de identificacion. [20] Mukul Chankaya, Ikhlaq Hussain, and Aijaz Ahmad. Hierarchical control of islanded microgrid with dynamic load power sharing: Case studies. Control of Standalone Microgrid, pages 149–188, 1 2021. doi: 10. 1016/B978-0-12-823022-0.00013-1. URL https://www.sciencedirect.com/ science/article/pii/B9780128230220000131. Least Mean Square, Mean Square Error<br/><br/>Habla sobre el control con minimos cuadrados y minimos cuadrados recursivos. [21] 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV). IEEE, 2018. ISBN 9781538695821. Using the recursive least squares identification algorithm to identify the parameters of the preexisting four input and one output system.<br/>Showing that the least recursive squares identification algorithm of two-step method is advantageous in convergence and identification accuracy. [22] Huang Chung-Neng. The development of self-balancing controller for onewheeled vehicle. Engineering, 2:212–219, 2 2010. doi: 10.4236/eng.2010.24031. Control y construccion de un monowheel. [23] Odry Akos, Harmati Istvan, Kiraly Zoltan, and Odry Peter. Design, realization and modeling of a two-wheeled mobile pendulum. Electrical and Computer Engineering, pages 75–79. ISSN 978-1-61804-315-3. [24] Sangtae Kim and Sangjoo Kwon. Nonlinear optimal control design for underactuated two-wheeled inverted pendulum mobile platform. IEEE/ASME Transactions on mechatronics, 22:2803–2808, 2017. implementacion de control LQR en protoripo de pendulo invertido o balancing. [25] Odry Akos, Odry Peter, and Fodor Janos. Stabilization of a two-wheeled mobile pendulum system using lqg and fuzzy. International Journal on Advances in intelligent Systems, 9:223–232, 2016. estabilizacion de un diwheel con fuzzy control. [26] Parsons J, Cazzolato B, Francou L, and Prime Z. Fully coupled dynamics of an electric diwheel (main). JSME Technical Journal, 1, 2007. doi: 10.1299/jsdd. 1.1. fundamentacion matematica de un prototipo diwheel construido. [27] Cazzolato B, Harvey J, Dyer C, Fulton K, Schmann E, Zhu T, Prime Z, Davis B, Hart S, Pearce E, and Atterton J. Modeling, simulation and control of an electric dewheel. modelamiento matematico y construccion de un diwheel. [28] Rasheedat Modupe Mahamood, Tien C. Jen, Stephen A. Akinlabi, Sunir Hassan, Kamar. O. Abdulrahman, and Esther T. Akinlabi. Role of additive manufacturing in the era of industry 4.0. Additive Manufacturing, pages 107–126, 1 2021. doi: 10.1016/B978-0-12-822056-6. 00003-5. URL https://www.sciencedirect.com/science/article/pii/ B9780128220566000035. Material Extrusion, Extrusion Process, Photopolymerization, Photopolymer<br/><br/>Tipos de manufactura aditiva e industrias 4.0 en el cap 6. [29] S. Anand Kumar and R.V.S. Prasad. Basic principles of additive manufacturing: different additive manufacturing technologies. Additive Manufacturing, pages 17–35, 1 2021. doi: 10.1016/B978-0-12-822056-6.00012-6. URL https://www. sciencedirect.com/science/article/pii/B9780128220566000126. Additive Manufacturing Process, Additive Manufacturing, <br/><br/>Definicion de la manufactura aditiva, y tipos de esta manufactura<br/>- Additive manufacturing (AM) is defined by the ASTM society as “a process of joining materials to make objects from 3D model data, usually layer upon layer, as opposed to subtractive manufacturing methodologies” [1]. 30] Tommaso Santaniello and Paolo Milani. 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IEEE, 2019. ISBN 9781728131856. [33] Naciones Unidas. La agenda 2030 y los objetivos de desarrollo sostenible: una oportunidad para américa latina y el caribe, 2030. URL www.issuu.com/ publicacionescepal/stacks. [34] The museum of retro technology - dicycles and diwheels website - http://www.douglas-self.com/museum/transport/diwheel/diwheel.htmotto,2022. URL http://www.douglas-self.com/MUSEUM/TRANSPORT/diwheel/ diwheel.htm#otto. [35] The trinity website - http://www.redmaxmonowheel.co.uk/diwheel.htm, . URL http://www.redmaxmonowheel.co.uk/diwheel.htm. [36] Yeisun Jesús and Montes Cifuentes. Vedri-vehÍculo elÉctrico de dos ruedas inercial, 9 2016. URL http://recursosbiblioteca.utp.edu.co/tesisd/index. html. [37] 3d-printable high torque servo/gearbox version 2 model – bbprojects, . URL https://bbprojects.technology/ collections/stl-fusion-360-source-files/products/ 3d-printable-high-torque-servo-gearbox-version-2-files?variant= 39251649986759. [38] General info \| prusa knowledge base. URL https://help.prusa3d.com/ article/general-info_1910. [39] Vladimír Bobál, Joseph Böhm, Jaromír Fessl, and Jirí Machácek. Digital self-tuning controllers: Algorithms, implementation and applications (advanced textbooks in control and signal processing). page 334, 2005. URL http://www.amazon.com/ Digital-Self-tuning-Controllers-Implementation-Applications/ dp/1852339802. [40] V. Strejc. Least squares parameter estimation. IFAC Proceedings Volumes, 12: 535–550, 9 1979. ISSN 1474-6670. doi: 10.1016/S1474-6670(17)53975-0. [41] Didier Giraldo Buitrago and Eduardo Giraldo Suárez. Teoría de control análogo. Universidad Tecnológica de Pereira, 2009. ISBN 978-958-722-050-6. URL https://hdl.handle.net/11059/11691. [42] Didier Giraldo Buitrago Eduardo Giraldo Suárez. TeorÍa de control digital. 2012.
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spelling	Atribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)Manifiesto (Manifestamos) en este documento la voluntad de autorizar a la Biblioteca Jorge Roa Martínez de la Universidad Tecnológica de Pereira la publicación en el Repositorio institucional (http://biblioteca.utp.edu.co), la versión electrónica de la OBRA titulada: La Universidad Tecnológica de Pereira, entidad académica sin ánimo de lucro, queda por lo tanto facultada para ejercer plenamente la autorización anteriormente descrita en su actividad ordinaria de investigación, docencia y publicación. La autorización otorgada se ajusta a lo que establece la Ley 23 de 1982. Con todo, en mi (nuestra) condición de autor (es) me (nos) reservo (reservamos) los derechos morales de la OBRA antes citada con arreglo al artículo 30 de la Ley 23 de 1982. En concordancia suscribo (suscribimos) este documento en el momento mismo que hago (hacemos) entrega de mi (nuestra) OBRA a la Biblioteca “Jorge Roa Martínez” de la Universidad Tecnológica de Pereira. Manifiesto (manifestamos) que la OBRA objeto de la presente autorizacióhttps://creativecommons.org/licenses/by-nc-nd/4.0/http://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessGiraldo Suarez, EduardoVerlarde Gómez, SergioPulgarín Correa, Santiago2024-09-25T13:54:05Z2024-09-25T13:54:05Z2024https://hdl.handle.net/11059/15319Universidad Tecnológica de PereiraRepositorio Universidad Tecnológica de Pereirahttps://repositorio.utp.edu.co/homeThis project extends beyond the successful realization of a 3D-printed Diwheel prototype by meticulously guiding the process from concept to completion. The initial stages involved a thorough review of existing Diwheel designs and the application of modular 3D printing techniques, culminating in the creation of a fully functional prototype. By employing advanced system identification methods, a dynamic model was developed to accurately represent the behavior of the Diwheel. This model enabled the implementation of control strategies, ensuring stable and responsive operation across various conditions, demonstrating the effectiveness of the design and control techniques.1 Introduction 2 1.1 Problem Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Justification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.3 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.3.1 General objective . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.3.2 Specific objectives . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.4 State of the art . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.5 Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2 Design and construction of a 3D printed Diwheel 10 2.1 Preliminary design of the 3D printed Diwheel . . . . . . . . . . . . . 10 2.2 GearBox preliminary design . . . . . . . . . . . . . . . . . . . . . . . 12 2.3 Optimization of 3D printing parameters . . . . . . . . . . . . . . . . 14 3 System Identification of a 3D Printed Diwheel 17 3.1 Least Squares Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.2 Least Squares Algorithm Implementation . . . . . . . . . . . . . . . . 18 3.2.1 Chassis Angle Behavior . . . . . . . . . . . . . . . . . . . . . . 18 3.2.2 Wheel Translation Behavior . . . . . . . . . . . . . . . . . . . 20 4 Analysis and Control of a 3D Printed Diwheel 22 4.1 Basic control actions . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.1.1 Proportional, Integral and Derivative (PID) Control Action . . 22 4.2 Control System Implementation . . . . . . . . . . . . . . . . . . . . . 23 4.2.1 Chassis Angle Control . . . . . . . . . . . . . . . . . . . . . . 23 4.2.2 Wheel Translation Control . . . . . . . . . . . . . . . . . . . . 24 5 Conclusions and Final Remarks 26 vi vii Contents A Explanation of the Arduino Code for Diwheel Control 27 A.1 Input and Output Pin Definitions . . . . . . . . . . . . . . . . . . . . 27 A.2 Global Variables for Encoder and Motor Control . . . . . . . . . . . . 27 A.3 Motor Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 A.4 Gyroscope Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 A.5 PID Control for Gyroscope and Motors . . . . . . . . . . . . . . . . . 28 A.6 Encoder Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 A.7 Bluetooth Communication . . . . . . . . . . . . . . . . . . . . . . . . 29 A.8 Basic Movement Control . . . . . . . . . . . . . . . . . . . . . . . . . 31 A.9 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 B Arduino Connection 32PregradoIngeniero(a) Electricista46 páginasapplication/pdfengUniversidad Tecnológica de PereiraIngeniería EléctricaFacultad de IngenieríasPereira530 - Física::537 - Electricidad y electrónicaImpresión 3D en educaciónDiseñoIngeniería de prototipos2. 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TeorÍa de control digital. 2012.PublicationLICENSElicense.txtlicense.txttext/plain; charset=utf-815543https://repositorio.utp.edu.co/bitstreams/ed3ecbdc-0a46-42d0-b6e7-cc0ae7330866/download73a5432e0b76442b22b026844140d683MD51ORIGINALTRABAJO DE GRADO.pdfTRABAJO DE GRADO.pdfapplication/pdf2159889https://repositorio.utp.edu.co/bitstreams/ab62f4ab-047a-45db-a77e-bb010a21a967/downloadfda8c9377ab79612da9803629540e427MD52THUMBNAILImagen2.pngimage/png61689https://repositorio.utp.edu.co/bitstreams/0a2a0980-aa83-4b2a-a0d8-8adc96a041d4/downloadff84fda5ed4ff185c31e1164835201d5MD53TRABAJO DE GRADO.pdf.jpgTRABAJO DE GRADO.pdf.jpgGenerated Thumbnailimage/jpeg6261https://repositorio.utp.edu.co/bitstreams/631ee276-269d-4bdc-9918-5b8e9819ecfb/download2d0fff88d87adbe1827663bec17d2649MD55TEXTTRABAJO DE GRADO.pdf.txtTRABAJO DE GRADO.pdf.txtExtracted texttext/plain71604https://repositorio.utp.edu.co/bitstreams/c1c92d73-93ed-4529-a2e4-3e0b5a6b0ecd/download4364e29966e5ffbff0ce775b412231efMD5411059/15319oai:repositorio.utp.edu.co:11059/153192024-09-26 04:02:07.473https://creativecommons.org/licenses/by-nc-nd/4.0/Manifiesto (Manifestamos) en este documento la voluntad de autorizar a la Biblioteca Jorge Roa Martínez de la Universidad Tecnológica de Pereira la publicación en el Repositorio institucional (http://biblioteca.utp.edu.co), la versión electrónica de la OBRA titulada: La Universidad Tecnológica de Pereira, entidad académica sin ánimo de lucro, queda por lo tanto facultada para ejercer plenamente la autorización anteriormente descrita en su actividad ordinaria de investigación, docencia y publicación. La autorización otorgada se ajusta a lo que establece la Ley 23 de 1982. Con todo, en mi (nuestra) condición de autor (es) me (nos) reservo (reservamos) los derechos morales de la OBRA antes citada con arreglo al artículo 30 de la Ley 23 de 1982. En concordancia suscribo (suscribimos) este documento en el momento mismo que hago (hacemos) entrega de mi (nuestra) OBRA a la Biblioteca “Jorge Roa Martínez” de la Universidad Tecnológica de Pereira. Manifiesto (manifestamos) que la OBRA objeto de la presente autorizacióopen.accesshttps://repositorio.utp.edu.coRepositorio de la Universidad Tecnológica de 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

Design, construction, and control of a 3d printed Diwheel prototype

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