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The inspection and maintenance of transmission systems are necessary for their proper functioning. In this way, among the line's critical points are the insulator chains, which are responsible for providing insulation between conductors and structures. The accumulation of pollutants on the insulator surface can cause failures in the power system, leading to power supply interruptions. Currently, the cleaning of insulator chains is performed manually by operators who climb towers and use cloths, high-pressure washers, or even helicopters. The use of robots and drones is also under study, presenting challenges to be overcome. This paper presents the development of a drone-robot for cleaning insulator chains. The drone-robot was designed to identify insulators by camera and perform cleaning through a robotic module. This module is attached to the drone and carries a battery-powered portable washer, a reservoir for demineralized water, a depth camera, and an electronic control system. This paper includes a literature review on the state of the art related to strategies used for cleaning insulator chains. Based on this review, the justification for the construction of the proposed system is presented. The methodology used in the development of the drone-robot is then described. The system was validated in a controlled environment and in field experimental tests, with the ensuing discussions and conclusions formulated, along with suggestions for future work.
Assuntos
Robótica , Dispositivos Aéreos não Tripulados , Aeronaves , Fontes de Energia Elétrica , EletrônicaRESUMO
RESUMEN Introducción: El eritema pigmentado fijo ampolloso, es una forma de toxicodermia potencialmente grave. Se caracteriza por la aparición de lesiones cutáneas y/o mucosas, únicas o múltiples, pueden aparecer en cualquier zona, tras la administración de un fármaco u otra sustancia. Se presenta un varón de 73 años con diagnóstico de eritema pigmentado fijo ampolloso secundario a la ingesta de ivermectina. Es necesario que el medico sepa reconocer los efectos adversos de la automedicación con ivermectina contra el SARS CoV-2, a fin de realizar un diagnóstico temprano e iniciar un tratamiento oportuno.
ABSTRACT Background: Bullous fixed pigmented erythema is a potentially serious form of toxicoderma. It is characterized by the appearance of cutaneous and / or mucosal lesions, single or multiple, which can appear in any area, after the administration of a drug or other substance. A 73-year-old man is presented with a diagnosis of bullous fixed pigmented erythema secondary to the ingestion of ivermectin. It is necessary for the physician to recognize the adverse effects of self-medication with ivermectin against SARS CoV-2, to make an early diagnosis and initiate timely treatment.
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Introducción. La mamoplastia de aumento es un procedimiento muy común, no obstante las secuelas de dolor y síntomas sensoriales son desconocidas. Objetivo. Evaluar el impacto del uso de ketamina perioperatoria en las secuelas dolorosas y de síntomas neurológicos de pacientes sometidas a mamoplastia de aumento. Metodología. Este es un seguimiento a largo plazo de un ensayo clínico que incluyó 106 pacientes que habían sido sometidas a una mamoplastia estética de aumento que evaluaba la efectividad de Ketamina para dolor postoperatorio. La intensidad de dolor y la presencia o ausencia de síntomas neurológicos fueron recolectados. Resultados. Cincuenta pacientes consintieron en participar completando una entrevista telefónica. Los grupos no difirieron en cuanto a las variables demográficas y la técnica quirúrgica. Ambos grupos reportaron una alta incidencia de dolor moderado a intenso el primer día y la primera semana del postoperatorio (19 y 21 pacientes de los grupos ketamina y placebo respectivamente), con completa resolución de los síntomas a los tres meses. Tres participantes del grupo ketamina reportaron hipoestesia persistente y una participante sensación de ardor. Estos síntomas fueron marginalmente más frecuentes en el grupo placebo con siete participantes que reportaron hipoestesia y dos sensación de ardor. Conclusiones. En este estudio, la ketamina no tuvo un impacto significativo en la incidencia de dolor crónico posterior a mamoplastia estética de aumento. Existe una tendencia a sugerir que la ketamina podría tener algún papel en la reducción de síntomas neurológicos que resultaron ser más frecuentes de lo esperado (20 %).
Introduction. Augmentation mammoplasty is a common procedure but pain sequelae and sensory symptoms are unknown. Objective. To assess the impact of using perioperative Ketamine for painful sequelae and neurological symptoms in patients undergoing augmentation mammoplasty.Methodology. Long-term follow-up of a clinical study including 106 patients that underwent cosmetic augmentation mammoplasty to assess the effectiveness of Ketamine for postoperative pain. Pain intensity and the presence/absence of neurological symptoms were recorded. Results. A total of 50 patients agreed to participate by responding to a telephone interview. The groups did not differ in terms of demographic variables and the surgical technique. Both groups reported a high incidence of moderate/severe pain on the first day and the week following the operation (19 and 21 patients in the Ketamine and placebo groups, respectively), with complete resolution of symptoms after three months. Three participants in the Ketamine group reported persistent hypoesthesia and one reported a burning sensation. These symptoms were slightly more frequent in the placebo group, with 7 patients reporting hypoesthesia and two burning sensation.Conclusions. In this study, Ketamine had no significant incidence on chronic pain following cosmetic augmentation mammoplasty. There is a trend suggesting that Ketamine could play a role in reducing the neurological symptoms that exceeded the expected frequency (20 %).