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Universidad Tecnológica Israel Escuela De Postgrados Maestría En Telemática

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Universidad Tecnológica Israel Escuela De Postgrados Maestría En Telemática UNIVERSIDAD TECNOLÓGICA ISRAEL ESCUELA DE POSTGRADOS MAESTRÍA EN TELEMÁTICA MENCIÓN: CALIDAD EN EL SERVICIO (Aprobado por: RPC-SO-19-No.300-2016-CES) TRABAJO DE TITULACIÓN EN OPCIÓN AL GRADO DE MAGISTER Título: Sistema integrado para la operación de un brazo robótico teleoperado en tiempo real mediante la plataforma Firebase con el uso de dispositivos móviles Línea de Investigación: Telecomunicaciones y sistemas informáticos aplicados a la producción y la sociedad. Autor: Juan David Chimarro Amaguaña, Ing. Tutor: Ing. Fidel David Parra Balza, Ph.D Quito - Ecuador 2020 ii DEDICATORIA Dedico este Master a mi familia por haberme apoyado tanto en los momentos difíciles, como los satisfactorios y estar a mi lado durante el tiempo que he trabajado para lograr esta nueva meta en mi vida, ya que con esfuerzo y dedicación se puede alcanzar el éxito. iii AGRADECIMIENTOS A Dios y a mi familia por motivarme día a día para lograr los objetivos. A la Universidad Tecnológica Israel, a mi Tutor de Tesis, docentes y a todas las personas que forman parte de la Escuela de Postgrados, por dar una educación de calidad. Y a mis amistades de la UISRAEL, del trabajo INTSUPERIOR, y a las personas con las que he compartido momentos especiales siempre los tengo presentes. iv RESUMEN El proyecto de investigación tuvo por objeto desarrollar un sistema integrado para la operación de un brazo robótico teleoperado en tiempo real mediante la plataforma Firebase con el uso de dispositivos móviles, el enfoque metodológico de la investigación fue basado en una investigación aplicada ya que se centra específicamente en buscar la aplicación o utilización de conocimientos teóricos, a la vez que se adquieren otros, después de implementar y sistematizar. La técnica de levantamiento de información que se usó fue la observación indirecta ya que la investigación se llevó acabo por revisión de bibliografía. La teleoperación del brazo robótico se basó sobre la arquitectura del Cloud Computing usando las API y Services de Google Cloud Platform y permitió una interacción directa con Firebase y esta plataforma a su vez, tienen enlaces directos con dispositivos móviles, se hizo uso de protocolos de comunicación IoT (Internet of Things) y pudo conectarse con una la tarjeta Wifi, lo que consistió en tener el control de todas las variables del robot de forma remota en tiempo real, carga y descarga de información de la base de datos, seguridad de la información y obtener estadísticas sobre el uso de la aplicación. Como resultados se valoró el funcionamiento del sistema teleoperado obteniendo información sobre el tráfico tele- transmitido, tiempos de latencia, errores, eventos, estos parámetros permiten mejorar el rendimiento y la calidad del servicio de la aplicación. Palabras claves: teleoperación, Firebase, Cloud Computing, aplicaciones móviles, IoT, tiempos de latencia. v ABSTRACT The purpose of the research project was to develop an integrated system for the operation of a teleoperated robotic arm in real time using the Firebase platform with the use of mobile devices, the methodological approach of the research was based on an applied research since it focuses specifically in seeking the application or use of theoretical knowledge, while others are acquired, after implementing and systematizing. The information gathering technique that was used was indirect observation since the investigation was carried out by literature review. The teleoperation of the robotic arm was based on the architecture of Cloud Computing using the APIs and Services of Google Cloud Platform and allowed a direct interaction with Firebase and this platform in turn, have direct links with mobile devices, communication protocols were used IoT (Internet of Things) and was able to connect with a Wifi card, which consisted of having control of all robot variables remotely in real time, loading and unloading information from the database, information security and obtain statistics on the use of the application. As results, the operation of the teleoperated system was evaluated obtaining information on the tele-transmitted traffic, latency times, errors, events, these parameters allow to improve the performance and the quality of the service of the application. Keywords: Teleoperation, Firebase, Cloud Computing, Mobile Applications, IoT, latency times. vi INDICE DE CONTENIDOS CERTIFICADO DE APROBACION ................................................. ¡Error! Marcador no definido. DEDICATORIA ............................................................................................................................... iii AGRADECIMIENTOS .................................................................................................................... iv RESUMEN ........................................................................................................................................ v ABSTRACT ...................................................................................................................................... vi INDICE DE CONTENIDOS........................................................................................................... viii LISTA DE FIGURAS ........................................................................................................................ x LISTA DE TABLAS....................................................................................................................... xiii INTRODUCCIÓN .............................................................................................................................1 CAPÍTULO I .....................................................................................................................................7 1. MARCO TEÓRICO ...................................................................................................................7 1.1. Sistemas integrados en tiempo real .....................................................................................7 1.1.1. Descripción Sistemas integrados en tiempo real .........................................................7 1.1.2. Aplicaciones de los Sistemas integrados en tiempo real como transformación digital…………………………………………………………………………………………... .9 1.2. Sistemas robóticos teleoperados .......................................................................................13 1.2.1. Descripción de los sistemas robóticos teleoperados ..................................................13 1.3. Plataforma Firebase ..........................................................................................................17 1.3.1. Cloud Firestore .........................................................................................................18 1.3.2. Realtime Database ....................................................................................................18 1.3.3. Authentication ..........................................................................................................19 1.3.4. Crashlytics ................................................................................................................19 1.3.5. Performance Monitoring ...........................................................................................20 1.3.6. Cloud Messaging ......................................................................................................20 1.4. Desarrollo de aplicaciones en dispositivos móviles ..........................................................20 1.4.1. Diseño de aplicaciones para dispositivos móviles ....................................................21 1.4.2. Tecnologías para dispositivos móviles .....................................................................23 1.4.3. Plataformas de desarrollo de aplicaciones móviles ...................................................25 1.4.4. Aplicaciones en dispositivos móviles ventajas y desventajas ...................................26 CAPÍTULO II ..................................................................................................................................30 2. DESCRIPCIÓN DEL PROCESO INVESTIGATIVO .............................................................30 2.1. Enfoque metodológico de la investigación. ......................................................................30 viii 2.2. Técnica de recolección de datos .......................................................................................31 2.3. Situación actual ................................................................................................................31 2.4. Metodología seleccionada ................................................................................................40 2.5. Cuadro de fases metodológicas ........................................................................................42 2.6. Cronograma de actividades y recursos .............................................................................44 CAPITULO III .................................................................................................................................45 3. PROPUESTA ...........................................................................................................................45 3.1. Definición de las especificaciones del sistema robótico teleoperado ................................45 3.2. Esquema general del hardware del sistema robótico teleoperado .....................................46 3.3. Ordinograma general del sistema robótico teleoperado ....................................................46 3.4.
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