Cable-driven parallel robots are a special type of robot in which an end-effector is attached to a fixed frame by means of several cables. The position and orientation of the end-effector can be controlled by controlling the length of the cables. These robots present a wide range of advantages, and the control algorithms required have greater complexity than those in traditional serial robots. Measuring the cable tension is an important task in this type of robot as many control algorithms rely on this information. There are several well-known approaches to measure cable tension in cable robots, where a trade-off between complexity and accuracy is observed. This work presents a new device based on strain gauges to measure cable tension specially designed to be applied in cable-driven parallel robots. This device can be easily mounted on the cable near the fixed frame, allowing the cable length and orientation to change freely, while the measure is taken before the cable passes through the guiding pulleys for improved accuracy. The results obtained from the device show a strong repeatability and linearity of the measures

The propulsive forces and instantaneous power that are generated by a swimmer have a great influence on the swimming performance. This works presents a new device, called SwimOne, for measuring propulsive force and estimating the instantaneous power of the swimmer. In addition, the detailed prototype is able to exert a customizable opposition force to the swimmer for training purpose. The conceptual idea is presented by describing the differential equation of the swimmer and the protocol for a factible estimation of the instantaneous power. The variables that are to be measured and estimated are identified and, consequently, the sensor and actuator systems can be selected. The high-level and detailed designs of the prototype are presented together with the protocol that is carried out in order to validate the sensor and actuation systems. The device is able to monitor the variables of interest of the swimmer together with the propulsive force and instant power. Finally, some experiments are carried out providing the results of several participants swimming in crawl, backstroke, butterfly, and breaststroke styles in the presence of different opposition force. The preliminary results show that SwimOne is valid for measuring instantaneous force and power with different loads in swimming.

Knock remains one of the main limitations for increasing the efficiency in spark-ignition engines. The use of certain alcohol–gasoline blends is an effective way to either mitigate or eliminate knock, allowing the use of higher compression ratios, therefore increasing the efficiency of spark-ignition engines. Methanol and ethanol are alcohols commonly employed for reducing knock, due to their higher octane number and vaporization heat value. Major attention is being paid recently to butanol and its blends with gasoline since they present similar characteristics to gasoline; however, it was found to be the least knock resistant among the three fuels. In the present work, a comparison between the knock performance of methanol–gasoline, ethanol–gasoline and butanol–gasoline blends is carried out, by volume concentrations up to 20 v/v%. This comparison is made in terms of knock intensity and knock probability. Tests are performed in a single-cylinder, variable-compression ratio, Cooperative Fuel Research engine equipped with port fuel injection system, facilitating the comparison against future results obtained by similar experimental facilities. Results obtained allow to reach meaningful conclusions about the capacity of each blend to mitigate knock.