Balance-bot

Research on inverted pendulum has gained momentum over the last decade on a number of robotic laboratories over the world; due to its unstable proprieties is a good example for control engineers to verify a control theory. To verify that the pendulum can balance we can make some simulations using a closed-loop controller method such as the linear quadratic regulator or the proportional–integral–derivative method. Also the idea of robotic teleoperation is gaining ground. Controlling a robot at a distance and doing that precisely. However, designing the tool to takes the best benefit of the human skills while keeping the error minimal is interesting, and due to the fact that the inverted pendulum is an unstable system it makes a compelling test case for exploring dynamic teleoperation. Therefore this thesis focuses on the construction of a two-wheel inverted pendulum robot, which sensor we can use to do that, how they must be integrated in the system and how we can use a human to control an inverted pendulum. The inverted pendulum robot developed employs technology like sensors, actuators and controllers. This Master thesis starts by presenting an introduction to inverted pendulums and some information about related areas such as control theory. It continues by describing related work in this area. Then we describe the mathematical model of a two-wheel inverted pendulum and a simulation made in Matlab. We also focus in the construction of this type of robot and its working theory. Because this is a mobile robot we address the theme of the teleoperation and finally this thesis finishes with a general conclusion and ideas of future work.

Wow!: objects

Nowadays computers have advanced beyond the desktop into many parts of everyday life and objects. To achieve this we have to make the computer invisible, and making a computer invisible is not a matter of size of the hardware, it’s all about how the human perceives the computer. To make this possible, the interaction with the computer has to be done in an alternative way, such that the user doesn’t notice the usual computer interfaces (mouse and keyboard) when using it. Therefore this thesis focuses on physical objects that are interactive to achieve various purposes like persuasive objects for stress relief, persuasive objects to help the process of teaching, persuasive objects for fun, persuasive objects to display internet information and persuasive objects to make people feel more in community (exchange virtual emotions), persuasive objects are going to be created and evaluated to see if they have the power to simplify and turn our lives better. The persuasive objects developed employ technology like sensors, actuators, microcontrollers, and computer/web services’ communication. This Master thesis starts by presenting a comprehensive introduction of what are persuasive objects and some general information about several areas that are related to our persuasive objects like stress relief, work experience, multimedia education and other major aspects. It continues by describing related work done in this area. Then we have a detailed view of each persuasive object and finally this thesis finishes with a general conclusion and notion of future work.