Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo

In this work, we present a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The hardware of the robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontroller-based boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks

Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor

A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed on a simple mechanical "X"form structure. The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and yaw angles at a certain altitude. The stabilization control approach is based on a transformation in the input variables in order to perform a decoupled control. The proposed strategy is based on breaking the control problem into two hierarchical levels: A lower level, object of this work, maintains the desired altitude an angles of the vehicle while the higher level establishes appropriate references to the lower level, performing the desired movements. A hardware and software architecture was specially developed and implemented for an experimental prototype used to test and validate the proposed control approach

Arquitetura de Software para Barcos Robóticos

We propose in this work a software architecture for robotic boats intended to act in diverse aquatic environments, fully autonomously, performing telemetry to a base station and getting this mission to be accomplished. This proposal aims to apply within the project N-Boat Lab NatalNet DCA, which aims to empower a sailboat navigating autonomously. The constituent components of this architecture are the memory modules, strategy, communication, sensing, actuation, energy, security and surveillance, making these systems the boat and base station. To validate the simulator was developed in C language and implemented using the graphics API OpenGL resources, whose main results were obtained in the implementation of memory, performance and strategy modules, more specifically data sharing, control of sails and rudder and planning short routes based on an algorithm for navigation, respectively. The experimental results, shown in this study indicate the feasibility of the actual use of the software architecture developed and their application in the area of autonomous mobile robotics

Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo

BRITTO, Ricardo S.; MEDEIROS, Adelardo A. D.; ALSINA, Pablo J. Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo. In: SIMPÓSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE,8., 2007, Florianópolis. Anais... Florianópolis: SBAI, 2007.

Interpercepção: uma arquitetura de software para compartilhamento de ambientes virtuais com interfaces gráficas distintas

In this work, we propose the Interperception paradigm, a new approach that includes a set of rules and a software architecture for merge users from different interfaces in the same virtual environment. The system detects the user resources and provide transformations on the data in order to allow its visualization in 3D, 2D and textual (1D) interfaces. This allows any user to connect, access information, and exchange information with other users in a feasible way, without needs of changing hardware or software. As results are presented two virtual environments builded acording this paradigm

Uma estratégia dirigida a modelos e baseada em linguagem de descrição arquitetural para linhas de produtos de software

Model-oriented strategies have been used to facilitate products customization in the software products lines (SPL) context and to generate the source code of these derived products through variability management. Most of these strategies use an UML (Unified Modeling Language)-based model specification. Despite its wide application, the UML-based model specification has some limitations such as the fact that it is essentially graphic, presents deficiencies regarding the precise description of the system architecture semantic representation, and generates a large model, thus hampering the visualization and comprehension of the system elements. In contrast, architecture description languages (ADLs) provide graphic and textual support for the structural representation of architectural elements, their constraints and interactions. This thesis introduces ArchSPL-MDD, a model-driven strategy in which models are specified and configured by using the LightPL-ACME ADL. Such strategy is associated to a generic process with systematic activities that enable to automatically generate customized source code from the product model. ArchSPLMDD strategy integrates aspect-oriented software development (AOSD), modeldriven development (MDD) and SPL, thus enabling the explicit modeling as well as the modularization of variabilities and crosscutting concerns. The process is instantiated by the ArchSPL-MDD tool, which supports the specification of domain models (the focus of the development) in LightPL-ACME. The ArchSPL-MDD uses the Ginga Digital TV middleware as case study. In order to evaluate the efficiency, applicability, expressiveness, and complexity of the ArchSPL-MDD strategy, a controlled experiment was carried out in order to evaluate and compare the ArchSPL-MDD tool with the GingaForAll tool, which instantiates the process that is part of the GingaForAll UML-based strategy. Both tools were used for configuring the products of Ginga SPL and generating the product source code

Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo

BRITTO, Ricardo S.; MEDEIROS, Adelardo A. D.; ALSINA, Pablo J. Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo. In: SIMPÓSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE,8., 2007, Florianópolis. Anais... Florianópolis: SBAI, 2007.

Supervisório Inteligente de Processos na Idústria do Petróleo e Gás :Aplicação em uma Coluna de Destilação Simulada Integrada a Instrumentação Real

The need to implement a software architecture that promotes the development of a SCADA supervisory system for monitoring industrial processes simulated with the flexibility of adding intelligent modules and devices such as CLP, according to the specifications of the problem, it was the motivation for this work. In the present study, we developed an intelligent supervisory system on a simulation of a distillation column modeled with Unisim. Furthermore, OLE Automation was used as communication between the supervisory and simulation software, which, with the use of the database, promoted an architecture both scalable and easy to maintain. Moreover, intelligent modules have been developed for preprocessing, data characteristics extraction, and variables inference. These modules were fundamentally based on the Encog software

Controle Robusto Aplicado a Conversor Buck-Boost em Sistemas Fotovoltaicos

The need to implement a software architecture that promotes the development of a SCADA supervisory system for monitoring industrial processes simulated with the flexibility of adding intelligent modules and devices such as CLP, according to the specifications of the problem, it was the motivation for this work. In the present study, we developed an intelligent supervisory system on a simulation of a distillation column modeled with Unisim. Furthermore, OLE Automation was used as communication between the supervisory and simulation software, which, with the use of the database, promoted an architecture both scalable and easy to maintain. Moreover, intelligent modules have been developed for preprocessing, data characteristics extraction, and variables inference. These modules were fundamentally based on the Encog software

Controle fuzzy espacialmente diferenciado para um sistema de irrigação

Traditional irrigation projects do not locally determine the water availability in the soil. Then, irregular irrigation cycles may occur: some with insufficient amount that leads to water deficit, other with excessive watering that causes lack of oxygen in plants. Due to the nonlinear nature of this problem and the multivariable context of irrigation processes, fuzzy logic is suggested to replace commercial ON-OFF irrigation system with predefined timing. Other limitation of commercial solutions is that irrigation processes either consider the different watering needs throughout plant growth cycles or the climate changes. In order to fulfill location based agricultural needs, it is indicated to monitor environmental data using wireless sensors connected to an intelligent control system. This is more evident in applications as precision agriculture. This work presents the theoretical and experimental development of a fuzzy system to implement a spatially differentiated control of an irrigation system, based on soil moisture measurement with wireless sensor nodes. The control system architecture is modular: a fuzzy supervisor determines the soil moisture set point of each sensor node area (according to the soil-plant set) and another fuzzy system, embedded in the sensor node, does the local control and actuates in the irrigation system. The fuzzy control system was simulated with SIMULINK® programming tool and was experimentally built embedded in mobile device SunSPOTTM operating in ZigBee. Controller models were designed and evaluated in different combinations of input variables and inference rules base

Midgard: um middleware baseado em componentes e orientado a recursos para redes de sensores sem fio

On the last years, several middleware platforms for Wireless Sensor Networks (WSN) were proposed. Most of these platforms does not consider issues of how integrate components from generic middleware architectures. Many requirements need to be considered in a middleware design for WSN and the design, in this case, it is possibility to modify the source code of the middleware without changing the external behavior of the middleware. Thus, it is desired that there is a middleware generic architecture that is able to offer an optimal configuration according to the requirements of the application. The adoption of middleware based in component model consists of a promising approach because it allows a better abstraction, low coupling, modularization and management features built-in middleware. Another problem present in current middleware consists of treatment of interoperability with external networks to sensor networks, such as Web. Most current middleware lacks the functionality to access the data provided by the WSN via the World Wide Web in order to treat these data as Web resources, and they can be accessed through protocols already adopted the World Wide Web. Thus, this work presents the Midgard, a component-based middleware specifically designed for WSNs, which adopts the architectural patterns microkernel and REST. The microkernel architectural complements the component model, since microkernel can be understood as a component that encapsulates the core system and it is responsible for initializing the core services only when needed, as well as remove them when are no more needed. Already REST defines a standardized way of communication between different applications based on standards adopted by the Web and enables him to treat WSN data as web resources, allowing them to be accessed through protocol already adopted in the World Wide Web. The main goals of Midgard are: (i) to provide easy Web access to data generated by WSN, exposing such data as Web resources, following the principles of Web of Things paradigm and (ii) to provide WSN application developer with capabilities to instantiate only specific services required by the application, thus generating a customized middleware and saving node resources. The Midgard allows use the WSN as Web resources and still provide a cohesive and weakly coupled software architecture, addressing interoperability and customization. In addition, Midgard provides two services needed for most WSN applications: (i) configuration and (ii) inspection and adaptation services. New services can be implemented by others and easily incorporated into the middleware, because of its flexible and extensible architecture. According to the assessment, the Midgard provides interoperability between the WSN and external networks, such as web, as well as between different applications within a single WSN. In addition, we assessed the memory consumption, the application image size, the size of messages exchanged in the network, and response time, overhead and scalability on Midgard. During the evaluation, the Midgard proved satisfies their goals and shown to be scalable without consuming resources prohibitively

Beta: uma ferramenta para geração de testes de unidade a partir de especificações B

Formal methods and software testing are tools to obtain and control software quality. When used together, they provide mechanisms for software specification, verification and error detection. Even though formal methods allow software to be mathematically verified, they are not enough to assure that a system is free of faults, thus, software testing techniques are necessary to complement the process of verification and validation of a system. Model Based Testing techniques allow tests to be generated from other software artifacts such as specifications and abstract models. Using formal specifications as basis for test creation, we can generate better quality tests, because these specifications are usually precise and free of ambiguity. Fernanda Souza (2009) proposed a method to define test cases from B Method specifications. This method used information from the machine s invariant and the operation s precondition to define positive and negative test cases for an operation, using equivalent class partitioning and boundary value analysis based techniques. However, the method proposed in 2009 was not automated and had conceptual deficiencies like, for instance, it did not fit in a well defined coverage criteria classification. We started our work with a case study that applied the method in an example of B specification from the industry. Based in this case study we ve obtained subsidies to improve it. In our work we evolved the proposed method, rewriting it and adding characteristics to make it compatible with a test classification used by the community. We also improved the method to support specifications structured in different components, to use information from the operation s behavior on the test case generation process and to use new coverage criterias. Besides, we have implemented a tool to automate the method and we have submitted it to more complex case studies

STREAM-AP: um processo para sistematizar a escolha de padrões arquiteturais baseado em requisitos não-funcionais

The importance of non-functional requirements for computer systems is increasing. Satisfying these requirements requires special attention to the software architecture, since an unsuitable architecture introduces greater complexity in addition to the intrinsic complexity of the system. Some studies have shown that, despite requirements engineering and software architecture activities act on different aspects of development, they must be performed iteratively and intertwined to produce satisfactory software systems. The STREAM process presents a systematic approach to reduce the gap between requirements and architecture development, emphasizing the functional requirements, but using the non-functional requirements in an ad hoc way. However, non-functional requirements typically influence the system as a whole. Thus, the STREAM uses Architectural Patterns to refine the software architecture. These patterns are chosen by using non-functional requirements in an ad hoc way. This master thesis presents a process to improve STREAM in making the choice of architectural patterns systematic by using non-functional requirements, in order to guide the refinement of a software architecture

Modelo de interoperabilidade para utilização dos recursos dos ambientes virtuais de aprendizagem através de dispositivos móveis

The technological evolution has been making the Distance Education accessible for a greater number of citizens anytime and anywhere. The potential increase of the supply for mobile devices integrated to mobile learning environments allows that the information comes out of the physical environment, creating opportunities for students and teachers to create geographically distributed learning scenarios. However, many applications developed for these environments remain isolated from each other and do not become integrated sufficiently into the virtual learning environments (AVA). This dissertation presents an interoperability model between mobile devices and distinct AVA based on webservices. For the conception of this model, requirements engineering and software architecture techniques were used. With the goal of showing the model viability, a mobile application focused on surveys has been developed, and additionally, the main functionalities related to the interoperability were tested

Uma interface para o controle de robôs móveis por intermédio de gestos

The main objective of this work was to enable the recognition of human gestures through the development of a computer program. The program created captures the gestures executed by the user through a camera attached to the computer and sends it to the robot command referring to the gesture. They were interpreted in total ve gestures made by human hand. The software (developed in C ++) widely used the computer vision concepts and open source library OpenCV that directly impact the overall e ciency of the control of mobile robots. The computer vision concepts take into account the use of lters to smooth/blur the image noise reduction, color space to better suit the developer's desktop as well as useful information for manipulating digital images. The OpenCV library was essential in creating the project because it was possible to use various functions/procedures for complete control lters, image borders, image area, the geometric center of borders, exchange of color spaces, convex hull and convexity defect, plus all the necessary means for the characterization of imaged features. During the development of the software was the appearance of several problems, as false positives (noise), underperforming the insertion of various lters with sizes oversized masks, as well as problems arising from the choice of color space for processing human skin tones. However, after the development of seven versions of the control software, it was possible to minimize the occurrence of false positives due to a better use of lters combined with a well-dimensioned mask size (tested at run time) all associated with a programming logic that has been perfected over the construction of the seven versions. After all the development is managed software that met the established requirements. After the completion of the control software, it was observed that the overall e ectiveness of the various programs, highlighting in particular the V programs: 84.75 %, with VI: 93.00 % and VII with: 94.67 % showed that the nal program performed well in interpreting gestures, proving that it was possible the mobile robot control through human gestures without the need for external accessories to give it a better mobility and cost savings for maintain such a system. The great merit of the program was to assist capacity in demystifying the man set/machine therefore uses an easy and intuitive interface for control of mobile robots. Another important feature observed is that to control the mobile robot is not necessary to be close to the same, as to control the equipment is necessary to receive only the address that the Robotino passes to the program via network or Wi-Fi.