Industrial Robotics Applied to Education

This work describes a ludic proposal for programming learning of industrial robots to be developed by groups of engineering students. Two projects are presented: Tic-tac-toe Opponent Robot and Environmentalist Robot. The first project use competitive search techniques of the Artificial Intelligence, computational vision, electronic and pneumatic concepts for ability decision making for a robotic agent on the tic-tae-toe game. The second project consists of a game that contains a questions and answers database about environmental themes. An algorithm selects the group of questions to be answered by the player, analyses the answers and sends the result to a industrial robot through serial port. According with the player performance, the robot makes congratulation movements and giving a gift to the winner player. Otherwise, the robot makes movements, disapproving the player performance.

Growth of silver nano-particle embedded in tellurite glass: Interaction between localized surface plasmon resonance and Er3+ ions

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Transient non-Darcy forced convective heat transfer from a flat plate embedded in a fluid-saturated porous medium

Transient non-Darcy forced convection on a flat plate embedded in a porous medium is investigated using the Forchheimer-extended Darcy law. A sudden uniform pressure gradient is applied along the flat plate, and at the same time, its wall temperature is suddenly raised to a high temperature. Both the momentum and energy equations are solved by retaining the unsteady terms. An exact velocity solution is obtained and substituted into the energy equation, which then is solved by means of a quasi-similarity transformation. The temperature field can be divided into the one-dimensional transient (downstream) region and the quasi-steady-state (upstream) region. Thus the transient local heat transfer coefficient can be described by connecting the quasi-steady-state solution and the one-dimensional transient solution. The non-Darcy porous inertia works to decrease the velocity level and the time required for reaching the steady-state velocity level. The porous-medium inertia delays covering of the plate by the steady-state thermal boundary layer. © 1990.

Detection of estrogen receptor in formalin-fixed and paraffin-embedded breast carcinoma: correlation with histological patterns.

The authors studied the expression of estrogen receptor (ER) in tissues of breast carcinomas which were previously fixed in formalin and paraffin-embedded. The ER expression was correlated with several histological findings, namely grade of differentiation, tumor necrosis, desmoplasia, lymphocytic infiltration and elastosis. The ER was detected in tissues using the avidin-biotin immunoperoxidase technique associated with the H222 monoclonal antibody from Abbott. All 39 biopsies were of infiltrating ductal carcinoma of breast and 16 of them expressed ER. The statistical analysis showed that the expression of ER was correlated with histological findings of good prognosis as well differentiated carcinomas, no tumor necrosis, absence or mild lymphocytic infiltration around the tumor cells and severe elastosis.

Proliferating cell nuclear antigen (PCNA) in non-Hodgkin's lymphomas: Correlation with working formulation and Kiel classification in formalin-fixed paraffin-embedded material

PCNA is a 36-KD proliferating cell nuclear antigen associated with the cell cycle. The immunocytochemical detection of PCNA represents a useful tool for the study of tumor proliferation activity. This study documents the detection of PCNA, using antibody PC 10 in formalin-fixed, paraffin-embedded tissue, and correlates the proliferative activity of the non-Hodgkin's lymphomas (NHL) with histological grading assessed by the International Working Formulation (WF) and Kiel classification. In 92 cases of NHLs we found a strong correlation between the PCNA index and lymphoma grading. Statistically significant differences were also found between the proliferative index (PI) in low and high grade lymphomas according to the Kiel classification (t = 9.519; p < 0.001) and between low, intermediate and high grade lymphomas according to the WF classification (F = 79.01; p < 0.001). In the Kiel classification the mean of low grade lymphomas was 39.5% and of high grade 75.7%. In the WF the average of low grade lymphomas was 29.7%, intermediate 53.1% and high 75.1%. Although the differences among the groups had been significant, we found variations inside each histological subgroup in both classifications. The intermediate lymphomas were the most heterogeneous group, with PI inside the same histologic subtypes coincident with low and high grade lymphomas. Since PCNA may be used as a marker of cell proliferation in clinical studies to estimate the biological aggressiveness of lymphomas, its determination in intermediate grade NHL could be very useful to evaluate individual cases in this group and determine prognosis and probably the appropriate therapy.

Rare earth doped HfO2 nanoparticles embedded in SiO2-HfO2 planar waveguides. Preparation, optical, structural and spectroscopic characterization

In this work we present results on the preparation of planar waveguides based on HfO2 and HfO2-SiO2. Stable sols containing europium and erbium doped HfO2 nanoparticles have been prepared and characterized. The nanosized sol was either deposited (spin-coating) on quartz substrates or embedded in (3-glycidoxipropil)trimethoxisilane (GPTS) used as a hybrid host for posterior deposition. The refractive index dispersion and luminescence characteristics were determined for the resulting HfO2 films. The optical parameters of the waveguides such as refractive index, thickness and propagation losses were measured for the hybrid composite. The planar waveguides present thickness of a few micra and support well confined propagating modes.

Investigation into the impact of embedded generators on distribution system performance using theorem of superposition

Since the 1980s, huge efforts have been made to utilise renewable energy sources to generate electric power. One of the interesting issues about embedded generators is the question of optimal placement and sizing of the embedded generators. This paper reports an investigation of impact of the integration of embedded generators on the overall performances of the distribution networks in the steady state, using theorem of superposition. Set of distribution system indices is proposed to observe performances of the distribution networks with embedded generators. Results obtained from the case study using IEEE test network are presented and discussed.

Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

Back to school with tablets embedded in digital desks

A digital-desk pilot program, named One Laptop Per Child (OPLC), in Brazil uses a unique display design to provide an interactive interface developed to enhance education and minimize ergonomic concerns. The one-to-one computer strategy as proposed by Nicholas Negroponte is a way of circumventing the tragedy of the locked computer lab because it gives children full access to computers anytime. The OLPC program has focused on a solution that minimizes power consumption, which also limits the display's maximum size and processor performance because the LCD backlights are responsible for a significant part of the power consumption in laptops. The government has also developed a new type of low-cost tablet that is based on a resistive principle. High transparencies can be obtained in the 90% range in the tablet, while robustness is guaranteed by the outstanding tribological characteristics of Sn02 on glass.

Educational robotics as a learning aid for disabled children

Severe disabled children have little chance of environmental and social exploration and discovery, and due this lack of interaction and independency, it may lead to an idea that they are unable to do anything by themselves. This idea is called learned helplessness and is very negative for the child cognitive development and social development as well. With this entire situation it is very likely that the self-steam and mood of this child. Trying to help these children on this situation, educational robotics can offer and aid, once it can give them a certain degree of independency in exploration of environment. The system developed in this work allows the child to transmit the commands to a robot. Sensors placed on the child's body can obtain information from head movement or muscle pulses to command the robot to carry the tasks. Also, this system can be used with a variety of robots, being necessary just a previous configuration. It is expected that, with the usage of this system, the disabled children have a better cognitive development and social interaction, balancing in a certain way, the negative effects of their disabilities. © 2011 IEEE.

Network node with wireless and wired interfaces: Nios II processor and uClinux to development of a NCAP embedded (IEEE 1451.1) with two interfaces, wireless (IEEE 1451.5) and wired (IEEE p1451.2)

This paper presents a NCAP embedded on DE2 kit with Nios II processor and uClinux to development of a network gateway with two interfaces, wireless (ZigBee) and wired (RS232) based on IEEE 1451. Both the communications, wireless and wired, were developed to be point-to-point and working with the same protocols, based on IEEE 1451.0-2007. The tests were made using a microcomputer, which through of browser was possible access the web page stored in the DE2 kit and send commands of control and monitoring to both TIMs (WTIM and STIM). The system describes a different form of development of the NCAP node to be applied in different environments with wired or wireless in the same node. © 2011 IEEE.

Design of microprogrammed controllers with address converter implemented on programmable systems with embedded memories

In the paper the improvement of a traditional structure of a microprogrammed controller with sharing codes is discussed. The idea is based on the modification of internal modules and connections of the device. Such a solution permits to reduce the number of embedded memories needed for implementation of the microprogrammed controller on programmable structures, especially FPGAs. © 2011 IEEE.

NCAP embedded using structured programming

This paper presents a network node embedded based on IEEE 1451 standard developed using structured programming to access the transducers in the WTIM. The NCAP was developed using Nios II processor and uClinux, a embedded operating system developed to features restricted hardware. Both hardware and software have dynamics features and they can be configured based in the application features. Based in this features, the NCAP was developed using the minimum components of hardware and software to that being implemented in remote environment like central point of data request. Many NCAP works are implemented with an object oriented structure. This is different from the surrounding implementations. In this project the NCAP was developed using structured programming. The tests of the NCAP were made using a ZigBee interface between NCAP and WTIM and the system demonstrated in areas of difficult access for long period of time due to need for low power consumption. © 2012 IEEE.

Development of an instrumentation system embedded on FPGA for real time measurement of mechanical vibrations in rotating machinery

The real-time monitoring of events in an industrial plant is vital, to monitor the actual conditions of operation of the machinery responsible for the manufacturing process. A predictive maintenance program includes condition monitoring of the rotating machinery, to anticipate possible conditions of failure. To increase the operational reliability it is thus necessary an efficient tool to analyze and monitor the equipments, in real-time, and enabling the detection of e.g. incipient faults in bearings. To fulfill these requirements some innovations have become frequent, namely the inclusion of vibration sensors or stator current sensors. These innovations enable the development of new design methodologies that take into account the ease of future modifications, upgrades, and replacement of the monitored machine, as well as expansion of the monitoring system. This paper presents the development, implementation and testing of an instrument for vibration monitoring, as a possible solution to embed in industrial environment. The digital control system is based on an FPGA, and its configuration with an open hardware design tool is described. Special focus is given to the area of fault detection in rolling bearings. © 2012 IEEE.