A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.

Development of a support vector machine-based navigation system for driving a mobile robot through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features. Such features are then submitted to a support vector machine in order to find out the most appropriate route. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route. © 2012 IEEE.

Gesture-based teleoperation using a holonomic robot

This work presents the development and integration of an user interface (UI) framework based on various current input devices that take advantage of our ergonomics. The purpose is to teleoperate a holonomic robot using upper member gestures and postures for studying the suitable of such interfaces when programming and interacting with a mobile robot. As performance vary from UI to UI the framework is focused to be used as a complementary industrial or didactic tool thus, changing how inexperience users tackle their first impressions when working with mobile robots while performing simple gesture-based teleoperation tasks. © 2012 ICROS.

A brazilian ergonomic human-robot interface case

Brazilian and foreign companies operating in Brazil in the last 30 years have been using automated productive resources, especially robots. These 3 decades doesńt seem to have been enough to develop in the actors involved with robots an adequate professional awareness. If we consider the predictive security and ergonomic aspects involved, we notice that there are critical failures on handling these situations. So in this study we tried to observe the presence of the human being in some workstations that operate with robots in the Brazilian Southeastern region. © (2013) Trans Tech Publications, Switzerland.

Local data fusion algorithm for fire detection through mobile robot

Multisensor data fusion is a technique that combines the readings of multiple sensors to detect some phenomenon. Data fusion applications are numerous and they can be used in smart buildings, environment monitoring, industry and defense applications. The main goal of multisensor data fusion is to minimize false alarms and maximize the probability of detection based on the detection of multiple sensors. In this paper a local data fusion algorithm based on luminosity, temperature and flame for fire detection is presented. The data fusion approach was embedded in a low cost mobile robot. The prototype test validation has indicated that our approach can detect fire occurrence. Moreover, the low cost project allow the development of robots that could be discarded in their fire detection missions. © 2013 IEEE.

Aplicando lógica fuzzy no controle de robôs móveis usando dispositivos lógicos programáveis e a linguagem VHDL

Pós-graduação em Engenharia Elétrica - FEIS

Recomendações ergonômicas para o projeto de cadeira de rodas: considerando os aspectos fisiológicos e cognitivos dos idosos

Pós-graduação em Design - FAAC

Tecnologia assistiva para o ensino de alunos com deficiência: um estudo com professores do ensino fundamental

Pós-graduação em Educação - FFC

Avaliação de uma prancha ortostática para o aluno com paralisia cerebral em situação de atendimento

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Processo de prescrição e aplicação de adaptações de acesso ao computador na paralisia cerebral

Pós-graduação em Educação - FFC

Processo de prescrição e confecção de recursos de tecnologia assistiva para educação infantil

Pós-graduação em Educação - FFC

Análise dos caminhos isotrópicos adotados por pessoas com deficiência visual em um curso de Educação a Distância na perspectiva inclusiva

Pós-graduação em Educação - FCT

Formação continuada e inclusão escolar de alunos com deficiência: concepções, sentimentos e práticas de educadores da rede municipal de ensino de Presidente Prudente-SP

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Ambientes informacionais digitais e usuários surdos: questões de acessibilidade

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Consultas de enfermagem obstetrícia e pediátricas nas perspectivas de enfermeiros da estratégia saúde da família

Pós-graduação em Enfermagem (mestrado profissional) - FMB