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.

Classification of petroleum well drilling operations using Support Vector Machine (SVM)

During the petroleum well drilling operation many mechanical and hydraulic parameters are monitored by an instrumentation system installed in the rig called a mud-logging system. These sensors, distributed in the rig, monitor different operation parameters such as weight on the hook and drillstring rotation. These measurements are known as mud-logging records and allow the online following of all the drilling process with well monitoring purposes. However, in most of the cases, these data are stored without taking advantage of all their potential. On the other hand, to make use of the mud-logging data, an analysis and interpretationt is required. That is not an easy task because of the large volume of information involved. This paper presents a Support Vector Machine (SVM) used to automatically classify the drilling operation stages through the analysis of some mud-logging parameters. In order to validate the results of SVM technique, it was compared to a classification elaborated by a Petroleum Engineering expert. © 2006 IEEE.

Digital system design process automation using place/transition petri nets

The constant increase in digital systems complexity definitely demands the automation of the corresponding synthesis process. This paper presents a computational environment designed to produce both software and hardware implementations of a system. The tool for code generation has been named ACG8051. As for the hardware synthesis there has been produced a larger environment consisting of four programs, namely: PIPE2TAB, AGPS, TABELA, and TAB2VHDL. ACG8051 and PIPE2TAB use place/transition net descriptions from PIPE as inputs. ACG8051 is aimed at generating assembly code for the 8051 micro-controller. PIPE2TAB produces a tabular version of a Mealy type finite state machine of the system, its output is fed into AGPS that is used for state allocation. The resulting digital system is then input to TABELA, which minimizes control functions and outputs of the digital system. Finally, the output generated by TABELA is fed to TAB2VHDL that produces a VHDL description of the system at the register transfer level. Thus, we present here a set of tools designed to take a high-level description of a digital system, represented by a place/transition net, and produces as output both an assembly code that can be immediately run on an 8051 micro-controller, and a VHDL description that can be used to directly implement the hardware parts either on an FPGA or as an ASIC.

Precipitates segmentation from scanning electron microscope images through machine learning techniques

The presence of precipitates in metallic materials affects its durability, resistance and mechanical properties. Hence, its automatic identification by image processing and machine learning techniques may lead to reliable and efficient assessments on the materials. In this paper, we introduce four widely used supervised pattern recognition techniques to accomplish metallic precipitates segmentation in scanning electron microscope images from dissimilar welding on a Hastelloy C-276 alloy: Support Vector Machines, Optimum-Path Forest, Self Organizing Maps and a Bayesian classifier. Experimental results demonstrated that all classifiers achieved similar recognition rates with good results validated by an expert in metallographic image analysis. © 2011 Springer-Verlag Berlin Heidelberg.

Fuzzy control embedded in microcontroller and applied to an experimental apparatus using magnetorheological fluid damper

This work focuses on applying fuzzy control embedded in microcontrollers in an experimental apparatus using magnetorheological fluid damper. The non-linear behavior of the magnetorheological dampers associated with the parametric variations on vehicle suspension models corroborate the use of the fuzzy controllers. The fundamental formulation of this controller is discussed and its performance is shown through numeric simulations. An experimental apparatus representing a two degree of freedom system containing a magnetorheological damper is used to identify the main parameters and to evaluate the performance of the closed-loop system with the embedded low-cost microcontroller-based fuzzy controller. © 2013 Brazilian Society for Automatics - SBA.

Controle semi-ativo de vibrações usando lógica nebulosa e fluido magnetoreológico

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Metodologia para análise e interpretação de alarmes em tempo real de sistemas de distribuição de energia elétrica

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

Modeling of state machines in VHDL for encapsulation of DNP3 Protocol in P2P ZigBee Network

Several countries have invested in technologies for Smart Grids. Among such protocols designed cover this area, highlights the DNP3 (Distributed Network Protocol version 3). Although the DNP3 be developed for operation over the serial interface, there is a trend in the literature to the use of other interfaces. The Zigbee wireless interface has become more popular in the industrial applications. In order to study the challenges of integrating of these two protocols, this article is presented the analysis of DNP3 protocol stack through state machines The encapsulation of DNP3 messages in P2P (point-to-point) ZigBee Network, may assist in the discovery and solution of failures of availability and security of this integration. The ultimate goal is to merge the features of DNP3 and Zigbee stacks, and display a solution that provides the benefits of wireless environment, without impairment of security required for Smart Grid applications.

A NS-2 simulation model for DNP3 protocol over IEEE 802.15.4 wireless protocol toward low cost simulation of Smart Grid applications

Faced with an imminent restructuring of the electric power system, over the past few years many countries have invested in a new paradigm known as Smart Grid. This paradigm targets optimization and automation of electric power network, using advanced information and communication technologies. Among the main communication protocols for Smart Grids we have the DNP3 protocol, which provides secure data transmission with moderate rates. The IEEE 802.15.4 is another communication protocol also widely used in Smart Grid, especially in the so-called Home Area Network (HAN). Thus, many applications of Smart Grid depends on the interaction of these two protocols. This paper proposes modeling, in the traditional network simulator NS-2, the integration of DNP3 protocol and the IEEE 802.15.4 wireless standard for low cost simulations of Smart Grid applications.

Smart Grid e Carros Elétricos - Influência da Carga de Carros Elétricos Sobre o Sistema Elétrico

The technologies are advancing at a pace so expressive that allow the increase of the power quality from generation until the distribution to end customers. This improvement has been made possible through the automation of the energy that follows to a better quality of the energy provided, a lower energy supply disruptions and a very short recovery time. The trend of today and the near future is the distributed energy generation. To keep the automated control of the chain, the presence of Smart Grids is needed and that will be the most efficient and economical way to manage the entire system. Within this theme, is going to be necessary analyze the electric cars that promise to promote a more sustainable transport because it doesn’t uses fossil fuels, and more healthy because it does not emit pollutants into the atmosphere. The popularization of this type of vehicle is estimated to happen in a few decades and the case study analyzing its influence on the demand of the electrical system is something that will be very important in the near future. This paper presents a study of the influence of the inclusion of charges refering to electric cars

Sistema de gerenciamento de energia para controle de carga/descarga entre baterias de lítio e ultracapacitores, envolvendo sistema de tração elétrica com frenagem regenerativa

Pós-graduação em Engenharia Elétrica - FEIS

Automatic method to classify images based on multiscale fractal descriptors and paraconsistent logic

In this study is presented an automatic method to classify images from fractal descriptors as decision rules, such as multiscale fractal dimension and lacunarity. The proposed methodology was divided in three steps: quantification of the regions of interest with fractal dimension and lacunarity, techniques under a multiscale approach; definition of reference patterns, which are the limits of each studied group; and, classification of each group, considering the combination of the reference patterns with signals maximization (an approach commonly considered in paraconsistent logic). The proposed method was used to classify histological prostatic images, aiming the diagnostic of prostate cancer. The accuracy levels were important, overcoming those obtained with Support Vector Machine (SVM) and Bestfirst Decicion Tree (BFTree) classifiers. The proposed approach allows recognize and classify patterns, offering the advantage of giving comprehensive results to the specialists.

Análise de desempenho de redes de comunicação wireless em aplicações de Smart Grid

Pós-graduação em Engenharia Elétrica - FEIS

Expert system to detect incipient fauts in rotating machines using fuzzy logic and virtual instrumentation

This paper refers to the design of an expert system that captures a waveform through the use of an accelerometer, processes the signal and converts it to the frequency domain using a Fast Fourier Transformer to then, using artificial intelligence techniques, specifically Fuzzy Reasoning, it determines if there is any failure present in the underlying mode of the equipment, such as imbalance, misalignment or bearing defects.