TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

IEEE 1451-based multi-interface module (I2M) for industrial processes automation

This paper describes the implementation of a multi-interface module (I2M) for automation of industrial processes, based on the IEEE1451 standard. Process automation with I2M can communicate through either wires or using wireless communication, without any hardware or software changes. We used FPGA resources to implement the I2M functions FPGA, with a NIOS II processor and ZigBee communication system (IEEE802.15), as well as RS232 serial standard. Part of the project was done in the SOPC Builder environment, which gave the designer flexibility and speed to implement the NIOS II-based microprocessor system. To test the I2M implementation, a didactic Industrial Hydraulic Module (MHI-01) was used to simulate two industrial processes to be controlled by the system proposed.

Micro-inverter for integrated grid-tie PV module using resonant controller

Two-stage isolated converters for photovoltaic (PV) applications commonly employ a high-frequency transformer on the DC-DC side, submitting the DC-AC inverter switches to high voltages and forcing the use of IGBTs instead of low-voltage and low-loss MOSFETs. This paper shows the modeling, control and simulation of a single-phase full-bridge inverter with high-frequency transformer (HFT) that can be used as part of a two-stage converter with transformerless DC-DC side or as a single-stage converter (simple DC-AC inverter) for grid-connected PV applications. The inverter is modeled in order to obtain a small-signal transfer function used to design the PResonant current control regulator. A high-frequency step-up transformer results in reduced voltage switches and better efficiency compared with converters in which the transformer is used on the DC-DC side. Simulations and experimental results with a 200 W prototype are shown. © 2012 IEEE.

Micro-inverter for integrated grid-tie photovoltaic module using resonant controller

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