Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Acúmulo de saberes e experiência formativa

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Extração automática de contornos de telhados de edifícios em um modelo digital de elevação, utilizando inferência Bayesiana e campos aleatórios de Markov

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Entre palavras e imagens: o acontecimento de 11 de setembro nas revistas Veja e Carta Capital : a arquitetura do imaginário social sobre o terrorismo

Pós-graduação em Educação - IBRC

The use of somatosensory information during the acquisition of independent upright stance

This study investigated developmental changes in the use of a contact surface during the acquisition of upright posture. Standing infants were longitudinally examined at four developmental epochs: pulling to stand (PS); standing alone (SA); walking onset (WO); and 1.5 months post-walking (PW). The results revealed that as standing experience increased the force applied to the contact surface by the hand and the body sway decreased. Applied force and body sway were consistently related in the anterior-posterior direction (r approximate to 0.65). Temporally, body sway led applied force (approximate to 45 ms) at the PS, SA, and WO developmental periods. However, at PW, the temporal relationship reversed and applied force led body sway (approximate to 140 ms). These results indicate that initially infants use surface contact for mechanical purposes but later for orientation information that affords prospective control of posture.

Visual information and body sway coupling in infants during sitting acquisition

The purpose of this study was to examine if there is any developmental change in the coupling between visual information and trunk sway in infants as they acquire the sitting position. Twenty-four infants distributed in four groups (6-, 7-, 8-, and 9-month-old) were sat inside a moving room that oscillated back and forward at frequencies of 0.2 and 0.5 Hz. The results revealed that trunk sway matched to the moving room at both frequencies but did not differ among the four age groups. Coherence and gain revealed that the coupling was weaker at 0.2 than at 0.5 Hz. Relative phase showed that at 0.2 Hz, infants were swaying with no lag but at 0.5 Hz they were lagging the room. These results showed that the coupling between visual information and trunk sway in infants varies with the visual stimulus but does not change as infants acquire the sitting position. © 2001 Elsevier B.V.

Postural control and automaticity in dyslexic children: The relationship between visual information and body sway

Difficulty with literacy acquisition is only one of the symptoms of developmental dyslexia. Dyslexic children also show poor motor coordination and postural control. Those problems could be associated with automaticity, i.e., difficulty in performing a task without dispending a fair amount of conscious efforts. If this is the case, dyslexic children would show difficulties in using "unperceived" sensory cues to control body sway. Therefore, the aim of the study was to examine postural control performance and the coupling between visual information and body sway in dyslexic children. Ten dyslexic children and 10 non-dyslexic children stood upright inside a moving room that remained stationary or oscillated back and forward at frequencies of 0.2 or 0.5 Hz. Body sway magnitude and the relationship between the room's movement and body sway were examined. The results indicated that dyslexic children oscillated more than non-dyslexic children in both stationary and oscillating conditions. Visual manipulation induced body sway in all children but the coupling between visual information and body sway was weaker and more variable in dyslexic children. Based upon these results, we can suggest that dyslexic children use visual information to postural control with the same underlying processes as non-dyslexic children; however, dyslexic children show poorer performance and more variability while relating visual information and motor action even in a task that does not require an active cognitive and conscious motor involvement, which may be a further evidence of automaticity problem. (C) 2011 Elsevier Ltd. All rights reserved.