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.

Residues of calcium hydroxide-based intracanal medication associated with different vehicles: A scanning electron microscopy evaluation

This study evaluated the presence of residues after removal of calcium hydroxide [Ca(OH)2] associated with different vehicles. Thirty single-rooted teeth were instrumented to a master apical file #25 using 2.5% NaOCl as main irrigant and 17% trisodium EDTA (ethylenediaminetetraacetic acid) as final agent irrigant. Then, the root canals were dressed with Ca(OH)2 associated with silicone oil (Group 1), 2% chlorhexidine gluconate (Group 2), or propylene glycol (Group 3). After coronal sealing, all teeth were kept in a moist environment at room temperature. After 7 days, the teeth were reopened and medicaments were removed using 5 mL of saline solution and instrumentation with master apical file followed by new irrigation with 5 mL of 2.5% NaOCl. Subsequently, teeth were split longitudinally and assessed by scanning electron microscopy. The wall cleanliness of the cervical and apical thirds of the roots were evaluated and scored by three blinded examiners. Statistical analysis was performed using KruskalWallis and Wilcoxon tests at 5% level of significance. All roots had residues of Ca(OH)2 on the canal walls. All experimental groups had similar results (P > 0.05) regardless of the third evaluated. There was significant difference between the apical and cervical thirds only in Group 3 (P < 0.05). Association of different vehicles to Ca(OH)2 does not influence the persistence of residues on the root canal walls. Microsc. Res. Tech. 2012. (C) 2012 Wiley Periodicals, Inc.

On dichotomic maps for non autonomous discrete equations

A new procedure is given for the study of stability and asymptotic stability of the null solution of the non autonomous discrete equations by the method of dichotomic maps, which it includes Liapunov's Method asa special case. Examples are given to illustrate the application of the method.

Paraconsistent Autonomous Mobile Robot Emmy III

This work presents some improvements regarding to the autonomous mobile robot Emmy based on Paraconsistent Annotated Evidential Logic ET. A discussion on navigation system is presented.

Numerical simulation of viscous three-dimensional flow over aerospace vehicles using Euler/boundary-layer zonal approach

This paper presents a viscous three-dimensional simulations coupling Euler and boundary layer codes for calculating flows over arbitrary surfaces. The governing equations are written in a general non orthogonal coordinate system. The Levy-Lees transformation generalized to three-dimensional flows is utilized. The inviscid properties are obtained from the Euler equations using the Beam and Warming implicit approximate factorization scheme. The resulting equations are discretized and approximated by a two-point fmitedifference numerical scheme. The code developed is validated and applied to the simulation of the flowfield over aerospace vehicle configurations. The results present good correlation with the available data.

Time and distance in acceleration of road commercial vehicles

The time and the distance traveled during the acceleration and the velocity retaking are parameters used for the comparison and the project of vehicles. In this paper equations for the calculation of those parameters are presented. Several criteria are presented for the shift gears. It is also verified the occurrence or not of total slip during the acceleration of the vehicle. The theoretical models were implemented in a developed computational system. Such system was applied in a Mercedes-Benz do Brazil sample vehicle, in order to facilitate comparisons between the simulate values and the experimental road tests. Copyright © 1997 Society of Automotive Engineers, Inc.

Fuel consumption of road commercial vehicles in the driving schedule

The fuel consumption is an important factor in the vehicle development due the fact that it has a direct effect on its trade aims. Besides that, it is known that the petrol is a scarce fuel. In this paper it is presented a procedure of fuel consumption calculation for a vehicle traveling in driving schedule. In such calculation it has been taken into account the operational conditions (load, pavement, climbing road, among others) and the building characteristics (map engine, transmission, frontal area, tire, among others) of road vehicles. There has also been an application of the theoretical model developed in a sample Mercedes-Benz do Brasil vehicle which has been compared with the values of experimental tests. Copyright © 1997 Society of Automotive Engineers, Inc.

Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

Prospective analysis about the world wide strategy of commercial vehicles development

The main objective of this paper is to make a prospective analysis about the tendencies of the world wide strategies of commercial vehicles development, in relation of the current local and international scenery. It has been done a research by using the Delphi method, which consists into regulate, systematically, the presentation of questions about a specified problem to a group of specialists. In order to guarantee more representative data, it has been adopted three distinct groups: academics, OEMs managers and Tier 1 suppliers managers. The results showed that the three mentioned groups have similar opinion about the necessity of having a product development in the subsidiaries companies; also it has been pointed the necessity of having more taylor made vehicles, due to the intrinsic characteristics of this industry segment. Copyright © 2008 SAE International.

Petri nets and autonomous systems: A case study

This work presents the Petri net-based modeling of an autonomous robot's navigation system used for the application of supplies in agriculture. The model was developed theoretically and implemented through the CPNTools software. It simulates the behavior of the robot, capturing environmental characteristics by means of sensors, making appropriate decisions, and forwarding them to the corresponding actuators. By exciting the model using CPNTools it is possible to simulate situations that the robot might undergo, without the need to expose it to real potentially dangerous situations. ©2009 IEEE.

A multi-agent system with a percolation approach to simulate the driving pattern of Plug-In ELectric Vehicles

A multi-agent system with a percolation approach to simulate the driving pattern of Plug-In Electric Vehicle (PEV), especially suited to simulate the PEVs behavior on any distribution systems, is presented. This tool intends to complement information about the driving patterns database on systems where that kind of information is not available. So, this paper aims to provide a framework that is able to work with any kind of technology and load generated of PEVs. The service zone is divided into several sub-zones, each subzone is considered as an independent agent identified with corresponding load level, and their relationships with the neighboring zones are represented as network probabilities. A percolation approach is used to characterize the autonomy of the battery of the PVEs to move through the city. The methodology is tested with data from a mid-size city real distribution system. The result shows the sub-area where the battery of PEVs will need to be recharge and gives the planners of distribution systems the necessary input for a medium to long term network planning in a smart grid environment. © 2012 IEEE.

TAO - A software platform for autonomous mobile robots

To date, different techniques of navigation for mobile robots have been developed. However, the experimentation of these techniques is not a trivial task because usually it is not possible to reuse the developed control software due to system incompabilities. This paper proposes a software platform that provides means for creating reusable software modules through the standardization of software interfaces, which represent the various robot modules. © 2012 ICROS.

Optimal charging of electric vehicles considering constraints of the medium voltage distribution network

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

Use of nonlinear asymmetrical shock absorber to improve comfort on passenger vehicles

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

Complexity and information technologies: an ethical inquiry into human autonomous action

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