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.

TORP: An open standard framework for humanoid robots

Humanoid robots are an extremely complex interdisciplinary research field. Particularly, the development of high size humanoid robots usually requires joint efforts and skills from groups that are in many different research centers around the world. However, there are serious constraints in this kind of collaborative development. Some efforts have been made in order to propose new software frameworks that can allow distributed development with also some degree of hardware abstraction, allowing software reuse in successive projects. However, computation represents only one of the dimensions in robotics tasks, and the need for reuse and exchange of full robot modules between groups are growing. Large advances could be reached 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 new robot framework, from now on called TORP (The Open Robot Project), that aims to provide a standard architecture in all dimensions (electrical, mechanical and computational) for this collaborative development. This methodology also represents an open project that is fully shared. In this paper, the first robot constructed following the TORP specification set is presented as well as the advances proposed for its improvement. © 2010 IEEE.

ANN statistical image recognition method for computer vision in agricultural mobile robot navigation

The main application area in this project, is to deploy image processing and segmentation techniques in computer vision through an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. Thereby, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for image recognition. Hence, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave computational platforms, along with the application of customized Back-propagation Multilayer Perceptron (MLP) algorithm and statistical methods as structured heuristics methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of segmented images in which reasonably accurate results were obtained. © 2010 IEEE.

Uma trajetória da disciplina de análise e um estado do conhecimento sobre seu ensino

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

PPP em tempo real com estimativa das correções dos relógios dos satélites no contexto de rede GNSS

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Um roteiro para a escrita de abstracts de artigos de pesquisa: estrutura retórica e técnicas de argumentação

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Mario Tourasse Teixeira: o homem, o educador, o matemático

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Teorias duais massivas de spin-3 em D=2+1: Elias Leite Mendonça. -

Pós-graduação em Física - FEG

Caracterização estrutural do embasamento do Grupo Araí, na zona externa da faixa Brasília (GO)

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

A dimensão populacional na obra de Josué de Castro

Pós-graduação em Geografia - IGCE

Uma contribuição ao estudo do ensino de educação física à distância

Pós-graduação em Desenvolvimento Humano e Tecnologias - IBRC

Políticas públicas e desenvolvimento Territorial: o Programa Territórios da Cidadania no Estado de São Paulo

Pós-graduação em Geografia - FCT

Aggiornamento católico e teologia da libertação no Brasil e no México: um estudo histórico-comparativo entre a revista de Cultura Vozes e a revista Christus (1966-1980)

Pós-graduação em História - FCLAS

José Marques de Melo e os estudos científicos da folkcomunicação

This paper aims some academic contributions of José Marques de Melo for the study and propagation of Folkcomunication Theory, developed by Luiz Beltrão, in 1967, in his PhD thesis. Marques de Melo, disciple of Beltrão, is one of the most representative names on the set of international scientific studies of communication. Divided in three parts, this text covers theoretical contributions (conception and classification of genders, formats and types of taxonomy of Folkcomunication); dialogues with other thinkers (McLuhan, Morin and Freire) and empirical contribution (internet as a Folk tool). We emphasize that the contributions of Marques de Melo are fundamentals for the new generations to understand the importance of the Folkcomunication and see it as a complex communicational system.

Posicionamento por ponto preciso com solução de ambiguidades inteiras no contexto de rede GPS

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)