Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

Utilização de lâminas serrilhadas no corte basal da cana-de- açúcar

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

O design industrial e as engenharias: uma possibilidade de integração por intermédio da engenharia reversa

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Explorando a matemática do posicionamento geográfico

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Utilizing the CORBA platform in the construction of a highly immersive virtual environment

This article presents the implementation of a distributed system of virtual reality, through the integration of services offered by the CORBA platform (Common Object Request Broker Architecture) and by the environment of development of 3D graphic applications in real time, the WorldToolkit, of Sense8. The developed application for the validation of this integration is that of a virtual city, with an emphasis on its traffic ways, vehicles (movable objects) and buildings (immovable objects). In this virtual world, several users can interact, each one controlling his/her own car. Since the modelling of the application took into consideration the criteria and principles of the Transport Engineering, the aim is to use it in the planning, project and construction of traffic ways for vehicles. The system was structured according to the approach client/server utilizing multicast communication among the participating nodes. The chosen implementation for the CORBA was the Iona's ORBIX software. The performance results obtained are presented and discussed in the end.

First measurement of π-e→π-eγ pion virtual compton scattering

Pion virtual compton scattering (VCS) via the reaction π-e→π-eγ was observed in the Fermilab E781 SELEX experiment. SELEX used a 600 GeV/c π- beam incident on target atomic electrons, detecting the incident π- and the final state π-, electron and γ. Theoretical predictions based on chiral perturbation theory are incorporated into a Monte Carlo simulation of the experiment and are compared to the data. The number of reconstructed events (=9) and their distribution with respect to the kinematic variables (for the kinematic region studied) are in reasonable accord with the predictions. The corresponding π- VCS experimental cross section is σ=38.8±13 nb, in agreement with the theoretical expectation of σ=34.7 nb.

Managing large scale virtual environments using portals

This article describes a technique for Large Scale Virtual Environments (LSVEs) partitioning in hexagon cells and using portal in the cell interfaces to reduce the number of messages on the network and the complexity of the virtual world. These environments usually demand a high volume of data that must be sent only to those users who needs the information [Greenhalgh, Benford 1997].

Using multiple abstraction levels to speedup an MPSoC virtual platform simulator

Virtual platforms are of paramount importance for design space exploration and their usage in early software development and verification is crucial. In particular, enabling accurate and fast simulation is specially useful, but such features are usually conflicting and tradeoffs have to be made. In this paper we describe how we integrated TLM communication mechanisms into a state-of-the-art, cycle-accurate, MPSoC simulation platform. More specifically, we show how we adapted ArchC fast functional instruction set simulators to the MPARM platform in order to achieve both fast simulation speed and accuracy. Our implementation led to a much faster hybrid platform, reaching speedups of up to 2.9 and 2.1x on average with negligible impact on power estimation accuracy (average 3.26% and 2.25% of standard deviation). © 2011 IEEE.

Simulation of the flow through automatic valves of hermetic compressors by the immersed boundary method approach

The main goal of the present work is to verify the applicability of the Immersed Boundary Method together with the Virtual Physical Model to solve the flow through automatic valves of hermetic compressors. The valve was simplified to a two-dimensional radial diffuser, with diameter ratio of D/d = 1.5, and simulated for a one cycle of opening and closing process with a imposed velocity of 3.0 cm/s for the reed, dimensionless gap between disks in the range of 0.07 < s/d < 0.10, and inlet Reynolds number equal to 1500. The good results obtained showed that the methodology has great potential as project tool for this type of valve systems. © The Authors, 2011.

Mediação do processo ensino-aprendizagem com o jogo de empresas mercado virtual: uma pesquisa de opinião

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Plataforma de simulação computacional paralela com base nos conceitos de relógios lógicos e tempo virtual

Pós-graduação em Ciência da Computação - IBILCE

Desenvolvimento de um sensor virtual para processos não-lineares e variantes no tempo, com aplicação em planta de neutralização de PH

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Use of virtual labs for enhance student's procedimental ability.

This article presents some results of a study investigating the use of the simulator VLAB, developed by Carnegie Mellon University, to increase the capacity of graduate students in Chemistry in the preparation of experimental procedures. The activity was conducted in two stages, first the students were asked a manuscript describing in detail the procedure and equipment used in the technique of dissolution and delivering it to the teacher. Later in the computer lab, each student performed the same procedure using the simulator. The activity has been proposed to determine if there could be accuracy gains of the description of the process when performed by the simulator. One of the main positive aspects obtained using the simulator students was the recognition of error, important in that the great majority recognized omitted or confused any process step. This reflection showed the students that in addition to testing a procedure using the simulator facilitates the organization of thought and helps arrange it logically. With the use of simulators, students are encouraged to take risks, to explore, to experience a new way, and a real lab usually offers much less room for risk, exploitation and failure.

Construção de um sistema de gestão de materiais - MRP - Integrado ao Jogo de Empresas Mercado Virtual

Pós-graduação em Engenharia de Produção - FEB