Development of capacitive sensor for measuring soil water content

The irrigation management based on the monitoring of the soil water content allows for the minimization of the amount of water applied, making its use more efficient. Taking into account these aspects, in this work, a sensor for measuring the soil water content was developed to allow real time automation of irrigation systems. This way, problems affecting crop yielding such as irregularities in the time to turn on or turn off the pump, and excess or deficit of water can be solved. To develop the sensors were used stainless steel rods, resin, and insulating varnish. The sensors measuring circuit was based on a microcontroller, which gives its output signal in the digital format. The sensors were calibrated using soil of the type “Quartzarenic Neosoil”. A third order polynomial model was fitted to the experimental data between the values of water content corresponding to the field capacity and the wilting point to correlate the soil water content obtained by the oven standard method with those measured by the electronic circuit, with a coefficient of determination of 93.17%, and an accuracy in the measures of ±0.010 kg kg-1. Based on the results, it was concluded that the sensor and its implemented measuring circuit can be used in the automation process of irrigation systems.

Títulos de anticorpos aglutinantes induzidos por vacinas comerciais contra leptospirose bovina

No presente estudo, 100 fêmeas bovinas foram divididas em cinco grupos de 20 animais cada. Os grupos experimentais receberam quatro diferentes vacinas comerciais (B, C, D e E), e um grupo permaneceu como controle. Amostras foram colhidas no dia da aplicação da primeira dose e nos dias 3, 7, 14, 21, 28, 35, 42, 49, 56, 63, 70, 77, 84, 91, 120, 150 e 180 pós-vacinação (PV). A triagem dos animais foi feita pela análise sorológica com 6 antígenos de leptospiras, escolhendo-se os animais não reagentes. Os títulos de anticorpos foram monitorados pela soroaglutinação microscópica (SAM) com os sorovares Canicola, Grippotyphosa, Hardjo, Icterohaemorrhagiae, Pomona e Wolffi. Todas as vacinas induziram, aos 3 dias PV, títulos de anticorpos aglutinantes para os sorovares Hardjo e Wolffi, que persistiram até o 150º dia PV. Os sorovares Hardjo e Wolffi induziram os maiores títulos de anticorpos aglutinantes. A vacina D, apesar de não possuir o sorovar Wolffi em sua composição foi capaz de induzir anticorpos aglutinantes contra este sorovar. Somente foram detectados anticorpos contra o sorovar Canicola nos animais vacinados com a bacterina D. A vacina que induziu os maiores títulos médios de anticorpos, considerando todos os sorovares testados foi a D.

Speed Control of an Autonomous Mobile Robot: Comparison between a PID Control and a Control Using Fuzzy Logic

An Autonomous Mobile Robot battery driven, with two traction wheels and a steering wheel is being developed. This Robot central control is regulated by an IPC, which controls every function of security, steering, positioning localization and driving. Each traction wheel is operated by a DC motor with independent control system. This system is made up of a chopper, an encoder and a microcomputer. The IPC transmits the velocity values and acceleration ramp references to the PIC microcontrollers. As each traction wheel control is independent, it's possible to obtain different speed values for each wheel. This process facilities the direction and drive changes. Two different strategies for speed velocity control were implemented; one works with PID, and the other with fuzzy logic. There were no changes in circuits and feedback control, except for the PIC microcontroller software. Comparing the two different speed control strategies the results were equivalent. However, in relation to the development and implementation of these strategies, the difficulties were bigger to implement the PID control.

A Test Bed Applied Mobile Robot Navigation

It is presented a test bed applied to studies on dynamics, control, and navigation of mobile robots. A cargo ship scale model was chosen, which can be radio-controlled or operated autonomously through an embedded control system. A control program, which manages on board mission execution, is implemented on a microcontroller. Navigation is based on an electronic compass, which includes automatic compensation for pitch and roll motions. Heading control loop is based on this sensor, and on a rudder positioning system. A propulsion control system is also implemented. Typical manoeuvres as the turning test and "zig-zag", were implemented and tested. They are included on a manoeuvre library, and can be accessed independently or in combined modes. The embedded system is also in charge of signal acquisition and storing during the missions. It is possible to analyse experiments on identification of ship dynamics, control, and navigation, through the data transferred to a PC by serial communication. Navigation is going to be improved by including inertial sensors on board, and a DGPS. Preliminary tests are aimed to ship identification, and manoeuvrability, using free model tests. Future steps include extending this system for developing other mobile robots as, ROVs, AUVs, and aerial vehicles.

Vapastii ohjelmoitavan automaatioyksikön suunnitteluprosessi

Rakennusautomaatiossa tulee esiin sovelluksia, joissa järjestelmän ohjaus-, säätö- tai valvontaratkaisun toteuttaminen ohjelmoitavilla logiikoilla ei ole riittävän edullista. Tällöin vaihtoehtona on oman laitteen suunnittelu. Työn tavoitteena oli suunnitella ja toteuttaa kustannustehokas CAN-väylään liitettävä vapaasti ohjelmoitava automaatioyksikkö. Suunnittelua ohjasivat asiakkaan laatimat vaatimusmäärittelyt. Niistä laitteen konfigurointimahdollisuudet ja piirilevyn tavoitekoko asettivat suurimmat haasteet laitteen suunnittelulle. Työn tuloksena toteutettiin asiakkaan tarpeisiin soveltuva automaatioyksikkö. Tavoitteisiin päästiin komponenttivalinnoilla ja hyödyntämällä tehokkaasti mikro-ohjaimen integroituja ominaisuuksia. Näiden avulla pystyttiin karsimaan monia yksiköitä, joita tavanomaisesti toteutetaan erilliskomponenteilla. Työssä perehdyttiin sulautetun järjestelmän elektroniikan tuotekehitysprosessiin ideasta prototyyppiin. Samalla on kuvailtu valittuja ratkaisuja sekä suunnittelussa tapahtuneita virheitä ja miten ne on ratkaistu.

AVR-pohjainen mobiilirobotti

Kandidaatintyön aineena oli rakentaa autonomisesti pyörillä liikkuva, esteitä väistelevä mobiilirobotti käyttäen Arduino-kehitysympäristöä prototyypin valmistamiseen. Rakensin robotin alusta alkaen itse eli työhön sisältyi robotin mekaniikan kokoaminen, elektroniikan suunnittelu ja rakentaminen sekä toimintaälyn ohjelmointi mikroprosessorille eteenpäin kulkemiseen ja esteiden väistämiseen. Arduinon ytimenä on Atmelin AVR-sarjaan kuuluva ATMega328-mikroprosessori. Robotin ympäristön havainnointi tapahtuu käyttämällä ultraäänisensoria. Robotti oli mielenkiintoinen projekti toteuttaa ja toimi kokonaisuutena katsottuna odotetulla tavalla.

Auringon asemaa seuraavan aurinkopaneelijärjestelmän kehittäminen

Tässä diplomityössä käsitellään Aurinkoa seuraavan aurinkopaneelijärjestelmän kehittämistä Suomen olosuhteisiin. Työ on tehty osana Lappeenrannan teknillisen yliopiston Green Campus-projektia, jossa tarkoituksena on tuottaa yliopistolle energiaa uusiutuvilla menetelmillä ja käyttää niitä apuna tutkimuksessa sekä opetuksessa. Tavoitteena työssä on ymmärtää Auringon seuraamisen hyödyt sekä mahdolliset haitat aurinkopaneeli sovellutuksissa. Aikaisemman tutkimustiedon ollessa vähäistä, on työssä pyritty löytämään laskentamalli tuottavuuden laskentaan riippumatta siitä, missä päin maapalloa aurinkopaneelijärjestelmä sijaitsee. Työ alkaa kirjallisuustutkimuksella, jossa käydään läpi aurinkopaneelien toimintaperiaate, aurinkoenergian ja auringonpaistetuntien suuruusluokat Suomessa, sekä Suomen sääoloista johtuvat vaatimukset aurinkopaneelijärjestelmille. Tämän jälkeen on vertailtu kaupallisia järjestelmiä. Lopuksi järjestelmällistä tuotesuunnittelua hyväksikäyttäen suunnitellaan oma versio Aurinkoa seuraavasta aurinkopaneelijärjestelmästä. Oman suunnitelman järkevyyttä simuloidaan pienoismallilla Matlab-Arduino ympäristössä ja pyritään löytämään mahdollisia heikkouksia. Suomessa aurinkoenergiasta 90 % saadaan maalis – syyskuun aikana. Nykyisillä akkujärjestelmillä aurinkoenergia Suomessa ei sovellu kuin täydentäväksi energianlähteeksi. Aurinkoa seuraamalla voidaan saavuttaa 25-30 % tuottavuuden lisäys kesäaikana verrattuna staattiseen järjestelmään. Talvella hyöty tippuu 0-10 % luokkaan. Pienoismallilla simuloidut ohjaustavat osoittivat, että Aurinkoa on mahdollista seurata ilman sensoreita laskemalla Auringon paikka tähtitieteen kaavoista.

Quadcopter assistant for a mobile assembly robot

Science has revolutionized the human life. The advance progress in science and research is making human life easier and more comfortable. The new and emerging technology of micro drone is penetrating and widening the scientific research. This thesis is a part of work in which a unique work is carried out, although related research paper and journal are available. Design and development of automatic charging station for a ready to fly quadcopter is rare and unusual work. The work is carried out as an standard engineering process that include requirements gathering, creating the required document (this thesis is a part of required document as well), selection of suitable hardware, configuring the hardware, generate the code for software, uploading code to the microcontroller, troubleshooting and rectification, finalized prototype and testing. Thesis describe how mechatronics engineering is useful in generating a customized and unique project. At the starting phase of this project (before purchasing a ready to fly quadcopter) every single aspect of this work was known. The only unknown alternatives was a battery and charger. Several task was achieved including design and development of automatic charging station, accurate landing and telecast a live video on additional screen. At starting it was decided that quadcopter should follow the mobile robot, during study it was concluded there is no such quadcopter available in market to auto follow a robot indoor. This works starts with a market survey and comparing the different brands of quadcopter that meets all the requirements and specifications of the mobile robot assembly. Selection of quadcopter is a result of discussion and meeting with the team members, supervisor, professor and project manage.

An Error-Localization, Validation and Optimization Tool for Embedded Code Augmentation: an Architecture Oriented Approach

Embedded systems are usually designed for a single or a specified set of tasks. This specificity means the system design as well as its hardware/software development can be highly optimized. Embedded software must meet the requirements such as high reliability operation on resource-constrained platforms, real time constraints and rapid development. This necessitates the adoption of static machine codes analysis tools running on a host machine for the validation and optimization of embedded system codes, which can help meet all of these goals. This could significantly augment the software quality and is still a challenging field.Embedded systems are usually designed for a single or a specified set of tasks. This specificity means the system design as well as its hardware/software development can be highly optimized. Embedded software must meet the requirements such as high reliability operation on resource-constrained platforms, real time constraints and rapid development. This necessitates the adoption of static machine codes analysis tools running on a host machine for the validation and optimization of embedded system codes, which can help meet all of these goals. This could significantly augment the software quality and is still a challenging field.Embedded systems are usually designed for a single or a specified set of tasks. This specificity means the system design as well as its hardware/software development can be highly optimized. Embedded software must meet the requirements such as high reliability operation on resource-constrained platforms, real time constraints and rapid development. This necessitates the adoption of static machine codes analysis tools running on a host machine for the validation and optimization of embedded system codes, which can help meet all of these goals. This could significantly augment the software quality and is still a challenging field.Embedded systems are usually designed for a single or a specified set of tasks. This specificity means the system design as well as its hardware/software development can be highly optimized. Embedded software must meet the requirements such as high reliability operation on resource-constrained platforms, real time constraints and rapid development. This necessitates the adoption of static machine codes analysis tools running on a host machine for the validation and optimization of embedded system codes, which can help meet all of these goals. This could significantly augment the software quality and is still a challenging field.This dissertation contributes to an architecture oriented code validation, error localization and optimization technique assisting the embedded system designer in software debugging, to make it more effective at early detection of software bugs that are otherwise hard to detect, using the static analysis of machine codes. The focus of this work is to develop methods that automatically localize faults as well as optimize the code and thus improve the debugging process as well as quality of the code.Validation is done with the help of rules of inferences formulated for the target processor. The rules govern the occurrence of illegitimate/out of place instructions and code sequences for executing the computational and integrated peripheral functions. The stipulated rules are encoded in propositional logic formulae and their compliance is tested individually in all possible execution paths of the application programs. An incorrect sequence of machine code pattern is identified using slicing techniques on the control flow graph generated from the machine code.An algorithm to assist the compiler to eliminate the redundant bank switching codes and decide on optimum data allocation to banked memory resulting in minimum number of bank switching codes in embedded system software is proposed. A relation matrix and a state transition diagram formed for the active memory bank state transition corresponding to each bank selection instruction is used for the detection of redundant codes. Instances of code redundancy based on the stipulated rules for the target processor are identified.This validation and optimization tool can be integrated to the system development environment. It is a novel approach independent of compiler/assembler, applicable to a wide range of processors once appropriate rules are formulated. Program states are identified mainly with machine code pattern, which drastically reduces the state space creation contributing to an improved state-of-the-art model checking. Though the technique described is general, the implementation is architecture oriented, and hence the feasibility study is conducted on PIC16F87X microcontrollers. The proposed tool will be very useful in steering novices towards correct use of difficult microcontroller features in developing embedded systems.

Embodiment and Manipulation Learning Process for a Humanoid Hand

Babies are born with simple manipulation capabilities such as reflexes to perceived stimuli. Initial discoveries by babies are accidental until they become coordinated and curious enough to actively investigate their surroundings. This thesis explores the development of such primitive learning systems using an embodied light-weight hand with three fingers and a thumb. It is self-contained having four motors and 36 exteroceptor and proprioceptor sensors controlled by an on-palm microcontroller. Primitive manipulation is learned from sensory inputs using competitive learning, back-propagation algorithm and reinforcement learning strategies. This hand will be used for a humanoid being developed at the MIT Artificial Intelligence Laboratory.

Indevol : educa.

En la investigación se lleva a cabo la construcción de un modelo interfaz evolutivo en el área de tecnología en el que se pueden incorporar distintos contenidos con nivel de dificultad creciente de forma que el alumno pueda dirigir su propio aprendizaje y compatibilizar esta plataforma con las placas de Arduino que se utilizarán para el diseño, comprensión y aprendizaje de circuitos electrónicos, dispositivos de control, tanto analógicos como digitales o circuitos lógicos, entre otros. Dicha implementación permitirá evaluar la motivación que produce dichas metodologías. El proyecto plantea dos objetivos principales: establecer un sistema de enseñanza virtual estructurando los contenidos lineales en una nueva estructura alineal (interactiva), dinámica y evolutiva. INDEVOL:educa es una plataforma de reflexión sobre el desarrollo del interfaz en entornos educativos y la interacción hombre-máquina. Los estudiantes adquieren gracias a la enseñanza virtual de INDEVOL:educa y a las tutorías presenciales del profesor de tecnología, conocimientos que evolucionan con el perfil del alumnado para llevar a cabo sus propias instalaciones y piezas interactivas. El segundo objetivo es gestionar la implementación en el sistema de enseñanza de las placas de Arduino en la enseñanza de Castilla-La Mancha como proyecto pionero en la región y teniendo en cuenta el éxito de esta implementación en otras comunidades. El trabajo se realiza con alumnos de tercero de ESO con el objeto de impartir conocimientos básicos en el campo de realización de prototipos interactivos para piezas e instalaciones y en la búsqueda de información suplementaria en el campo; hacer comprensible la utilización de herramientas hardware para la creación de interfaces físicos al ordenador distintos del clásico teclado o el ratón; realización de ejercicios prácticos que ayuden a los alumnos a comprender la electrónica desde una posición explorativa. Se utiliza la metodología de planificación y gestión de proyectos orientadas a objetivos, orientando al alumno en la conceptualización de sus ideas para convertirlas en conceptos. Los objetivos están jerarquizados en orden de importancia y se van remodelando con la experiencia y la evolución del proyecto y hay que ir recogiendo este movimiento evolutivo para estudiar las implicaciones de éste en las demás fases. Así mismo, se marcan las distintas líneas de acción que permiten al alumnado ir consiguiendo los objetivos propuestos que han de ser plausibles con respecto a los tiempos y recursos de los que se dispone. Esta metodología es una forma de estructurar el objetivo principal que consiste en la elaboración, desarrollo y conceptualización de la idea y por otro el marcaje de los objetivos específicos y generales que rigen la investigación. Fundamentalmente se trabajan los procesos de enseñanza y aprendizaje centralizada en la incorporación de las placas de Arduino en el entorno escolar de tercero de ESO. El equipo multidisciplinar consta de investigadores de la Universidad de Castilla-La Mancha y docentes ligados a la materia y con larga experiencia en la distribución de los contenidos que han ayudado a que esta metodología pueda ser implantada con éxito. Las sesiones son una mezcla teórico-práctica donde los investigadores deciden cuándo es el mejor momento para hacer una pausa del trabajo práctico mediante la introducción de una charla que incluye ejemplos de instalaciones, introducción a una determinada herramienta, etc. Los objetivos se cumplen con gran éxito y aprobación tanto por parte de los investigadores implicados como por parte del alumnado. La competencia en el conocimiento y la interacción con el mundo físico así como la competencia digital se ven satisfechas con la utilización de las placas de Arduino, consiguiendo de esta forma una comprensión más clara y motivadora de circuitos electrónicos y robóticas, teniendo la posibilidad de crear sus propios proyectos, tanto personales como en equipo, lo cual les permite desarrollar la competencia de autonomía personal. Así mismo, el hecho de contar con una plataforma propia, de hardware y software libre y de bajo coste en el caso de querer personalmente adquirir el material que permite al alumno elegir el ritmo de su propio aprendizaje sin ningún tipo de limitaciones.

Open Hardware

Presentació sobre la creació de la placa Arduino, i els projectes que s'han fet arreu amb aquesta placa

Interactive sensory objects for improving access to heritage

In this project we explore how to enhance the experience and understanding of cultural heritage in museums and heritage sites by creating interactive multisensory objects collaboratively with artists, technologists and people with learning disabilities. We focus here on workshops conducted during the first year of a three year project in which people with learning disabilities each constructed a 'sensory box' to represent their experiences of Speke Hall, a heritage site in the UK. The box is developed further in later workshops which explore aspects of physicality and how to appeal to the entire range of senses, making use of Arduino technology and basic sensors to enable an interactive user experience.

Geiger tube coincidence counter for lower atmosphere radiosonde measurements

Atmospheric profiles of cosmic rays and radioactivity can be obtained using adapted meteorologi- cal radiosondes, for which Geiger tubes remain widely used detectors. Simultaneous triggering of two tubes provides an indication of energetic events. As, however, only small volume detectors can be carried, the event rate is small, which, due to the rapid balloon ascent, cannot be circumvented using long averaging periods. To derive count rates at low altitudes, a microcontroller is used to de- termine the inter-event time. This yields estimates of the coincidence rate below 5 km, where the coincidence rate is too small to determine solely by event counting