A compact low-cost electronic hardware design for actuating soft robots

A low cost, compact embedded design approach for actuating soft robots is presented. The complete fabrication procedure and mode of operation was demonstrated, and the performance of the complete system was also demonstrated by building a microcontroller based hardware system which was used to actuate a soft robot for bending motion. The actuation system including the electronic circuit board and actuation components was embedded in a 3D-printed casing to ensure a compact approach for actuating soft robots. Results show the viability of the system in actuating and controlling siliconebased soft robots to achieve bending motions. Qualitative measurements of uniaxial tensile test, bending distance and pressure were obtained. This electronic design is easy to reproduce and integrate into any specified soft robotic device requiring pneumatic actuation.

Low-cost HMD and EEG: using visual stimulation by the Oculus Rift® to detect stronger ERDs induced by motion imagery

Virtual Reality (VR) can provide visual stimuli for EEG studies that can be altered in real time and can produce effects that are difficult or impossible to reproduce in a non-virtual experimental platform. As part of this experiment the Oculus Rift, a commercial-grade, low-cost, Head Mounted Display (HMD) was assessed as a visual stimuli platform for experiments recording EEG. Following, the device was used to investigate the effect of congruent visual stimuli on Event Related Desynchronisation (ERD) due to motion imagery.

Low cost BIST techniques for linear and non-linear analog circuits

With the ever increasing demands for high complexity consumer electronic products, market pressures demand faster product development and lower cost. SoCbased design can provide the required design flexibility and speed by allowing the use of IP cores. However, testing costs in the SoC environment can reach a substantial percent of the total production cost. Analog testing costs may dominate the total test cost, as testing of analog circuits usually require functional verification of the circuit and special testing procedures. For RF analog circuits commonly used in wireless applications, testing is further complicated because of the high frequencies involved. In summary, reducing analog test cost is of major importance in the electronic industry today. BIST techniques for analog circuits, though potentially able to solve the analog test cost problem, have some limitations. Some techniques are circuit dependent, requiring reconfiguration of the circuit being tested, and are generally not usable in RF circuits. In the SoC environment, as processing and memory resources are available, they could be used in the test. However, the overhead for adding additional AD and DA converters may be too costly for most systems, and analog routing of signals may not be feasible and may introduce signal distortion. In this work a simple and low cost digitizer is used instead of an ADC in order to enable analog testing strategies to be implemented in a SoC environment. Thanks to the low analog area overhead of the converter, multiple analog test points can be observed and specific analog test strategies can be enabled. As the digitizer is always connected to the analog test point, it is not necessary to include muxes and switches that would degrade the signal path. For RF analog circuits, this is specially useful, as the circuit impedance is fixed and the influence of the digitizer can be accounted for in the design phase. Thanks to the simplicity of the converter, it is able to reach higher frequencies, and enables the implementation of low cost RF test strategies. The digitizer has been applied successfully in the testing of both low frequency and RF analog circuits. Also, as testing is based on frequency-domain characteristics, nonlinear characteristics like intermodulation products can also be evaluated. Specifically, practical results were obtained for prototyped base band filters and a 100MHz mixer. The application of the converter for noise figure evaluation was also addressed, and experimental results for low frequency amplifiers using conventional opamps were obtained. The proposed method is able to enhance the testability of current mixed-signal designs, being suitable for the SoC environment used in many industrial products nowadays.

A low cost one-camera optical tracking system for indoor wide-area augmented and virtual reality environments

In the last years the number of industrial applications for Augmented Reality (AR) and Virtual Reality (VR) environments has significantly increased. Optical tracking systems are an important component of AR/VR environments. In this work, a low cost optical tracking system with adequate attributes for professional use is proposed. The system works in infrared spectral region to reduce optical noise. A highspeed camera, equipped with daylight blocking filter and infrared flash strobes, transfers uncompressed grayscale images to a regular PC, where image pre-processing software and the PTrack tracking algorithm recognize a set of retro-reflective markers and extract its 3D position and orientation. Included in this work is a comprehensive research on image pre-processing and tracking algorithms. A testbed was built to perform accuracy and precision tests. Results show that the system reaches accuracy and precision levels slightly worse than but still comparable to professional systems. Due to its modularity, the system can be expanded by using several one-camera tracking modules linked by a sensor fusion algorithm, in order to obtain a larger working range. A setup with two modules was built and tested, resulting in performance similar to the stand-alone configuration.

Ligações aéreas com a Madeira: constrangimentos e perspetivas de crescimento: o efeito do binómio tempo/distância e o mercado low cost

O transporte, neste caso o transporte aéreo para a Madeira, assume particular importância na atividade turística, para mais sendo esta uma região insular e ultraperiférica da Europa, em que a realidade socioeconómica tem como pedra basilar o Turismo que, por si só, representa 25% do PIB. Frequentemente são apontados como “culpados” pelas cíclicas crises no sector, a promoção (ou a falta dela) e as opções tomadas, a concorrência de destinos mais baratos, o peso das taxas aeroportuárias, os fenómenos climáticos, os incentivos às companhias aéreas e aos operadores, o estímulo à operação low cost, as unidades hoteleiras e as camas disponíveis, a distância (tempo de voo) deste destino em relação ao norte da Europa e ao outro lado do Atlântico, a existência ou não de ligações aéreas diretas, um sem número de “razões” em que, provavelmente, todas elas, em maior ou menor percentagem, darão o seu contributo. As infraestruturas aeroportuárias, outrora também “culpadas” por não permitirem operações de longo curso, estão hoje habilitadas para receber voos intercontinentais. A Madeira, não deixou de ser a “Pérola do Atlântico”, com um clima ameno e profilático, com as levadas e a floresta Laurissilva, com o Vinho Madeira; com a Festa do Fim do Ano, o Carnaval e a Festa da Flor, com as Paisagens únicas, o Mar e a Montanha, o Golf, o Rali da Madeira, atrativos que deveriam ser suficientes para ultrapassar os fatores “negativos” citados. Sê-lo-ão? Sem a presunção de encontrar soluções milagrosas para algo que vem sendo estudado por profissionais e consultores, pretende-se possibilitar um olhar sob uma outra perspetiva, deixando pistas para uma abordagem diversa, em que se investigam os efeitos dos voos não diretos, o peso das operações low cost e se desenha um benchmarking com o destino concorrencial das Canárias.

Low cost non-intrusive home energy monitoring

This thesis presents a low cost non-intrusive home energy monitor built on top of Non-Intrusive Load Monitoring (NILM) concepts and techniques. NILM solutions are already considered low cost alternatives to the big majority of existing commercial energy monitors but the goal here is to make its cost even lower by using a mini netbook as a whole in one solution. The mini netbook is installed in the homes main circuit breaker and computes power consumption by reading current and voltage from the built-in sound card. At the same time, feedback to the users is provided using the 11’’ LCD screen as well as other built-in I/O modules. Our meter is also capable of detecting changes in power and tries to find out which appliance lead to that change and it is being used as part of an eco-feedback platform that was build to study the long terms of energy eco-feedback in individuals. In this thesis the steps that were taken to come up with such a system are presented, from the basics of AC power measurements to the implementation of an event detector and classifier that was used to disaggregate the power load. In the last chapter results from some validation tests that have been performed are presented in order to validate the experiment. It is believed that such a system will not only be important as an energy monitor, but also as an open system than can be easily changed to accommodate and test new or existing nonintrusive load monitoring techniques.

Biosurfactants production by yeasts using soybean oil and glycerol as low cost substrate

Biosurfactants are bioactive agents that can be produced by many different microorganisms. Among those, special attention is given to yeasts, since they can produce many types of biosurfactants in large scale, using several kinds of substrates, justifying its use for industrial production of those products. For this production to be economically viable, the use of residual carbon sources is recommended. The present study isolated yeasts from soil contaminated with petroleum oil hydrocarbons and assessed their capacity for producing biosurfactants in low cost substrates. From a microbial consortium enriched, seven yeasts were isolated, all showing potential for producing biosurfactants in soybean oil. The isolate LBPF 3, characterized as Candida antarctica, obtained the highest levels of production - with a final production of 13.86 g/L. The isolate LBPF 9, using glycerol carbon source, obtained the highest reduction in surface tension in the growth medium: approximately 43% of reduction after 24 hours of incubation. The products obtained by the isolates presented surfactant activity, which reduced water surface tension to values that varied from 34 mN/m, obtained from the product of isolates LBPF 3 and 16 LBPF 7 (respectively characterized as Candida antarctica and Candida albicans) to 43 mN/m from the isolate LPPF 9, using glycerol as substrate. The assessed isolates all showed potential for the production of biosurfactants in conventional sources of carbon as well as in agroindustrial residue, especially in glycerol.

The use of software Mapavox for teaching graphics and games to blind and low vision students: a development through practices

Current policies on education to visually impaired point for a growing trend of including students with special educational needs in regular schools. However, most often this inclusion is not accompanied by an appropriate professional trained or infrastructure, which has been presented as a big problem for regular school teachers who have students with visual impairments in their classroom. Based on this situation, the Group of Extension in Tactile Cartography from UNESP - University of the State of São Paulo - Campus de Rio Claro - SP - Brazil has been developing educational material of geography and cartography to blind students at a special school. Among the materials developed in this study highlight the development of graphics and board games provided with sound capabilities through MAPAVOX, software developed in partnership with UFRJ - Federal University from Rio de Janeiro - RJ - Brazil. Through this software, sound capabilities can be inserted into built materials, giving them a multi-sensory character. In most cases the necessary conditions for building specific materials to students with visual impairments is expensive and beyond the reach of features from a regular school, so the survey sought to use easy access and low cost materials like Cork, leaf aluminum, material for fixing and others. The development of these materials was supported by preparation in laboratory and its subsequent test through practices involving blind students. The methodology used on the survey is based on qualitative research and non comparative analysis of the results. In other words, the material is built based on the special students perception and reality construction, not being mere adaptations of visual materials, but a construction focused on the reality of the visually impaired. The results proved were quite successful as the materials prepared were effective on mediating the learning process of students with disabilities. Geographical and cartographic concepts were seized by the students through the technology used, associated with the use of materials that took into account in its building process the perception of the students.

A low-cost 3D reconstruction system using a single-shot projection of a pattern matrix

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

Portable MP3 player as low-cost data logger

Non-audio signals have been recorded in the flash ROM memory of a portable MP3 player, in WAV format file, to examine the possibility of using these cheap and small instruments as general-purpose portable data loggers. A 1200-Hz FM carrier modulated by the non-audio signal has replaced the microphone signal, while using the REC operating mode of the MP3 player, which triggers the voice recording function. The signal recovery was carried out by a PLL-based FM demodulator whose input is the FM signal captured in the coil leads of the MP3 player's earphone. Sinusoidal and electrocardiogram signals have been used in the system evaluation. Although the quality of low frequency signals needs improvement, overall the results indicate the viability of the proposal. Suggestions are made for improvements and extensions of the work.

Use of weathered diesel oil as a low-cost raw material for biosurfactant production

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

A low-cost neurostimulator with accurate pulsed-current control

A constant-current stimulator for high-impedance loads using only low-cost standard high-voltage components Is presented. A voltage-regulator powers an oscillator built across the primary of a step-up transformer whose secondary supplies, after rectification, the high voltage to a switched current-mirror in the driving stage. Adjusting the regulated voltage controls the pulsed-current intensity. A prototype produces stimulus of amplitude and pulsewidth within 0 less than or equal to I-skin less than or equal to 20 mA and 50 mus less than or equal to T-pulse less than or equal to 1 ms, respectively. Pulse-repetition spans from 1 Hz to 10 Hz. Worst case ripple is 3.7% at I-skin = 1 mA. Overall consumption is 5.6 W at I-skin = 20 mA.

Numerical study of low-cost alternative orbits around the Moon

In this paper, we have investigated a region of direct stable orbits around the Moon, whose stability is related to the H2 Family of periodic orbits and to the quasi-periodic orbits that oscillate around them. The stability criteria adopted was that the path did not escape from the Moon during an integration period of 1000 days (remaining with negative two-body Moon-probe orbital energy during this period). Considering the three-dimensional four-body Sun-Earth-Moon-probe problem, we investigated the evolution of the size of the stability region, taking into account the eccentricity of the Earth's orbit, the eccentricity and inclination of the Moon's orbit, and the solar radiation pressure on the probe. We also investigated the evolution of the region's size and its location by varying the inclination of the probe's initial osculating orbit relative to the Moon's orbital plane between 0 degrees and 180 degrees. The size of the stability region diminishes; nevertheless, it remains significant for 0 <= i <= 25 degrees and 35 degrees <= i <= 45 degrees. The orbits of this region could be useful for missions by space vehicles that must remain in orbit around the Moon for periods of up to 1000 days, requiring low maintenance costs. (c) 2005 COSPAR. Published by Elsevier Ltd. All rights reserved.

In vitro conservation and low cost micropropagation of Cochlospermum regium (Mart. Ex. Scharank)

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