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.

Influence of optimized lubrication-cooling and minimum quantity lubrication on the cutting forces, on the geometric quality of the surfaces and on the micro-structural integrity of hardened steel parts

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

Development of an instrumentation system embedded on FPGA for real time measurement of mechanical vibrations in rotating machinery

The real-time monitoring of events in an industrial plant is vital, to monitor the actual conditions of operation of the machinery responsible for the manufacturing process. A predictive maintenance program includes condition monitoring of the rotating machinery, to anticipate possible conditions of failure. To increase the operational reliability it is thus necessary an efficient tool to analyze and monitor the equipments, in real-time, and enabling the detection of e.g. incipient faults in bearings. To fulfill these requirements some innovations have become frequent, namely the inclusion of vibration sensors or stator current sensors. These innovations enable the development of new design methodologies that take into account the ease of future modifications, upgrades, and replacement of the monitored machine, as well as expansion of the monitoring system. This paper presents the development, implementation and testing of an instrument for vibration monitoring, as a possible solution to embed in industrial environment. The digital control system is based on an FPGA, and its configuration with an open hardware design tool is described. Special focus is given to the area of fault detection in rolling bearings. © 2012 IEEE.

Speed estimation for induction motor using neural networks method

This work presents an alternative approach based on neural network method in order to estimate speed of induction motors, using the measurement of primary variables such as voltage and current. Induction motors are very common in many sectors of the industry and assume an important role in the national energy policy. The nowadays methodologies, which are used in diagnosis, condition monitoring and dimensioning of these motors, are based on measure of the speed variable. However, the direct measure of this variable compromises the system control and starting circuit of an electric machinery, reducing its robustness and increasing the implementation costs. Simulation results and experimental data are presented to validate the proposed approach. © 2003-2012 IEEE.

Lógica ANFIS aplicada na estimação da rugosidade e do desgaste da ferramenta de corte no processo de retificação plana de cerâmicas avançadas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação de modelos neurais aplicados na estimação de parâmetros da retificação de cerâmicas avançadas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Aplicação de redes neurais artificiais na predição de diâmetro e rugosidade durante o processo de furação

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Biodiesel de mamona em trator agrícola na operação de preparo do solo

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Retificação da alumina com rebolo diamantado usando diferentes métodos de lubri-refrigeração

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise de superfícies de peças retificadas com o uso de redes neurais artificiais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Estudo da predição da circularidade e rugosidade de peças retificadas utilizando as redes neurais artificiais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Carcterização da influência da velocidade de corte, pressão e granulometria de lixa no lixamento plano do Pinus elliottii

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A influência da microestrutura e dos tratamentos superficiais na vida em fadiga de aços inoxidáveis martensítico e austenítico usados na fabricação de válvulas para motores a combustão interna

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise do processo de lixamento tubular da madeira de Corymbia citriodora

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise da influência da contaminação do lubrificante por biodiesel em um equipamento Pin-on-disk

Pós-graduação em Engenharia Mecânica - FEIS