Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Evolutionary trajectory optimization for redundant robots

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms have been investigated in the last years. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. In this case the trajectory planning is formulated as an optimization problem with constraints.

A New Heuristic Providing an Effective Initial Solution for a Simulated Annealing approach to Energy Resource Scheduling in Smart Grids

An intensive use of dispersed energy resources is expected for future power systems, including distributed generation, especially based on renewable sources, and electric vehicles. The system operation methods and tool must be adapted to the increased complexity, especially the optimal resource scheduling problem. Therefore, the use of metaheuristics is required to obtain good solutions in a reasonable amount of time. This paper proposes two new heuristics, called naive electric vehicles charge and discharge allocation and generation tournament based on cost, developed to obtain an initial solution to be used in the energy resource scheduling methodology based on simulated annealing previously developed by the authors. The case study considers two scenarios with 1000 and 2000 electric vehicles connected in a distribution network. The proposed heuristics are compared with a deterministic approach and presenting a very small error concerning the objective function with a low execution time for the scenario with 2000 vehicles.

Os robots na aprendizagem da trignometria

Este trabalho foi elaborado no âmbito do Mestrado de Ensino de Matemática do 3º Ciclo do Ensino Básico e Secundário da Universidade da Madeira, no ano letivo de 2012/2013. Os grandes objetivos deste estudo são os de analisar qualitativamente uma atividade, para compreender como é que os alunos aprendem trigonometria, utilizando os robots NXT da Lego. De igual modo, se procede também, de forma sucinta, à apresentação do trabalho desenvolvido pelo grupo de estágio, ao longo da Prática de Ensino Supervisionado. Para a realização da investigação, foram recolhidos dados pelo investigador, através de registos audiovisuais do trabalho dos alunos, com câmara e vídeo. Com o fim de melhor estudar o problema aqui apresentado, o mesmo foi dissecado em três questões de investigação: (a) Que aprendizagens os alunos realizam com a montagem, programação e interação com os robots? (b) De que forma é que os alunos aprendem trigonometria, quando utilizam os Robots? (c) Quais as dificuldades manifestadas pelos alunos na resolução de problemas? As questões de investigação iluminaram a análise dos dados. Das conclusões que advêm deste estudo destaca-se o papel essencial da robótica e dos materiais manipuláveis, na construção e concetualização do conhecimento dos alunos.

Development of Biomimetic Robots in the EPS Engineering Programme Capstone Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

Compact simulated countercurrent chromatography for downstream processing of (bio)pharmaceuticals

Dissertação para obtenção do Grau de Doutor em Engenharia Química e Bioquímica

Use of DNA profiles for investigation using a simulated national DNA database: Part I. Partial SGM Plus profiles.

In traditional criminal investigation, uncertainties are often dealt with using a combination of common sense, practical considerations and experience, but rarely with tailored statistical models. For example, in some countries, in order to search for a given profile in the national DNA database, it must have allelic information for six or more of the ten SGM Plus loci for a simple trace. If the profile does not have this amount of information then it cannot be searched in the national DNA database (NDNAD). This requirement (of a result at six or more loci) is not based on a statistical approach, but rather on the feeling that six or more would be sufficient. A statistical approach, however, could be more rigorous and objective and would take into consideration factors such as the probability of adventitious matches relative to the actual database size and/or investigator's requirements in a sensible way. Therefore, this research was undertaken to establish scientific foundations pertaining to the use of partial SGM Plus loci profiles (or similar) for investigation.

Control de seguimiento de trayectorias en sistemas no lineales con incertidumbre, aplicación a robots manipuladores Luis Alberto Rodríguez García

Tesis (Maestría en Ciencias en Ingeniería Eléctrica, con especialidad en Control). U. A. N. L.

Control descentralizado de formación y movimiento coordinado de robots móviles tipo uniciclo.

Tesis (Maestro en Ciencias de la Ingeniería Eléctrica con orientación en Control Automático) UANL, 2013.

Técnicas de control para robots manipuladores con flexibilidad en la articulación

Tesis (Doctor en Ingeniería Eléctrica) UANL, 1999.

Control de robots con flexibilidad en el eslabón

Tesis (Doctor en Ingeniería Eléctrica) UANL, 1999.

Estimating Nonlinear DSGE Models by the Simulated Method of Moments

This paper studies the application of the simulated method of moments (SMM) for the estimation of nonlinear dynamic stochastic general equilibrium (DSGE) models. Monte Carlo analysis is employed to examine the small-sample properties of SMM in specifications with different curvature. Results show that SMM is computationally efficient and delivers accurate estimates, even when the simulated series are relatively short. However, asymptotic standard errors tend to overstate the actual variability of the estimates and, consequently, statistical inference is conservative. A simple strategy to incorporate priors in a method of moments context is proposed. An empirical application to the macroeconomic effects of rare events indicates that negatively skewed productivity shocks induce agents to accumulate additional capital and can endogenously generate asymmetric business cycles.

New Simulated Corrugated Scaltering Surface Giving Widebandcharacter I Sti Cs

Simultaneous elimination of specular reflection and backscattered power from a plane metallic surface by simulated corrugated surfaces of constant period and variable strip width for TM polarisation is reported. This new configuration offers almost a ten-fold frequency bandwidth compared with a regularly spaced strip grating of the same size.

Aircraft down-range profiles formed from simulated and compact-range radar backscatter

Compact-range radar backscatter measurements are taken of aircraft scale models. In addition, computer software is used to predict the RCS of the aircraft. Synthetic down-range profiles formed from the two sources of backscatter data are compared and visualized in an innovative manner. Similar discrimination rates between the two aircraft are obtained on data from both source

A Beacon based Localization System for Autonomous Mobile Robots and its Applications in Traffic and Transport Control

ACCURATE sensing of vehicle position and attitude is still a very challenging problem in many mobile robot applications. The mobile robot vehicle applications must have some means of estimating where they are and in which direction they are heading. Many existing indoor positioning systems are limited in workspace and robustness because they require clear lines-of-sight or do not provide absolute, driftfree measurements.The research work presented in this dissertation provides a new approach to position and attitude sensing system designed specifically to meet the challenges of operation in a realistic, cluttered indoor environment, such as that of an office building, hospital, industrial or warehouse. This is accomplished by an innovative assembly of infrared LED source that restricts the spreading of the light intensity distribution confined to a sheet of light and is encoded with localization and traffic information. This Digital Infrared Sheet of Light Beacon (DISLiB) developed for mobile robot is a high resolution absolute localization system which is simple, fast, accurate and robust, without much of computational burden or significant processing. Most of the available beacon's performance in corridors and narrow passages are not satisfactory, whereas the performance of DISLiB is very encouraging in such situations. This research overcomes most of the inherent limitations of existing systems.The work further examines the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. A simple and efficient method is investigated and realized using an FPGA for reducing the errors. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle.The application of encoded Digital Infrared Sheet of Light Beacon (DISLiB) system can be extended to intelligent control of the public transportation system. The system is capable of receiving traffic status input through a GSM (Global System Mobile) modem. The vehicles have infrared receivers and processors capable of decoding the information, and generating the audio and video messages to assist the driver. The thesis further examines the usefulness of the technique to assist the movement of differently-able (blind) persons in indoor or outdoor premises of his residence.The work addressed in this thesis suggests a new way forward in the development of autonomous robotics and guidance systems. However, this work can be easily extended to many other challenging domains, as well.