Développement et expérimentation d'algorithmes de réorientation pour un robot sériel en chute libre

Ce mémoire présente 2 types de méthodes pour effectuer la réorientation d’un robot sériel en chute libre en utilisant les mouvements internes de celui-ci. Ces mouvements sont prescrits à partir d’algorithmes de planification de trajectoire basés sur le modèle dynamique du robot. La première méthode tente de réorienter le robot en appliquant une technique d’optimisation locale fonctionnant avec une fonction potentielle décrivant l’orientation du système, et la deuxième méthode applique des fonctions sinusoïdales aux articulations pour réorienter le robot. Pour tester les performances des méthodes en simulation, on tente de réorienter le robot pour une configuration initiale et finale identiques où toutes les membrures sont alignées mais avec le robot ayant complété une rotation de 180 degrés sur lui-même. Afin de comparer les résultats obtenus avec la réalité, un prototype de robot sériel plan flottant possédant trois membrures et deux liaisons rotoïdes est construit. Les expérimentations effectuées montrent que le prototype est capable d’atteindre les réorientations prescrites si peu de perturbations extérieures sont présentes et ce, même si le contrôle de l’orientation est effectué en boucle ouverte.

Multirobot Tethering for Localization and Control

Particle filtering has proven to be an effective localization method for wheeled autonomous vehicles. For a given map, a sensor model, and observations, occasions arise where the vehicle could equally likely be in many locations of the map. Because particle filtering algorithms may generate low confidence pose estimates under these conditions, more robust localization strategies are required to produce reliable pose estimates. This becomes more critical if the state estimate is an integral part of system control. We investigate the use of particle filter estimation techniques on a hovercraft vehicle. The marginally stable dynamics of a hovercraft require reliable state estimates for proper stability and control. We use the Monte Carlo localization method, which implements a particle filter in a recursive state estimate algorithm. An H-infinity controller, designed to accommodate the latency inherent in our state estimation, provides stability and controllability to the hovercraft. In order to eliminate the low confidence estimates produced in certain environments, a multirobot system is designed to introduce mobile environment features. By tracking and controlling the secondary robot, we can position the mobile feature throughout the environment to ensure a high confidence estimate, thus maintaining stability in the system. A laser rangefinder is the sensor the hovercraft uses to track the secondary robot, observe the environment, and facilitate successful localization and stability in motion.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

ENABLING HARDWARE TECHNOLOGIES FOR AUTONOMY IN TINY ROBOTS: CONTROL, INTEGRATION, ACTUATION

The last two decades have seen many exciting examples of tiny robots from a few cm3 to less than one cm3. Although individually limited, a large group of these robots has the potential to work cooperatively and accomplish complex tasks. Two examples from nature that exhibit this type of cooperation are ant and bee colonies. They have the potential to assist in applications like search and rescue, military scouting, infrastructure and equipment monitoring, nano-manufacture, and possibly medicine. Most of these applications require the high level of autonomy that has been demonstrated by large robotic platforms, such as the iRobot and Honda ASIMO. However, when robot size shrinks down, current approaches to achieve the necessary functions are no longer valid. This work focused on challenges associated with the electronics and fabrication. We addressed three major technical hurdles inherent to current approaches: 1) difficulty of compact integration; 2) need for real-time and power-efficient computations; 3) unavailability of commercial tiny actuators and motion mechanisms. The aim of this work was to provide enabling hardware technologies to achieve autonomy in tiny robots. We proposed a decentralized application-specific integrated circuit (ASIC) where each component is responsible for its own operation and autonomy to the greatest extent possible. The ASIC consists of electronics modules for the fundamental functions required to fulfill the desired autonomy: actuation, control, power supply, and sensing. The actuators and mechanisms could potentially be post-fabricated on the ASIC directly. This design makes for a modular architecture. The following components were shown to work in physical implementations or simulations: 1) a tunable motion controller for ultralow frequency actuation; 2) a nonvolatile memory and programming circuit to achieve automatic and one-time programming; 3) a high-voltage circuit with the highest reported breakdown voltage in standard 0.5 μm CMOS; 4) thermal actuators fabricated using CMOS compatible process; 5) a low-power mixed-signal computational architecture for robotic dynamics simulator; 6) a frequency-boost technique to achieve low jitter in ring oscillators. These contributions will be generally enabling for other systems with strict size and power constraints such as wireless sensor nodes.

Integración de Arbotix, Raspberry Pi y motores Dynamixel Ax-12+ para un robot humanoide que busca y patea pelotas

En este artículo se presenta a DeBuPa (Detección Búsqueda Pateo) un humanoide de tamaño pequeño (38 cm de alto) construido con las piezas del kit Bioloid. Del kit se ha excluido la tarjeta CM-510 para sustituirla por la tarjeta controladora Arbotix, que será la que controle los 16 motores Dynamixel Ax-12+ (para mover al robot) y 2 servomotores analógicos (para mover la cámara). Además se ha agregado un mini computador Raspberry Pi, con su cámara, para que el robot pueda detectar y seguir la pelota de forma autónoma. Todos estos componentes deben ser coordinados para que se logre cumplir la tarea de detectar, seguir y patear la pelota. Por ello se hace necesaria la comunicación entre la Arbotix y la Raspberry Pi. La herramienta empleada para ello es el framework ROS (Robot Operating System). En la Raspberry Pi se usa el lenguaje C++ y se ejecuta un solo programa encargado de captar la imagen de la cámara, filtrar y procesar para encontrar la pelota, tomar la decisión de la acción a ejecutar y hacer la petición a la Arbotix para que dé la orden a los motores de ejecutar el movimiento. Para captar la imagen de la cámara se ha utilizado la librería RasPiCam CV. Para filtrar y procesar la imagen se ha usado las librerías de OpenCV. La Arbotix, además de controlar los motores, se encarga de monitorizar que el robot se encuentre balanceado, para ello usa el sensor Gyro de Robotis. Si detecta un desbalance de un cierto tamaño puede saber si se ha caído y levantarse.

Surface acoustic wave streaming in a PDMS microfluidic system: effect of frequency and fluid geometry & A remote ultrasonic glucose sensor

This thesis describes two separate projects. The first is a theoretical and experimental investigation of surface acoustic wave streaming in microfluidics. The second is the development of a novel acoustic glucose sensor. A separate abstract is given for each here. Optimization of acoustic streaming in microfluidic channels by SAWs Surface Acoustic Waves, (SAWs) actuated on flat piezoelectric substrates constitute a convenient and versatile tool for microfluidic manipulation due to the easy and versatile interfacing with microfluidic droplets and channels. The acoustic streaming effect can be exploited to drive fast streaming and pumping of fluids in microchannels and droplets (Shilton et al. 2014; Schmid et al. 2011), as well as size dependant sorting of particles in centrifugal flows and vortices (Franke et al. 2009; Rogers et al. 2010). Although the theory describing acoustic streaming by SAWs is well understood, very little attention has been paid to the optimisation of SAW streaming by the correct selection of frequency. In this thesis a finite element simulation of the fluid streaming in a microfluidic chamber due to a SAW beam was constructed and verified against micro-PIV measurements of the fluid flow in a fabricated device. It was found that there is an optimum frequency that generates the fastest streaming dependent on the height and width of the chamber. It is hoped this will serve as a design tool for those who want to optimally match SAW frequency with a particular microfluidic design. An acoustic glucose sensor Diabetes mellitus is a disease characterised by an inability to properly regulate blood glucose levels. In order to keep glucose levels under control some diabetics require regular injections of insulin. Continuous monitoring of glucose has been demonstrated to improve the management of diabetes (Zick et al. 2007; Heinemann & DeVries 2014), however there is a low patient uptake of continuous glucose monitoring systems due to the invasive nature of the current technology (Ramchandani et al. 2011). In this thesis a novel way of monitoring glucose levels is proposed which would use ultrasonic waves to ‘read’ a subcutaneous glucose sensitive-implant, which is only minimally invasive. The implant is an acoustic analogy of a Bragg stack with a ‘defect’ layer that acts as the sensing layer. A numerical study was performed on how the physical changes in the sensing layer can be deduced by monitoring the reflection amplitude spectrum of ultrasonic waves reflected from the implant. Coupled modes between the skin and the sensing layer were found to be a potential source of error and drift in the measurement. It was found that by increasing the number of layers in the stack that this could be minimized. A laboratory proof of concept system was developed using a glucose sensitive hydrogel as the sensing layer. It was possible to monitor the changing thickness and speed of sound of the hydrogel due to physiological relevant changes in glucose concentration.

Effect of remote ischaemic preconditioning in cardiac dysfunction and end-organ injury following cardiac surgery with cardiopulmonary bypass in children: A translational approach investigating clinical outcome and myocardial molecular biology

Congenital heart disease (CHD) is the most common birth defect, causing an important rate of morbidity and mortality. Treatment of CHD requires surgical correction in a significant percentage of cases which exposes patients to cardiac and end organ injury. Cardiac surgical procedures often require the utilisation of cardiopulmonary bypass (CPB), a system that replaces heart and lungs function by diverting circulation into an external circuit. The use of CPB can initiate potent inflammatory responses, in addition a proportion of procedures require a period of aortic cross clamp during which the heart is rendered ischaemic and is exposed to injury. High O2 concentrations are used during cardiac procedures and when circulation is re-established to the heart which had adjusted metabolically to ischaemia, further injury is caused in a process known as ischaemic reperfusion injury (IRI). Several strategies are in place in order to protect the heart during surgery, however injury is still caused, having detrimental effects in patients at short and long term. Remote ischaemic preconditioning (RIPC) is a technique proposed as a potential cardioprotective measure. It consists of exposing a remote tissue bed to brief episodes of ischaemia prior to surgery in order to activate protective pathways that would act during CPB, ischaemia and reperfusion. This study aimed to assess RIPC in paediatric patients requiring CHD surgical correction with a translational approach, integrating clinical outcome, marker analysis, cardiac function parameters and molecular mechanisms within the cardiac tissue. A prospective, single blinded, randomized, controlled trial was conducted applying a RIPC protocol to randomised patients through episodes of limb ischaemia on the day before surgery which was repeated right before the surgery started, after anaesthesia induction. Blood samples were obtained before surgery and at three post-operative time points from venous lines, additional pre and post-bypass blood samples were obtained from the right atrium. Myocardial tissue was resected during the ischaemic period of surgery. Echocardiographic images were obtained before the surgery started after anaesthetic induction and the day after surgery, images were stored for later off line analysis. PICU surveillance data was collected including ventilation parameters, inotrope use, standard laboratory analysis and six hourly blood gas analysis. Pre and post-operative quantitation of markers in blood specimens included cardiac troponin I (cTnI) and B-type natriuretic peptide (BNP), inflammatory mediators including interleukins IL-6, IL-8, IL-10, tumour necrosis factor (TNF-α), and the adhesion molecules ICAM-1 and VCAM-1; the renal marker Cystatin C and the cardiovascular markers asymmetric dymethylarginine (ADMA) and symmetric dymethylarginine (SDMA). Nitric oxide (NO) metabolites and cyclic guanosine monophosphate (cGMP) were measured before and after bypass. Myocardial tissue was processed at baseline and after incubation at hyperoxic concentration during four hours in order to mimic surgical conditions. Expression of genes involved in IRI and RIPC pathways was analysed including heat shock proteins (HSPs), toll like receptors (TLRs), transcription factors nuclear factor κ-B (NF- κ-B) and hypoxia inducible factor 1 (HIF-1). The participation of hydrogen sulfide enzymatic genes, apelin and its receptor were explored. There was no significant difference according to group allocation in any of the echocardiographic parameters. There was a tendency for higher cTnI values and inotropic score in control patients post-operatively, however this was not statistically significant. BNP presented no significant difference according to group allocation. Inflammatory parameters tended to be higher in the control group, however only TNF- α was significantly higher. There was no difference in levels of Cystatin C, NO metabolites, cGMP, ADMA or SDMA. RIPC patients required shorter PICU stay, all other clinical and laboratory analysis presented no difference related to the intervention. Gene expression analysis revealed interesting patterns before and after incubation. HSP-60 presented a lower expression at baseline in tissue corresponding to RIPC patients, no other differences were found. This study provided with valuable descriptive information on previously known and newly explored parameters in the study population. Demographic characteristics and the presence of cyanosis before surgery influenced patterns of activity in several parameters, numerous indicators were linked to the degree of injury suffered by the myocardium. RIPC did not reduce markers of cardiac injury or improved echocardiographic parameters and it did not have an effect on end organ function; some effects were seen in inflammatory responses and gene expression analysis. Nevertheless, an important clinical outcome indicator, PICU length of stay was reduced suggesting benefit from the intervention. Larger studies with more statistical power could determine if the tendency of lower injury and inflammatory markers linked to RIPC is real. The present results mostly support findings of larger multicentre trials which have reported no cardiac benefit from RIPC in paediatric cardiac surgery.

Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems

Previous work has shown that robot navigation systems that employ an architecture based upon the idiotypic network theory of the immune system have an advantage over control techniques that rely on reinforcement learning only. This is thought to be a result of intelligent behaviour selection on the part of the idiotypic robot. In this paper an attempt is made to imitate idiotypic dynamics by creating controllers that use reinforcement with a number of different probabilistic schemes to select robot behaviour. The aims are to show that the idiotypic system is not merely performing some kind of periodic random behaviour selection, and to try to gain further insight into the processes that govern the idiotypic mechanism. Trials are carried out using simulated Pioneer robots that undertake navigation exercises. Results show that a scheme that boosts the probability of selecting highly-ranked alternative behaviours to 50% during stall conditions comes closest to achieving the properties of the idiotypic system, but remains unable to match it in terms of all round performance.

Control para sistemas LPV basado en la parametrización de controladores estabilizantes

Este trabajo se enfoca en el estudio del control de sistemas Multi-Entrada Multi-Salida (MIMO) Lineales con Parámetros Variantes en el Tiempo (LPV). Los parámetros son medibles y permanecen dentro de cotas conocidas. El control por retroalimentación de salida garantiza estabilidad cuadrática (QS) y desempeño, mediante el Teorema de los vértices y el Lema de Cota Real (BRL). Se proponen condiciones para que el sistema retroalimentado sea convexo cuando se utilizan controladores estabilizantes en cada vértice. El controlador LPV resulta de la interpolación de estos controladores, y se estudia la relación entre la estabilidad y el desempeño del control de los vértices, y la estabilidad y desempeño del sistema LPV. Además, se da una forma explícita del parámetro libre de la Parametrización de Todos los Controladores Estabilizantes (PTCE) que resuelve un criterio de sensibilidad mezclada cuando se tiene un modelo de incertidumbre aditivo a la salida. Los resultados se aplican a un robot planar rotacional de dos grados de libertad, a un motor de CD y a un sistema de dos masas.

CLARK - Smart Clinic Assistant Robot for CGA

En esta presentación se exponen la arquitectura general y el estado actual de desarrollo del sistema CLARK. Dicho sistema tiene como objetivo el despliegue de un asistente robótico para ayudar a un médico en la realización de procedimientos CGA (Comprehensive Geriatric Assessment), de forma que ciertas tareas, tales como la realización de cuestionarios o pruebas de movimiento, puedan ser realizadas por el robot de forma paralela al resto del procedimiento CGA, aumentando así su eficiencia.

An assisted navigation method for telepresence robots

Telepresence robots have emerged as a new means of interaction in remote environments. However, the use of such robots is still limited due to safety and usability issues when operating in human-like environments. This work addresses these issues by enhancing the robot navigation through a collaborative control method that assists the user to negotiate obstacles. The method has been implemented in a commercial telepresence robot and a user study has been conducted in order to test the suitability of our approach.

Adaptive edge analytics for distributed networked control of water systems

Over the last decade, there has been a trend where water utility companies aim to make water distribution networks more intelligent in order to improve their quality of service, reduce water waste, minimize maintenance costs etc., by incorporating IoT technologies. Current state of the art solutions use expensive power hungry deployments to monitor and transmit water network states periodically in order to detect anomalous behaviors such as water leakage and bursts. However, more than 97% of water network assets are remote away from power and are often in geographically remote underpopulated areas, facts that make current approaches unsuitable for next generation more dynamic adaptive water networks. Battery-driven wireless sensor/actuator based solutions are theoretically the perfect choice to support next generation water distribution. In this paper, we present an end-to-end water leak localization system, which exploits edge processing and enables the use of battery-driven sensor nodes. Our system combines a lightweight edge anomaly detection algorithm based on compression rates and an efficient localization algorithm based on graph theory. The edge anomaly detection and localization elements of the systems produce a timely and accurate localization result and reduce the communication by 99% compared to the traditional periodic communication. We evaluated our schemes by deploying non-intrusive sensors measuring vibrational data on a real-world water test rig that have had controlled leakage and burst scenarios implemented.

Flexible Power Control of Photovoltaic Plants Connected to Distribution Networks

This paper presents a system to control the power injected by a photovoltaic (PV) plant on the receiving network. This control is intended to mitigate some of the negative impacts that these units may produce on such networks, while increasing the installed power of the plant. The controlled parameters are the maximum allowed value of injected active power and the corresponding power factor, whose setpoints values may be fixed or dynamic. The developed system allows a local and a remote control. The injected power and the corresponding power factor may be set by following a predetermined profile or by real time adjustments to fulfill specific operation constraints on the receiving network. The system acts by adjusting the control parameters on the PV inverters. The main goal of the system is, in the end, to control the PV plant, ensuring the accomplishment of technical constraints and, at the same time, maximizing the installed power of the PV plant, which may be an important issue concerning the economic performance of such plants

An internet-based control engineering laboratory

This paper presents LABNET, an internet-based remote laboratory for control engineering education developed at UEM-University. At present, the remote laboratory integrates three basic physical systems (level control, temperature control and ship stabilizing system). In this paper, the LABNET architecture is presented and discussed in detail. Issues concerned with concurrent user access, local or remote feedback, automatic report generating and reusing of experiment’s templates have been addressed. Furthermore, the experiences gained developing, testing and using the system will be also presented and their consequences for future design.

Irrigation management with remote sensing: Evaluating irrigation requirement for maize under Mediterranean climate condition

tWater use control methods and water resources planning are of high priority. In irrigated agriculture, theright way to save water is to increase water use efficiency through better management. The present workvalidates procedures and methodologies using remote sensing to determine the water availability in thesoil at each moment, giving the opportunity for the application of the water depth strictly necessaryto optimise crop growth (optimum irrigation timing and irrigation amount). The analysis is applied tothe Irrigation District of Divor, Évora, using 7 experimental plots, which are areas irrigated by centre-pivot systems, cultivated to maize. Data were determined from images of the cultivated surface obtainedby satellite and integrated with atmosphere and crop parameters to calculate biophysical indicatorsand indices of water stress in the vegetation—Normalized Difference Vegetation Index (NDVI), Kc, andKcb. Therefore, evapotranspiration (ETc) was estimated and used to calculate crop water requirement,together with the opportunity and the amount of irrigation water to allocate. Although remote sensingdata available from satellite imagery presented some practical constraints, the study could contribute tothe validation of a new methodology that can be used for irrigation management of a large irrigated area,easier and at lower costs than the traditional FAO recommended crop coefficients method. The remotesensing based methodology can also contribute to significant saves of irrigation water.