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.

Use of myoelectric signals to command mobile entertainment robot by disabled children: Design and control architecture

Severely disabled children have little chance of environmental and social exploration and discovery. This lack of interaction and independency may lead to an idea that they are unable to do anything by themselves. In an attempt to help children in this situation, educational robotics can offer and aid, once it can provide them a certain degree of independency in the exploration of environment. The system developed in this work allows the child to transmit the commands to a robot through myoelectric and movement sensors. The sensors are placed on the child's body so they can obtain information from the body inclination and muscle contraction, thus allowing commanding, through a wireless communication, the mobile entertainment robot to carry out tasks such as play with objects and draw. In this paper, the details of the robot design and control architecture are presented and discussed. With this system, disabled children get a better cognitive development and social interaction, balancing in a certain way, the negative effects of their disabilities. © 2012 IEEE.

The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Computational tool to support design of DAC Converter model AD7528 with the object code in XML

Based on literature review, electronic systems design employ largely top-down methodology. The top-down methodology is vital for success in the synthesis and implementation of electronic systems. In this context, this paper presents a new computational tool, named BD2XML, to support electronic systems design. From a block diagram system of mixed-signal is generated object code in XML markup language. XML language is interesting because it has great flexibility and readability. The BD2XML was developed with object-oriented paradigm. It was used the AD7528 converter modeled in MATLAB / Simulink as a case study. The MATLAB / Simulink was chosen as a target due to its wide dissemination in academia and industry. From this case study it is possible to demonstrate the functionality of the BD2XML and make it a reflection on the design challenges. Therefore, an automatic tool for electronic systems design reduces the time and costs of the design.

Improvement and evaluation of the MS2SV for mixed systems design described in abstraction high level

This paper presents an important improvement of the MS2SV tool. The MS2SV performs the translation of mixed systems developed in MATLAB / Simulink for a structural or behavioral description in VHDL-AMS. Previously, the MS2SV translated only models of the LIB MS2SV library. This improvement allows designer to create your own library to translation. As case study was used a rudder controller employed in an unmanned aerial vehicle. For comparison with the original model the VHDL-AMS code obtained by the translation was simulated in SystemVision environment. The results proved the efficiency of the tool using the translation improvement proposed in this paper.

A brazilian ergonomic human-robot interface case

Brazilian and foreign companies operating in Brazil in the last 30 years have been using automated productive resources, especially robots. These 3 decades doesńt seem to have been enough to develop in the actors involved with robots an adequate professional awareness. If we consider the predictive security and ergonomic aspects involved, we notice that there are critical failures on handling these situations. So in this study we tried to observe the presence of the human being in some workstations that operate with robots in the Brazilian Southeastern region. © (2013) Trans Tech Publications, Switzerland.

Laboratório remoto de qualidade da energia elétrica em ambiente virtual

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Navegação de robôs em ambientes internos usando slam

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Protótipo de sistema automotor para cadeira de rodas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Desenvolvimento de um sistema de navegação baseado em máquina de vetores de suporte para dirigibilidade de um robô móvel por caminhos em plantações

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Mindware semiótico-comunicativo: campos conceituais no ensino de física para deficientes visuais utilizando uma interface cérebro-computador

Pós-graduação em Educação para a Ciência - FC

Aspectos ergonômicos e de segurança no uso dos autômatos: estudo de caso nas regiões sul fluminense e vale do Paraíba

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Desenvolvimento de uma plataforma aberta de robô móvel para propósitos gerais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Comparing support vector machines and artificial neural networks in the recognition of steering angle for driving of mobile robots through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by pre-processing them to extract image features. Such features are then submitted to a support vector machine and an artificial neural network in order to find out the most appropriate route. A comparison of the two approaches was performed to ascertain the one presenting the best outcome. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine and of an artificial neural network, which so far presented respectively around 93% and 90% accuracy in predicting the appropriate route. (C) 2013 The Authors. Published by Elsevier B.V. Selection and peer review under responsibility of the organizers of the 2013 International Conference on Computational Science

The importance of sensing one's movement in the world for the sense of personal identity

Within philosophy and cognitive science, the focus in relation to the problem of personal identity has been almost exclusively on the brain. We submit that the resulting neglect of the body and of bodily movements in the world has been detrimental in understanding how organisms develop a sense of identity. We examine the importance of sensing one’s own movements for the development of a basic, nonconceptual sense of self. More specifically, we argue that the origin of the sense of self stems from the sensitivity to spontaneous movements. Based on this, the organism develops a sense of “I move” and, finally, a sense of “I can move”. Proprioception and kinesthesis are essential in this development. At the same time, we argue against the traditional dichotomy between so-called external and internal senses, agreeing with Gibson that perception of the self and of the environment invariably go together. We discuss a traditional distinction between two aspects of bodily self: the body sense and the body image. We suggest that they capture different aspects of the sense of self. We argue that especially the body sense is of great importance to our nonconceptual sense of self. Finally, we attempt to draw some consequences for research in cognitive science, specifically in the area of robotics, by examining a case of missing proprioception. We make a plea for robots to be equipped not just with external perceptual and motor abilities but also with a sense of proprioception. This, we submit, would constitute one further step towards understanding creatures acting in the world with a sense of themselves.