Músculos Inteligentes en Robots Biológicamente Inspirados: Modelado, Control y Actuación

Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pertenecen a la clase de materiales inteligentes cuya aplicación más notable en el campo de la robótica se refleja en el uso de actuadores musculares artificiales, ó músculos inteligentes. Estos materiales tienen una estructura cristalina uniforme que cambia radicalmente en función de su temperatura de transición, causando su deformación. Se les denomina materiales inteligentes por la capacidad de recordar su configuración inicial después de recibir dicho estímulo térmico. Este artículo presenta la implementación de un actuador muscular inteligente aplicado en un micro-robot aéreo bio-inspirado tipo murciélago. Esto mamíferos voladores desarrollaron poderosos músculos que se extienden a lo largo de la estructura ósea de las alas, adquiriendo una asombrosa capacidad de maniobra gracias a la capacidad de cambiar la forma del ala durante el vuelo. Replicar este tipo de alas mórficas en un prototipo robótico requiere el análisis de nuevas tecnologías de actuación, abordando los problemas de modelado y control que garanticen la aplicabilidad de este actuador compuesto por fibras musculares de SMAs

PRIM an Open Mobile Robot Platform. Motivation, Present and Future Trends

This paper is focused on the robot mobile platform PRIM (platform robot information multimedia). This robot has been made in order to cover two main needs of our group, on one hand the need for a full open mobile robotic platform that is very useful in fulfilling the teaching and research activity of our school community, and on the other hand with the idea of introducing an ethical product which would be useful as mobile multimedia information point as a service tool. This paper introduces exactly how the system is made up and explains just what the philosophy is behind this work. The navigation strategies and sensor fusion, where machine vision system is the most important one, are oriented towards goal achievement and are the key to the behaviour of the robot

ICTINEUAUV wins the First SAUC-E competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot's core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry

Using petri nets to specify and execute missions for autonomous underwater vehicles

This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

PRIM an Open Mobile Robot Platform. Motivation, Present and Future Trends

This paper is focused on the robot mobile platform PRIM (platform robot information multimedia). This robot has been made in order to cover two main needs of our group, on one hand the need for a full open mobile robotic platform that is very useful in fulfilling the teaching and research activity of our school community, and on the other hand with the idea of introducing an ethical product which would be useful as mobile multimedia information point as a service tool. This paper introduces exactly how the system is made up and explains just what the philosophy is behind this work. The navigation strategies and sensor fusion, where machine vision system is the most important one, are oriented towards goal achievement and are the key to the behaviour of the robot

Using petri nets to specify and execute missions for autonomous underwater vehicles

This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

ICTINEUAUV wins the First SAUC-E competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot's core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

Integració de la posició GPS per fer el control del moviment d'un robot

L’objectiu d’aquest treball és fer un estudi dels diferents tipus de sistemes de posicionament global que hi ha en el mercat, elegir un mòdul receptor assequible per poder analitzar-lo i veure si disposa de les característiques adequades per integrar-lo en un robot autònom d’exploració del projecte Sant Bernardo. S’hauran de fer les anàlisis de la precisió del mòdul en les diferents direccions cardinals, es a dir Nord, Sud, Est, Oest i altura i veure la diferència d’error que hi ha en cada una, veure si la precisió varia molt en diferents situacions, com en cel obert, en sotabosc, costat i interior edificis. A més a més s’haurà de mirar la repetibilitat, la diferencia d’error amb diferentnombre de satèl•lits connectats i si disposa de suficient velocitat de processat per a podar corregir la posició del robot en moviment. Un cop analitzades les característiques del mòdul receptor elegit, es decidirà si aquest ésadequat per fer les correccions de posició del robot, o s’haurà d’adquirir un mòdul de característiques superiors i per tant molt més car per a dura a terme adequadament la correcció de la posició

Manipulator control board

The Mechatronics Research Centre (MRC) owns a small scale robot manipulator called aMini-Mover 5. This robot arm is a microprocessor-controlled, six-jointed mechanical armdesigned to provide an unusual combination of dexterity and low cost.The Mini-Mover-5 is operated by a number of stepper motors and is controlled by a PCparallel port via a discrete logic board. The manipulator also has an impoverished array ofsensors.This project requires that a new control board and suitable software be designed to allow themanipulator to be controlled from a PC. The control board will also provide a mechanism forthe values measured using some sensors to be returned to the PC.On this project I will consider: stepper motor control requirements, sensor technologies,power requirements, USB protocols, USB hardware and software development and controlrequirements (e.g. sample rates).In this report we will have a look at robots history and background, as well as we willconcentrate how stepper motors and parallel port work

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

Open source framework for trucks fleet control (client)

Aquest projecte desenvolupa la part client d'una aplicació per controlar una flota de camions. Està implementada per funcionar sobre un dispositiu mòbil que funcioni amb el sistema operatiu Android.

Utilització del robot mòbil com a eina d'aprenentatge en ensenyaments tècnics

En aquest Projecte de Millora de la Qualitat Docent es descriu el disseny, la construcció i la utilització d’un robot mòbil com a eina docent en titulacions d’Enginyeria. El robot mòbil té com a element de control un PC portàtil convencional per tal de facilitar el procés d’aprenentatge de l’alumnat estigui centrat en l’objectiu de les pràctiques i no en el funcionament i control del robot. A més a més, el robot disposa d’un elevat nombre de sensors i actuadors per tal d’oferir un elevat grau d’interdisciplinaritat.

Gestió de magatzem i control de presència amb dispositiu mòbil

Aplicació per funcionalitats de gestió d'stock d'un magatzem i control de presencia dels operaris que hi treballen amb dispositius mòbils utilitzant tècniques de disseny centrat en l'usuari dintre del paradigme d'interacció humana amb els ordinadors.

Estudi comparatiu de sistemes operatius basats en GNU/Linux per a dispositius mòbils

Aquest treball exposa una comparativa de sistemes operatius basats en GNU/Linux dissenyats per dispositius mòbils. Descriu la situació actual d'aquests sistemes i les possibles tendències futures en el mercat. Així mateix, s'inclou una comparativa tècnica dels sistemes seleccionats i s'explica l'arquitectura de cadascun.