A survey of control architectures for autonomous mobile robots

MEDEIROS, Adelardo A. D.A survey of control architectures for autonomous mobile robots. J. Braz. Comp. Soc., Campinas, v. 4, n. 3, abr. 1998 .Disponível em: Acesso: 27 set. 2010.

Pose estimation of a humanoid robot using images from a mobile external camera

NOGUEIRA, Marcelo B. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. Pose Estimation of a Humanoid Robot Using Images from an Mobile Extern Camera. In: IFAC WORKSHOP ON MULTIVEHICLE SYSTEMS, 2006, Salvador, BA. Anais... Salvador: MVS 2006, 2006.

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.

Desenvolvimento de um ambiente para projeto de controladores fuzzy para dispositivos móveis

Fuzzy intelligent systems are present in a variety of equipment ranging from household appliances to Fuzzy intelligent systems are present in a variety of equipment ranging from household appliances to small devices such as digital cameras and cell phones being used primarily for dealing with the uncertainties in the modeling of real systems. However, commercial implementations of Fuzzy systems are not general purpose and do not have portability to different hardware platforms. Thinking about these issues this work presents the implementation of an open source development environment that consists of a desktop system capable of generate Graphically a general purpose Fuzzy controller and export these parameters for an embedded system with a Fuzzy controller written in Java Platform Micro Edition To (J2ME), whose modular design makes it portable to any mobile device that supports J2ME. Thus, the proposed development platform is capable of generating all the parameters of a Fuzzy controller and export it in XML file, and the code responsible for the control logic that is embedded in the mobile device is able to read this file and start the controller. All the parameters of a Fuzzy controller are configurable using the desktop system, since the membership functions and rule base, even the universe of discourse of the linguistic terms of output variables. This system generates Fuzzy controllers for the interpolation model of Takagi-Sugeno. As the validation process and testing of the proposed solution the Fuzzy controller was embedded on the mobile device Sun SPOT ® and used to control a plant-level Quanser®, and to compare the Fuzzy controller generated by the system with other types of controllers was implemented and embedded in sun spot a PID controller to control the same level plant of Quanser®

A Beam Search Method to Solve the Problem of Assignment Cells to Switches in a Cellular Mobile Network

Assigning cells to switches in a cellular mobile network is known as an NP-hard optimization problem. This means that the alternative for the solution of this type of problem is the use of heuristic methods, because they allow the discovery of a good solution in a very satisfactory computational time. This paper proposes a Beam Search method to solve the problem of assignment cell in cellular mobile networks. Some modifications in this algorithm are also presented, which allows its parallel application. Computational results obtained from several tests confirm the effectiveness of this approach and provide good solutions for large scale problems.

Mobile interact: uma ferramenta de auxílio didático proporcionando interação entre professores e alunos através de celulares

Education is one of the oldest activities practiced by man, but today it is still performed often without creating dialogues and discussions among all those involved, and students are passives agents without interactivity with teachers and the content approached. This work presents a tool used for providing interactivity in educational environments using cell phones, in this way, teachers can use technology to assist in process of education and have a better evaluation of students. The tool developed architecture is shown, exposing features of wireless communication technologies used and how is the connection management using Bluetooth technology, which has a limited number of simultaneous connections. The details of multiple Bluetooth connections and how the system should behave by numerous users are displayed, showing a comparison between different methods of managing connections. Finally, the results obtained with the use of the tool are presented, followed by the analysis of them and a conclusion on the work

BMMobile: uma linha de produtos para dimensionamento de bombeio mecânico em dispositivos móveis

With the increase of processing ability, storage and several kinds of communication existing such as Bluetooth, infrared, wireless networks, etc.., mobile devices are no longer only devices with specific function and have become tools with various functionalities. In the business field, the benefits that these kinds of devices can offer are considerable, because the portability allows tasks that previously could only be performed within the work environment, can be performed anywhere. In the context of oil exploration companies, mobile applications allow quick actions could be taken by petroleum engineers and technicians, using their mobile devices to avoid potential catastrophes like an unexpected stop or break of important equipment. In general, the configuration of equipment for oil extraction is performed on the work environment using computer systems in desktop platforms. After the obtained configuration, an employee goes to equipment to be configured and perform the modifications obtained on the use desktop system. This management process equipment for oil extraction takes long time and does not guarantee the maintenance in time to avoid problems. With the use of mobile devices, management and maintenance of equipment for oil extraction can be performed in a more agile time once it enables the engineer or technician oil can perform this configuration at the time and place where the request comes for example, near in the oil well where the equipment is located. The wide variety of mobile devices creates a big difficulty in developing mobile applications, since for one application can function in several types of devices, the application must be changed for each specific type of device, which makes the development quite costly. This paper defines and implements a software product line for designing sucker-rod pumping systems on mobile devices. This product line of software, called BMMobile, aims to produce products that are capable of performing calculations to determine the possible configurations for the equipment in the design suckerrod pumping, and managing the variabilities of the various products that can be generated. Besides, this work performs two evaluations. The first evaluation will verify the consistency of the products produced by the software product line. The second evaluation will verify the reuse of some products generated by SPL developed

Reducing the gap between mobile and intelligent software agents

This paper presents an approach to integrate an artificial intelligence (AI) technique, concretely rule-based processing, into mobile agents. In particular, it focuses on the aspects of designing and implementing an appropriate inference engine of small size to reduce migration costs. The main goal is combine two lines of agent research, First, the engineering oriented approach on mobile agent architectures, and, second, the AI related approach on inference engines driven by rules expressed in a restricted subset of first-order predicate logic (FOPL). In addition to size reduction, the main functions of this type of engine were isolated, generalized and implemented as dynamic components, making possible not only their migration with the agent, but also their dynamic migration and loading on demand. A set of classes for representing and exchanging knowledge between rule-based systems was also proposed.

Paraconsistent Autonomous Mobile Robot Emmy III

This work presents some improvements regarding to the autonomous mobile robot Emmy based on Paraconsistent Annotated Evidential Logic ET. A discussion on navigation system is presented.

Development of a low-cost mobile mapping system: A South American experience

This paper presents the prototype of a low-cost terrestrial mobile mapping system (MMS) composed of a van, two digital video cameras, two GPS receivers, a notebook computer, and a sound frame synchronisation system. The imaging sensors are mounted as a stereo video camera on top of the vehicle together with the GPS antennae. The GPS receivers and the notebook computer are configured to record data referred to the vehicle position at a planned time interval. This position is subsequently transferred to the road images. This set of equipment and methods provide the opportunity to merge distinct techniques to make topographic maps and also to build georeferenced road image databases. Both vector maps and raster image databases, when integrated appropriately, can give spatial researchers and engineers a new technique whose application may realise better planning and analysis related to the road environment. The experimental results proved that the MMS developed at the São Paulo State University is an effective approach to inspecting road pavements, to map road marks and traffic signs, electric power poles, telephone booths, drain pipes, and many other applications important to people's safety and welfare. A small number of wad images have already been captured by the prototype as a consequence of its application in distinct projects. An efficient organisation of those images and the prompt access to them justify the need for building a georeferenced image database. By expanding it, both at the hardware and software levels, it is possible for engineers to analyse the entire road environment on their office computers.

Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.