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.

O problema de alocação de berços: um estudo das heurísticas simulated annealing e algoritmo genético

Este trabalho apresenta um estudo de caso das heurísticas Simulated Annealing e Algoritmo Genético para um problema de grande relevância encontrado no sistema portuário, o Problema de Alocação em Berços. Esse problema aborda a programação e a alocação de navios às áreas de atracação ao longo de um cais. A modelagem utilizada nesta pesquisa é apresentada por Mauri (2008) [28] que trata do problema como uma Problema de Roteamento de Veículos com Múltiplas Garagens e sem Janelas de Tempo. Foi desenvolvido um ambiente apropriado para testes de simulação, onde o cenário de análise foi constituido a partir de situações reais encontradas na programação de navios de um terminal de contêineres. Os testes computacionais realizados mostram a performance das heurísticas em relação a função objetivo e o tempo computacional, a m de avaliar qual das técnicas apresenta melhores resultados.

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 However, when robot size shrinks down, current approaches to achieve the necessary functions are no longer valid.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.

Localização em espaços interiores por luz visível para robôs móveis

Esta dissertação investiga a localização em espaços interiores através da comunicação por luz visível para robôs móveis, com base nos LEDs fixos nos edifícios, dando particular atenção à simulação e desenho do sensor, com vista ao desenvolvimento de um sensor de localização. Explica-se o crescimento da tecnologia LED e da constante necessidade de localização do homem em espaços interiores. Apresentado algumas características do LED e dos foto-detetores existentes. Com uma breve referencia a algumas das comunicações por luz visível de baixo débito possíveis de implementar. O desenvolvimento do protótipo do sensor inicia-se, principalmente, pela simulação de alguns dispositivos essenciais e das suas caraterísticas, como o emissor LED no controlo do ^angulo de meia potência (HPA) e a altura a que se encontra, e no recetor foto-díodo e a sua restrição de campo de visão (FOV). Simula-se o sensor pretendido com o número de foto-díodos necessários otimizando o espaço físico disponível e fazendo não só um refinamento no FOV mas também na distribuição espacial dos foto-díodos com funções predefinidas para a redução de incertezas de decisão de localização do robô. Estes resultados permitiram a construção física do sensor, desde o suporte para os foto-díodos, tendo em conta todas as medidas durante as simulações, e terminando com o desenvolvimento dos sensores e a sua integração completa. O tratamento de dados da leitura dos sinais recebidos do sensor são tratados por um microcontrolador, permitindo calcular parâmetros fundamentais no cálculo da posição. No final, os resultados teóricos bem como os práticos obtidos ao longo do desenvolvimento e possíveis propostas para trabalhos futuros que beneficiam desta investigação

The Impact of a Simulated Clinical Experience on CEGEP Nursing Students’ Perceptions of Self-Efficacy and Achievement

Abstract : Providing high-quality clinical experiences to prepare students for the complexities of the current health-care system has become a challenge for nurse educators. Additionally, there are concerns that the current model of clinical practice is suboptimal. Consequently, nursing programs have explored the partial replacement of traditional in-hospital clinical experiences with a simulated clinical experience. Despite research demonstrating numerous benefits to students following participation in simulation activities, insufficient research conducted within Québec exists to convince the governing bodies (Ordre des infirmières et des infirmiers du Québec, OIIQ; Ministère de L’Éducation supérieur, de la Recherche, de la Science et de la Technologie) to fully embrace simulation as part of nurse training. The purpose of this study was to examine the use of a simulated clinical experience (SCE) as a viable, partial pedagogical substitute for traditional clinical experience by examining the effects of a SCE on CEGEP nursing students’ perceptions of self-efficacy (confidence), and their ability to achieve course objectives. The findings will contribute new information to the current body of research in simulation. The specific case of obstetrical practice was examined. Based on two sections of the Nursing III-Health and Illness (180-30K-AB) course, the sample was comprised of 65 students (thirty-one students from section 0001 and thirty-four students from section 0002) whose mean age was 24.8 years. With two sections of the course available, the opportunity for comparison was possible. A triangulation mixed method design was used. An adapted version of Ravert’s (2004) Nursing Skills for Evaluation tool was utilized to collect data regarding students’ perceptions of confidence related to the nursing skills required for care of mothers and their newborns. Students’ performance and achievement of course objectives was measured through an Objective Structured Clinical Examination (OSCE) consisting of three marked stations designed to test the theoretical and clinical aspects of course content. The OSCE was administered at the end of the semester following completion of the traditional clinical experience. Students’ qualitative comments on the post -test survey, along with journal entries served to support the quantitative scale evaluation. Two of the twelve days (15 hours) allocated for obstetrical clinical experience were replaced by a SCE (17%) over the course of the semester. Students participated in various simulation activities developed to address a range of cognitive, psychomotor and critical thinking skills. Scenarios incorporating the use of human patient simulators, and designed using the Jeffries Framework (2005), exposed students to the care of families and infants during the perinatal period to both reflect and build upon class and course content in achievement of course objectives and program competencies. Active participation in all simulation activities exposed students to Bandura’s four main sources of experience (mastery experiences, vicarious experiences, social persuasion, and physiologic/emotional responses) to enhance the development of students’ self-efficacy. Results of the pre-test and post-test summative scores revealed a statistically significant increase in student confidence in performing skills related to maternal and newborn care (p < .0001) following participation in the SCE. Confidence pre-test and post-test scores were not affected by the students’ section. Skills related to the care of the post-partum mother following vaginal or Caesarean section delivery showed the greatest change in confidence ratings. OSCE results showed a mean total class score (both sections) of 57.4 (70.0 %) with normal distribution. Mean scores were 56.5 (68.9%) for section 0001 and 58.3 (71.1%) for section 0002. Total scores were similar between sections (p =0.342) based on pairwise comparison. Analysis of OSCE scores as compared to students’ final course grade revealed similar distributions. Finally, qualitative analysis identified how students’ perceived the SCE. Students cited gains in knowledge, development of psychomotor skills and improved clinical judgement following participation in simulation activities. These were attributed to the « hands on » practice obtained from working in small groups, a safe and authentic learning environment and one in which students could make mistakes and correct errors as having the greatest impact on learning through simulation.