Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo

BRITTO, Ricardo S.; MEDEIROS, Adelardo A. D.; ALSINA, Pablo J. Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo. In: SIMPÓSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE,8., 2007, Florianópolis. Anais... Florianópolis: SBAI, 2007.

Progetto di un'applicazione mobile per il controllo remoto di funzionalità hardware e software su piattaforma Raspberry

In questa tesi si è progettata una applicazione Android che permettesse di controllare da remoto funzionalità hardware e software offerte da una piattaforma Raspberry Pi. Si sono infine svolte alcune misure atte a testare le performance di rete di questa scheda.

Online Alpha Wave detector: an Embedded hardware-software implementation

The recent trend on embedded system development opens a new prospect for applications that in the past were not possible. The eye tracking for sleep and fatigue detection has become an important and useful application in industrial and automotive scenarios since fatigue is one of the most prevalent causes of earth-moving equipment accidents. Typical applications such as cameras, accelerometers and dermal analyzers are present on the market but have some inconvenient. This thesis project has used EEG signal, particularly, alpha waves, to overcome them by using an embedded software-hardware implementation to detect these signals in real time

Creating reusable well-structured pdf as a sequence of component object graphic (cog) elements

Portable Document Format (PDF) is a page-oriented, graphically rich format based on PostScript semantics and it is also the format interpreted by the Adobe Acrobat viewers. Although each of the pages in a PDF document is an independent graphic object this property does not necessarily extend to the components (headings, diagrams, paragraphs etc.) within a page. This, in turn, makes the manipulation and extraction of graphic objects on a PDF page into a very difficult and uncertain process. The work described here investigates the advantages of a model wherein PDF pages are created from assemblies of COGs (Component Object Graphics) each with a clearly defined graphic state. The relative positioning of COGs on a PDF page is determined by appropriate "spacer" objects and a traversal of the tree of COGs and spacers determines the rendering order. The enhanced revisability of PDF documents within the COG model is discussed, together with the application of the model in those contexts which require easy revisability coupled with the ability to maintain and amend PDF document structure.

Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo

BRITTO, Ricardo S.; MEDEIROS, Adelardo A. D.; ALSINA, Pablo J. Uma arquitetura distribuída de hardware e software para controle de um robô móvel autônomo. In: SIMPÓSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE,8., 2007, Florianópolis. Anais... Florianópolis: SBAI, 2007.

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.

From Hardware Processes to asynchronous circuits via petri nets: An Application to Arbiter Design

International audience

Re-viewing history: antiquaries, the graphic arts and Scotland's lost geographies, c.1660-1820

This thesis examines topographical art depicting Scotland’s natural scenery and built environments, architecture, antiquities and signs of modern improvement, made during the period 1660 to 1820. It sets out to demonstrate that topography and topographical art was not exclusively antiquarian in nature, but ranged across various fields of learning and practice. It included the work of artists, geographers, cartographers, travel writers, poets, landscape gardeners, military surveyors, naturalists and historians who were concerned with representing the country’s varied, and often contentious, histories within an increasingly modernising present. The visual images that are considered here were forms of knowledge that found expression in drawings, paintings and engravings, elevations, views and plans. They were made on military surveys and picturesque tours, and were often intended to be included alongside written texts, both published and unpublished, frequently connecting with travels, tours, memoirs, essays and correspondence. It will also be argued that topography was a social practice, involving networks of artists, collectors, publishers and writers, who exchanged information in drawings and letters in a nationwide, and often increasingly commercial enterprise. This thesis will explore some of the strands of such a vast network of picture-making that existed in Scotland, and Britain, between 1660 and 1820, as visual images were circulated, copied, recycled and adapted, and topographical and antiquarian visual culture emerges as a complex, synoptic form of inquiry.

Early analysis of fault-attack effects for cryptographic hardware

International audience

Das Mobile Hardware-Praktikum

Im Rahmen der wissenschaftlichen Ausbildung sind Praktika vielerorts ein wichtiger Bestandteil der Lehre. Sie zeichnen sich im Regelfall dadurch aus, dass die Studierenden die gestellten Versuche an speziell ausgestatteten Laborplätzen durchführen, was neben extrem hohen Kosten zu einer Begrenzung der maximalen Teilnehmerzahl führt. In diesem Zusammenhang scheint es auf den ersten Blick nicht möglich, Konzepte einer Virtuellen Universität umzusetzen, da die Studierenden „vor Ort“ sein müssen. In diesem Dokument stellen wir das so genannte Mobile Hardware-Praktikum vor, das den Studierenden die Teilnahme zu jeder Zeit und von jedem beliebigen Ort aus erlaubt und dennoch ein Gefühl der Präsenz im Labor vermittelt. Gleichzeitig kann weit mehr als 100 Studierenden die Teilnahme ermöglicht werden. Erreicht wird dies durch ein speziell für diesen Zweck entwickeltes webbasiertes Learning Management System in Kombination mit Hardware-Komponenten, die einem voll ausgestatteten Labor-Arbeitsplatz entsprechen und den Teilnehmern für die Zeit des Praktikums auf Leihbasis zur Verfügung gestellt werden. Die Experimente werden von den teilnehmenden Gruppen in Eigenregie gelöst und elektronisch abgegeben. Die Bewertung erfolgt ebenfalls elektronisch.(DIPF/Orig.)

Minimalist Hardware Architectures for Agent Tracking and Guidance

The philosophy of minimalism in robotics promotes gaining an understanding of sensing and computational requirements for solving a task. This minimalist approach lies in contrast to the common practice of first taking an existing sensory motor system, and only afterwards determining how to apply the robotic system to the task. While it may seem convenient to simply apply existing hardware systems to the task at hand, this design philosophy often proves to be wasteful in terms of energy consumption and cost, along with unnecessary complexity and decreased reliability. While impressive in terms of their versatility, complex robots such as the PR2 (which cost hundreds of thousands of dollars) are impractical for many common applications. Instead, if a specific task is required, sensing and computational requirements can be determined specific to that task, and a clever hardware implementation can be built to accomplish the task. Since this minimalist hardware would be designed around accomplishing the specified task, significant reductions in hardware complexity can be obtained. This can lead to huge advantages in battery life, cost, and reliability. Even if cost is of no concern, battery life is often a limiting factor in many applications. Thus, a minimalist hardware system is critical in achieving the system requirements. In this thesis, we will discuss an implementation of a counting, tracking, and actuation system as it relates to ergodic bodies to illustrate a minimalist design methodology.

Graphic satire and the rise and fall of the First British Empire: political prints from the Seven Years' War to the Treaty of Paris, c. 1756-1783

This thesis examines the early stages of the transformation of emblematic political prints into political caricature from the beginning of the Seven Years' War (1756) to the Treaty of Paris, which ended the American Revolutionary War (1783). Both contextual and iconographical issues are investigated in relation to the debates occasioned by Britain's imperial project, which marked a period of dramatic expansion during the Seven Years' War, and ended with the loss of the American colonies, consequently framing this thesis as a study of political prints during the rise and fall of the so-called 'First British Empire'. Previous studies of eighteenth-century political prints have largely ignored the complex and lengthy evolutionary process by which the emblematic mode amalgamated with caricatural representation, and have consequently concluded that political prints excluded emblems entirely by the end of the 1770s. However, this study emphasizes the significance of the Wilkite movement for the promotion and preservation of emblems, and investigates how pictorial political argument was perceived and received in eighteenth-century British society, arguing that wider tastes and opinions regarding the utilization of political prints gradually shifted to accept both modes of representation. Moreover, the marketplace, legal status, topicality, and manufacturing methods of political prints are analyzed in terms of understanding the precarious nature of their consumption and those that endeavoured to engage in political printmaking. The evolution, establishment, and subsequent appropriation of pictorial tropes is discussed from the early modern period to the beginning of the so-called Golden Age of caricature, while tracing the adaptation of representational models in American colonial prints that employed emblems already entrenched in British pictorial political debate. Political prints from the two largest print collections, the British Museum and the Lewis Walpole Library at Yale are consulted, along with a number of eighteenth-century newspapers and periodicals, to develop the earlier research by M. Dorothy George, Charles Press, Herbert Atherton, Diana Donald, Amelia Rauser, and Eirwen Nicholson.

Criteria for graphic representation in musical scores: Visual elements in musical scores

A interdisciplinaridade entre a música e as artes visuais tem sido explorado por conceituados teóricos e filósofos, embora não exista muito na área da interpretação visual do grafismo de partituras musicais. Este estudo investiga como os grafismos na notação e símbolos musicais afectam o intérprete na sua transformação em som, com referência especial a partituras contemporâneas, que utilizam notação menos convencional para a criação de uma interpretação por sugestão. Outras relações entre o som e o visual são exploradas, incluindo a sinestesia, a temporalidade e a relação entre obra de arte e público. O objectivo desta dissertação é a de constituir um estudo inovativo sobre partituras musicais contemporâneas, simultaneamente do ponto de vista musical e visual. Finalmente, também vai mais longe, incluindo desenhos da própria autora inspirados e motivados pela música. Estes já não cumprem uma função de notação convencional para o músico, embora existe uma constante possibilidade de uma reinterpretação. ABSTRACT; The inter-disciplinarity between music and visual art has been explored by leading theorists and philosophers, though very little exists in the area of the visual interpretation of graphic musical scores. This study looks at how the graphics of musical notation and symbols affect the performer in transforming them into sound, with particular reference to contemporary scores that use non¬conventional notation to create an interpretation through suggestion. Other sound-visual relationships are explored, including synaesthesia, temporality and the interconnection between work of art and audience or public. This dissertation aims to be an innovative study of contemporary musical scores, from a musical as well as visual perspective. Finally, it takes a step further with drawings of my own, directly inspired and motivated by the music. These no longer fulfil a conventionally notational function for the musician, yet the potential for a re-interpretation is ever-present.