Localização de um robô móvel usando odometria e marcos naturais

Several methods of mobile robot navigation request the mensuration of robot position and orientation in its workspace. In the wheeled mobile robot case, techniques based on odometry allow to determine the robot localization by the integration of incremental displacements of its wheels. However, this technique is subject to errors that accumulate with the distance traveled by the robot, making unfeasible its exclusive use. Other methods are based on the detection of natural or artificial landmarks present in the environment and whose location is known. This technique doesnt generate cumulative errors, but it can request a larger processing time than the methods based on odometry. Thus, many methods make use of both techniques, in such a way that the odometry errors are periodically corrected through mensurations obtained from landmarks. Accordding to this approach, this work proposes a hybrid localization system for wheeled mobile robots in indoor environments based on odometry and natural landmarks. The landmarks are straight lines de.ned by the junctions in environments floor, forming a bi-dimensional grid. The landmark detection from digital images is perfomed through the Hough transform. Heuristics are associated with that transform to allow its application in real time. To reduce the search time of landmarks, we propose to map odometry errors in an area of the captured image that possesses high probability of containing the sought mark

Modelagem linear e identificação do modelo dinâmico de um robô móvel com acionamento diferencial

This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot

S-Educ: Um Simulador de Ambiente de Robótica Educacional em Plataforma Virtual

We propose a robotics simulation platform, named S-Educ, developed specifically for application in educational robotics, which can be used as an alternative or in association with robotics kits in classes involving the use of robotics. In the usually known approach, educational robotics uses robotics kits for classes which generally include interdisciplinary themes. The idea of this work is not to replace these kits, but to use the developed simulator as an alternative, where, for some reason, the traditional kits cannot be used, or even to use the platform in association with these kits. To develop the simulator, initially, we conducted research in the literature on the use of robotic simulators and robotic kits, facing the education sector, from which it was possible to define a set of features considered important for creating such a tool. Then, on the software development phase, the simulator S-Educ was implemented, taking into account the requirements and features defined in the design phase. Finally, to validate the platform, several tests were conducted with teachers, students and lay adults, in which it was used the simulator S-Educ, to evaluate its use in educational robotics classes. The results show that robotic simulator allows a reduction of financial costs, facilitate testing and reduce robot damage inherent to its use, in addition to other advantages. Furthermore, as a contribution to the community, the proposed tool can be used to increase adhesion of Brazilian schools to the methodologies of educational robotics or to robotics competitions

Ambiente de desenvolvimentoweb multiplataforma configurável para robótica educacional

We propose an online configurable multiplatform development environment specifically developed for educational robotics applications. The environment, which appears as an extension of RoboEduc software, allows the programming of several programmable robots to be performed using the R-Educ language. We make it possible for the user to program in the language R-Educ and then translate the code to a language previously registered, compiled and then sent or executed by the robot. To develop this work, we conducted a bibliographic research about the main programming languages used in robotics, as well as their definitions and paradigms, from which it was possible to define a set of patterns considered important for the creation of this environment. Then, in the software development phase, we implemented the development environment, bearing in mind the requirements and functionality defined in the design phase. Finally, to validate the platform, we conducted some trials of programming languages and verificate if the complete cycle was satisfied - registration of language, programming in R-Educ, compilation for the registered language, compilation to the machine code and send the code for the robot

Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Nietzsche e Rosset: alegria, impulso à criação

Understood in a project of transvaluation of values, the joy is one of the central themes of the thought of Friedrich Nietzsche and Clément Rosset. Opposed to the dogmatic philosophy that moralize and robs your strength to think of it as "happiness", evaluated, in short, a target linked to virtue and rationality these thinkers propose a perspective that makes the joy of point to an instance extraterrestrial and back to the earth, to the body. In this vein, beyond the oppositions of values constitutive of metaphysics dogmatic, the joy and suffering are conceived as elements that are not mutually exclusive, they are complementary as foundations of a gaia(ta) science, based in laughter and friendship. Contents of a tragic wisdom that leads to an unconditional fidelity to the real (expressed in formulas of amor fati Nietzsche and unrestricted approval of existence Rosset), the joy is then interview as vital impulse, the force majeure, the strength plastic encourages artistic creation: the joy of children playing

Modelagem e simulação das juntas de um manipulador robótico cilíndrico

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)

Detecção automática de rastros de Dust Devils na superfície de Marte

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Projeto e construção de um robô móvel AGV/ROV não-holonômico com habilidade para navegação autônoma do tipo wall-following

Esta dissertação de mestrado apresenta o projeto e a construção de um robô móvel terrestre denominado LOGBOT, com tração de movimento do tipo diferencial – com duas rodas motoras e uma roda livre para manter a estabilidade de sua estrutura em relação à superfície. O controle do robô dispõe dos modos de telemetria e autônomo. No modo de controle por telemetria (ROV), a comunicação do robô com a estação de controle é feita por radiofreqüência a uma distância de até um quilometro em ambientes externos, e até cem metros em ambientes internos. No modo de controle autônomo (AGV), o robô tem habilidade para navegar em ambientes internos e desconhecidos usando sempre a parede à sua esquerda como referência para a trajetória de seu movimento. A seqüência de movimentos para execução da trajetória é enviada para a estação de controle que realiza análises de desempenho do robô. Para executar suas tarefas no modo autônomo, a programação do robô conta com um agente inteligente reativo, que detecta características do ambiente (obstáculos, final de paredes, etc.) e decide sobre qual atitude deve ser executada pelo robô, com objetivo de contornar os obstáculos e controlar a velocidade de suas rodas. Os problemas de erro odométrico e suas correções com base no uso de informações sensoriais externas são devidamente tratados. Técnicas de controle hierárquico do robô como um todo e controle em malha fechada da velocidade das rodas do robô são usadas. Os resultados mostraram que o robô móvel LOGBOT é capaz de navegar, com estabilidade e precisão, em ambientes internos no formato de um corredor (wall following).

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)

Projeto e desenvolvimento de robô cartesiano de baixo custo para manipulação de produtos em linhas de média cadência

Pós-graduação em Engenharia Elétrica - FEB

O Método de Kane aplicado a um modelo de corpo humano para obtenção da pressão intradiscal na coluna lombar

Nos últimos anos tem surgido vários métodos para se estudar sistemas multicorpos. A vantagem destes métodos é a obtenção das equações do movimento de forma mais fácil e precisa. Robôs, manipuladores, mecanismos, satélites, máquinas em geral e sistemas biomcânicos, pelas suas características, podem ser vantajosamente tratados por formalismo multicorpo, mas precisamente, o método de Kane a um modelo do corpo humano, com a finalidade de se determinar a pressão intradiscal entre as vértebras L4/L5 da coluna lombar, em algumas atividades normais de vida diária, como: sentar, abaixar, pegar e elevar cargas, realizar movimentos de flexão e extensão. Pretendeu-se, também obter os esforços internos nas diversas articulações deste modelo. A pressão intradiscal representa um parâmetro importante para caracterizar a sobrecarga na coluna, podendo ter relação com a degeneração do disco intervertebral, o que produz muita dor em indivíduos. Inicialmente, o modelo foi proposto e o método de Kane foi aplicado para se obter as equações do movimento. Para resolvê-las, foi necessário realiza a filmagem de um sujeito realizando as atividades citadas, a fim de se obter as equações das trajetórias dos diversos segmentos do corpo humano. Após a simulação, os parâmetros desejados foram obtidos e comparados com valores experimentais citados na literatura.

Atividades com robótica educacional para as aulas de matemática do 6. ao 9. ano do ensino fundamental: utilização da metodologia LEGO® Zoom Education

Pós-graduação em Matemática - IBILCE