Disseny d’un comportament en ROS per a mantenir la posició d’un vehicle autònom submarí a partir de referències visuals

En el Centre d'Investigació en Robòtica Submarina (CIRS) de la Universitat de Gironaes disposa de diferents robots submarins els quals utilitzen una arquitectura software anomenada Component Oriented Layered-based Architecture for Autonomy ( COLA2 ), la qual ha estat desenvolupada per estudiants i professors del mateix centre. Per tal de fer aquesta arquitectura més accessible per a professors i estudiant d’altres centres la COLA2 s’està adaptant al Robot Operative System (ROS) que és un framework genèricper al desenvolupament d’aplicacions amb robots. Aquest projecte pretén dissenyar un comportament per al robot Girona500 que estigui desenvolupat dins la versió ROS de l’arquitectura COLA2. El comportament haurà de fer mantenir una determinada posició al robot amb informació visual de la càmera del robot i amb dades de navegació. La tasca de mantenir la posició es de vital importància per a poder realitzar intervencions submarines que requereixen de precisió i, precisament, el medi on es treballa no ajuda

Inteligencia artificial en vehiculo

Desarrollo de un robot seguidor de líneas, en el que se implementan diversas soluciones de las áreas de sistemas embebidos e inteligencia artificial.

Rhodnius barretti, a new species of Triatominae (Hemiptera: Reduviidae) from western Amazonia

Rhodnius barretti , a new triatomine species, is described based on adult specimens collected in rainforest environments within the Napo ecoregion of western Amazonia (Colombia and Ecuador). R. barretti resembles Rhodnius robustus s.l. , but mitochondrial cytochrome b gene sequences reveal that it is a strongly divergent member of the “robustus lineage”, i.e., basal to the clade encompassing Rhodnius nasutus , Rhodnius neglectus , Rhodnius prolixus and five members of the R. robustus species complex. Morphometric analyses also reveal consistent divergence from R. robustus s.l. , including head and, as previously shown, wing shape and the length ratios of some anatomical structures. R. barretti occurs, often at high densities, in Attalea butyracea and Oenocarpus bataua palms. It is strikingly aggressive and adults may invade houses flying from peridomestic palms. R. barretti must therefore be regarded as a potential Trypanosoma cruzi vector in the Napo ecoregion, where Chagas disease is endemic.

Dynamic modelling of an underwater vehicle

Nessie is an Autonomous Underwater Vehicle (AUV) created by a team of students in the Heriot Watt University to compete in the Student Autonomous Underwater Competition, Europe (SAUC-E) in August 2006. The main objective of the project is to find the dynamic equation of the robot, dynamic model. With it, the behaviour of the robot will be easier to understand and movement tests will be available by computer without the need of the robot, what is a way to save time, batteries, money and the robot from water inside itself. The object of the second part in this project is setting a control system for Nessie by using the model

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

Disseny i implementació d'un conjunt de perifèrics de comunicació per a la seva incorporació en nous dissenys hardware del grup de robòtica i visió per computador

El grupo de robòtica i Visió fabricó la tarjeta gráfica MAGCL para el tratamiento de imágenes en tiempo real, en la que se incluyó un conector IDC20 proveniente de parte del bus de datos, de la FPGA que contiene, destinado a futuras aplicaciones. Con este proyecto se quiere aprovechar este conector para la comunicación de la placa con un PC, y se desarrollarán los puertos de comunicación serie RS232 y USB, Universal Serial Bus.El objetivo de este proyecto es establecer la comunicación de la tarjeta gráfica con un PC a través de estos dos tipos de puerto. Una vez conseguida la comunicación, quedan una serie de librerías hardware que pueden ayudar en la realización de futuros proyectos. La placa posee una FPGA (field programable gate array) destinada al desarrollo, pero programando esas librerías sobre otros componentes, se pueden utilizar estos puertos de forma permanente o exclusiva

Using robots to understand social behaviour.

A major challenge in studying social behaviour stems from the need to disentangle the behaviour of each individual from the resulting collective. One way to overcome this problem is to construct a model of the behaviour of an individual, and observe whether combining many such individuals leads to the predicted outcome. This can be achieved by using robots. In this review we discuss the strengths and weaknesses of such an approach for studies of social behaviour. We find that robots-whether studied in groups of simulated or physical robots, or used to infiltrate and manipulate groups of living organisms-have important advantages over conventional individual-based models and have contributed greatly to the study of social behaviour. In particular, robots have increased our understanding of self-organization and the evolution of cooperative behaviour and communication. However, the resulting findings have not had the desired impact on the biological community. We suggest reasons for why this may be the case, and how the benefits of using robots can be maximized in future research on social behaviour.

Territórios de machos, acasalamento, distribuição e relação com plantas em Protomeliturga turnerae (Ducke, 1907) (Hymenoptera, Andrenidae)

Protomeliturga turnerae (Ducke, 1907) represents the monotypic tribe Protomeliturgini (Andrenidae, Panurginae). The species is oligolectic on flowers of Turnera L. (Turneraceae). A survey of bees on flowers of Turneraceae and of material in entomological collections showed that P. turnerae is common and endemic in Northeastern Brazil, occurring from the State of Maranhão to Alagoas. In João Pessoa, Paraíba, we studied the reproductive biology and mating behavior of P. turnerae and its relations to plants. At the study site, the species was univoltine with males emerging 5-8 days before the females. Soon after emergence the males established territories on flowers of Turnera subulata Smith which they occupied during several days. Parts of each territory overlapped with those of 1 to 3 other males. On the average, a territory comprised 124 flowers, 59 being shared with other males. Males showed two mating strategies: patrolling the flowers of T. subulata in which females collected pollen or waiting in a specific flower inside the territory for arriving females. P. turnerae showed multiple mating. On the average, a male mated 7 times a day, each copula lasting 3 to 25 sec. We observed 2 to 3 males attempting to copulate with the same female. At the end of anthesis of T. subulata the males stopped flying activity and remained inside flowers until their closure.

A possible territorial or recognition behavior of Leptoglossus zonatus (Dallas) (Heteroptera, Coreidae)

The coreid Leptoglossus zonatus (Dallas, 1852) is commonly found in corn (Zea mays L.) fields in Brazil, and it has been observed flying and landing on objects or persons near these fields. During January, 1995, this behavior was studied in corn plantations. Results indicated that the bugs concentrated on objects (plastic cylinders traps) introduced into their habitat and that their number increased during the first 24 hs. However, as time passed (8 days), this possible territorial or recognition behavior gradually decreased, and tended to disappear.

Occurrence, biology and behavior of Liogenys fuscus Blanchard (Insecta, Coleoptera, Scarabaeidae) in Aquidauana, Mato Grosso do Sul, Brazil

Due to the importance of some Pleurosticti Scarabaeidae as agricultural pests allied to information absence on the species that occur in Brazilian Central-West region, on studies occurrence, biology and behavior on this group of scarabs were conducted. Biology and behavioral studies started with Liogenys fuscus Blanchard, 1850 (Melolonthinae), a very common species and were developed in Aquidauana, Mato Grosso do Sul. Adult beetles were collected from light traps from February 2005 to January 2007, at the experimental farm of the Universidade Estadual de Mato Grosso do Sul in Aquidauana (UEMS). In the laboratory adults were placed in plastic containers with soil with sprouts of Brachiaria decumbens Stapf (Poaceae). Eggs were transferred to a climatized chamber at 26 ± 1º C with a 12hourlight, 12hour darkness photoperiod cycle. Adult flight activity occurred in August and in September to December from 06:00 pm to 06:00 am, with the largest number of individuals flying from 07:00 to 10:00 pm. Eggs measured 1 x 1.5 mm and were laid individually or in groups in soil chambers; eggs were initially white and became yellow near hatching. The embryonic period lasted 14.3 days; first, second and third instars lasted 28.5, 48.8, and 68.2 days, respectively. The prepupal period lasted 120.2 days and the prepupa stayed inactive in soil. The mean duration of pupal stage was 27.5 days and the mean longevity of adults was 23.6 days. In laboratory the calling behavior between males and females was observed; copulation lasted, in mean, 25 minutes.

Dimensionamento de Pilares Mistos Aço- Betão Segundo a en1994-1-1 Através de uma Aplicação Informática

O presente trabalho debruça-se sobre as estruturas mistas aço-betão, com foco nos pilares mistos e no seu dimensionamento segundo a norma europeia EN1994-1-1 (EC4) [1]. Um pilar misto aço-betão pode definir-se como um elemento de aço, laminado ou composto, que trabalha em conjunto com o betão, podendo as secções serem classificados como revestidas ou preenchidas. Com a crescente evolução das técnicas construtivas, as estruturas mistas aço-betão aparecem como soluções viáveis e seguras, tornando-se numa opção competitiva em relação às soluções tradicionais de betão armado e de aço estrutural. Isto, devido à grande capacidade de carga proporcionada por secções mais reduzidas, à boa relação de rigidez e bom comportamento perante os fenómenos de encurvadura. Com o surgimento da recente norma europeia EC4, não obstante a complexidade das metodologias de verificação da segurança propostas, há uma maior confiança na utilização deste tipo de estrutura por parte dos projetistas. É neste contexto que surge a necessidade de desenvolver ferramentas de cálculo expedito que possam ser utilizadas em gabinete de projeto, salvaguardando todos os aspetos regulamentares de verificação da segurança preconizados no EC4, de que é exemplo o dimensionamento de pilares mistos abordados no presente trabalho. De forma a validar a ferramenta desenvolvida é proposto um caso de estudo, com o objetivo de obter soluções de pilares mistos com dimensões otimizadas, fazendo as verificações previstas no EC4. Os resultados obtidos na ferramenta são comparados com os resultados obtidos através de cálculos analíticos.