AGVS系统技术应用

本文在分析装配型ＡＧＶＳ系统和运输型ＡＧＶＳ系统的基础上，详细说明ＡＧＶＳ主要技术指标，性能特点和应用原则。同时，结合分析自动导引车的发展历史，说明自动导引车系统的应用领域，分析推测自动导引车的发展前景。

全方位装配型AGV的工程应用

自动导引车(Automated Guided Vehicle)通常称AGV,自动导引车系统 (Automated Guided Vehicle System)通常称AGVS。AGV是一种无人驾驶搬运车,它可以按照监控系统下达的指令,根据预先设计的程序,依照车载传感器确定的位置信息,沿着规定的行驶路线和停靠位置自动行驶。AGVS由中央监控系统,AGV,通信系统,地面导引系统,装载、卸载站及其移载装置,充电站等组成。自动导引车系统广泛应用在仓库,工厂, 码头,机场中的自动化仓储系统,柔性加工,柔性装配系统,以

一种基于区域分割的多级环境建模方法

针对现有移动机器人路径规划中各种环境建模方法存在使用范围有限、复杂问题处理能力不足和运行效率低、缺乏灵活性等问题，结合二维半描述和知识利用原理，提出了一种可以比较圆满地解决诸如建筑物内不同楼层连接、室内室外环境交替出现等实用结构性空间问题的基于区域分割的多级环境建模方法。

一种新型行走轨迹规划方法及其在移动机器人中的应用

本文通过剖析行走轨迹规划研究现状,以及与其它规划部分的关系和对整个构成系统性能提高的影响、帮助,提出了专门开展此项研究的必要性与现实性。与此同时,也给出了解决现存若干问题的出路或许还能寄希望于将行走轨迹规划从其它规划中分离出来,并予以显式实现的见解,指出了今后可能因此导致传统的功能分解中心控制与新兴的基于感知行为包容两大方法最终走向统一。文中结合最典型且最具普遍性的原地转向和平滑转向控制、驱动模型在功能分解中心控制模式下的实现,全面地阐明了方法的基本思想、实现策略、关键问题解决途径与仿真、实验效果。最后,描述了当前工作存在的局限性,以及未来进步打算。

Autonomous guided vehicles applied to industrial engineering and management studies

This article presents a framework to an Industrial Engineering and Management Science course from School of Management and Industrial Studies using Autonomous Ground Vehicles (AGV) to supply materials to a production line as an experimental setup for the students to acquire knowledge in the production robotics area. The students must be capable to understand and put into good use several concepts that will be of utmost importance in their professional life such as critical decisions regarding the study, development and implementation of a production line. The main focus is a production line using AGVs, where the students are required to address several topics such as: sensors actuators, controllers and an high level management and optimization software. The presented framework brings to the robotics teaching community methodologies that allow students from different backgrounds, that normally don’t experiment with the robotics concepts in practice due to the big gap between theory and practice, to go straight to ”making” robotics. Our aim was to suppress the minimum start point level thus allowing any student to fully experience robotics with little background knowledge.

Hardware development of the Yorick series of active vision systems

This paper presents a review of the design and development of the Yorick series of active stereo camera platforms and their integration into real-time closed loop active vision systems, whose applications span surveillance, navigation of autonomously guided vehicles (AGVs), and inspection tasks for teleoperation, including immersive visual telepresence. The mechatronic approach adopted for the design of the first system, including head/eye platform, local controller, vision engine, gaze controller and system integration, proved to be very successful. The design team comprised researchers with experience in parallel computing, robot control, mechanical design and machine vision. The success of the project has generated sufficient interest to sanction a number of revisions of the original head design, including the design of a lightweight compact head for use on a robot arm, and the further development of a robot head to look specifically at increasing visual resolution for visual telepresence. The controller and vision processing engines have also been upgraded, to include the control of robot heads on mobile platforms and control of vergence through tracking of an operator's eye movement. This paper details the hardware development of the different active vision/telepresence systems.

Towards a modular robotics standard for AGV design and programming

Across the world there are many bodies currently involved in researching into the design of autonomous guided vehicles (AGVs). One of the greatest problems at present however, is that much of the research work is being conducted in isolated groups, with the resulting AGVs sensor/control/command systems being almost completely nontransferable to other AGV designs. This paper describes a new modular method for robot design which when applied to AGVs overcomes the above problems. The method is explained here with respect to all forms of robotics but the examples have been specifically chosen to reflect typical AGV systems.

Parâmetros de fermentação ruminal em bovinos alimentados com grãos de milho ou sorgo de alta umidade ensilados

Os parâmetros de fermentação ruminal de dietas contendo silagem de sorgo úmido em substituição à de milho úmido foram estudados em 12 fêmeas bovinas, com peso médio de 584 kg. O delineamento foi inteiramente casualizado com três tratamentos: substituição do milho úmido pelo sorgo úmido ensilado, nos níveis de 0, 50 e 100%. As dietas continham grão úmido de milho ou de sorgo ensilados, soja extrusada, uréia, feno de aveia (Avena sativa sp.), suplemento mineral e monensina. Adicionalmente, foi avaliada a degradabilidade in situ da matéria seca e da fibra em detergente neutro do feno de aveia. Não houve diferença sobre produção total de ácidos graxos voláteis (AGVs) no rúmen, porcentagem molar dos ácidos acético, propiônico e butírico, relação acético/propiônico, pH ruminal, concentração de N-NH3 no rúmen, fluxo e volume de líquidos do rúmen, nos diferentes tratamentos. A degradabilidade da matéria seca e da fibra em detergente neutro do feno não apresentou diferenças. Não se constatou melhora nos parâmetros de fermentação ruminal com a associação dos grãos.

Ruminal parameters analyzed in remaining digestion residue of roughages in the in vitro/gas system

O desempenho animal é a medida mais direta de se avaliar a qualidade dos alimentos. Entretanto, dados de desempenho são insuficientes para se detectar as possíveis interações que possam ocorrer no ambiente ruminal. O objetivo do presente trabalho foi avaliar os possíveis efeitos associativos nas concentrações de ácidos graxos voláteis (AGVs), nitrogênio amoniacal (N-NH3) e pH da fração líquida remanescente da digestão da matéria seca (MS) de volumosos exclusivos (cana-de-açúcar= CN; capim-elefante com 60 dias= CP60 e 180 dias= CP180 de crescimento; e silagem de milho= SIL) e suas combinações (cana-de-açúcar+silagem de milho= CNSIL; cana-de-açúcar+capim-elefante-60d= CNCP60; cana-de-açúcar+capim-elefante-180d= CNCP180; silagem de milho+capim-elefante-60d= SILCP60; silagem de milho+capim-elefante-180d= SILCP180) na proporção de 50% na MS, que levam a resultados de desempenhos positivos ou negativos de bovinos. As concentrações de AGVs, N-NH3 e pH dos tratamentos foram: CN= 56,9 mmol L-1, 50,1 mg dL-1, 5,7; CNSIL= 61,4 mmol L-1, 50,7 mg dL-1, 5,8; CNCP60= 54,7 mmol L-1, 47,6 mg dL-1, 5,8; CNCP180= 45,4 mmol L-1, 49,4 mg dL-1, 6,0; SIL= 57,2 mmol L-1, 54,0 mg dL-1, 5,8; SILCP60= 57,1 mmol L-1, 53,1 mg dL-1, 5,9; SILCP180= 55,9 mmol L-1, 52,3 mg dL-1, 6,0; CP60= 58,1 mmol L-1, 49,4 mg dL-1, 5,9; CP180= 44,0 mmol L-1, 46,4 mg dL-1, 6,1. Os carboidratos não estruturais e amido, aliados à fibra e proteína, contribuíram para que ocorresse o efeito associativo positivo na mistura 50:50 cana/silagem. Isso pode ter propiciado os melhores resultados de desempenho em bovinos devido ao elevado padrão fermentativo.

Multivalued adaptive neuro-fuzzy controller for robot vehicle - art. no. 1406

Robotic vehicle navigation in unstructured and uncertain environments is still a challenge. This paper presents the implementation of a multivalued neurofuzzy controller for autonomous ground vehicle (AGVs) in indoor environments. The control system consists of a hierarchy of mobile robot using multivalued adaptive neuro-fuzzy inference system behaviors.

Uso de ácidos orgânicos e produto de exclusão competitiva como alternativa aos aditivos antimicrobianos na criação de perus de corte

Pós-graduação em Medicina Veterinária - FMVZ

VuLF – Entwicklung eines Versuchsstandes zur Fehlerminimierung durch Fahrzeuganalyse

Fahrerlose Transportsysteme (FTS) kommen in der Intralogistik immer mehr zum Einsatz. Dabei wer-den neue Anforderungen an die FTS gestellt, die bisherige Aufgaben weit übersteigen. Der Transport von schweren Lasten und die Fahrt mehrere FTS in einer Formation sind dabei nur der Anfang einer Menge zukünftiger Einsatzgebiete. Große Probleme stellen dabei Schlupf und Verschleiß dar, die bisher noch kaum erforscht sind, welche die Performance der Fahrzeuge jedoch stark beeinträchtigen. Um diese Fehlerquellen besser verstehen zu können, wurde ein Versuchsstand entwickelt, mit dessen Hilfe Einzelfahrten aber auch Formationsfahrten in Bezug auf Schlupf und Verschleiß besser untersucht werden können. Dabei kann ein sehr breites Spektrum an Fahrzeugarten abgedeckt werden, da Parameter wie Lenksysteme oder Bereifung variabel gewählt werden können.