Pub Date : 2019-01-01DOI: 10.4108/eai.21-11-2018.2280385
R. Martins, Henrique Santos, Joel Barbosa, Carlos A. S. da Silva
{"title":"Online Smart City Simulator","authors":"R. Martins, Henrique Santos, Joel Barbosa, Carlos A. S. da Silva","doi":"10.4108/eai.21-11-2018.2280385","DOIUrl":"https://doi.org/10.4108/eai.21-11-2018.2280385","url":null,"abstract":"","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83756493","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4108/eai.21-11-2018.2280752
V. Monteiro
Abstract. The Group of Energy and Power Electronics (GEPE) is a research group at the University of Minho, Portugal. The main research fields are centered in the development of power electronics solutions for power quality technologies (software and hardware equipment for monitoring and for compensating power quality problems), renewable energy technologies, mainly for on-grid and off-grid interface of photovoltaic and micro wind turbines (including solutions for energy storage), electric mobility technologies (battery chargers, traction systems, wireless power transfer solutions), as well as consulting services of power quality and energy efficiency. As demonstrated in the scope of several projects, the GEPE is well prepared with the necessary equipment and knowledge to support the development of software and hardware structures up to a pre-industrial phase, and to perform the experimental validation of systems based on power electronics. GEPE also has know-how in different tools for supporting the simulation of the electronic systems, and for programming a wide range of digital platforms. In the scope of this demo, the GEPE will introduce emerging technologies about power electronics solutions and trends for technological developments that will guide and reinforce the achievement of a smart city encompassed in a smart grid. Therefore, a detailed explanation will be conducted showing some of the developed power electronics prototypes, based on proprietary software and hardware.
{"title":"Power Electronics Solutions for Smart Grids: A Perspective From Design to Pre-Industrial Prototypes","authors":"V. Monteiro","doi":"10.4108/eai.21-11-2018.2280752","DOIUrl":"https://doi.org/10.4108/eai.21-11-2018.2280752","url":null,"abstract":"Abstract. The Group of Energy and Power Electronics (GEPE) is a research group at the University of Minho, Portugal. The main research fields are centered in the development of power electronics solutions for power quality technologies (software and hardware equipment for monitoring and for compensating power quality problems), renewable energy technologies, mainly for on-grid and off-grid interface of photovoltaic and micro wind turbines (including solutions for energy storage), electric mobility technologies (battery chargers, traction systems, wireless power transfer solutions), as well as consulting services of power quality and energy efficiency. As demonstrated in the scope of several projects, the GEPE is well prepared with the necessary equipment and knowledge to support the development of software and hardware structures up to a pre-industrial phase, and to perform the experimental validation of systems based on power electronics. GEPE also has know-how in different tools for supporting the simulation of the electronic systems, and for programming a wide range of digital platforms. In the scope of this demo, the GEPE will introduce emerging technologies about power electronics solutions and trends for technological developments that will guide and reinforce the achievement of a smart city encompassed in a smart grid. Therefore, a detailed explanation will be conducted showing some of the developed power electronics prototypes, based on proprietary software and hardware.","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73207644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-01DOI: 10.1109/LARS/SBR/WRE.2018.00056
Alexandre Souza Santos, Héctor Azpúrua, G. Pessin, G. Freitas
Recently, mobile robots have been used in several applications, such as inspection, surveillance, exploration of unknown environments, among others. For example, the Vale's speleology group acquired a robotic platform, named EspeleoRobô, capable of moving on rough terrain, exploring and mapping natural caves. Although EspeloRobô achieved its goal in several field tests, we have faced repeated operational challenges regarding loss of communication between the control base and the robot. A possible solution is to implement autonomous navigation. Thus, an embedded instrumentation and control system would guide the robot to improve the exploration and prevent it from damage. Therefore, this paper evaluates path planning techniques to optimize the robot exploration on rough terrain. We represent the environment using triangle meshes modeled as a graph and generate optimal paths with the Dijkstra's algorithm considering the following metrics as cost function: traveled distance, terrain traversability, and robot power consumption. Lastly, this paper proposes a cost function that accounts for multiple goals during the path planning, and the user can set the trade-off between them through weights. Thus, the algorithm evaluates the relevance of each metric while finding paths connecting the start and goal positions.
{"title":"Path Planning for Mobile Robots on Rough Terrain","authors":"Alexandre Souza Santos, Héctor Azpúrua, G. Pessin, G. Freitas","doi":"10.1109/LARS/SBR/WRE.2018.00056","DOIUrl":"https://doi.org/10.1109/LARS/SBR/WRE.2018.00056","url":null,"abstract":"Recently, mobile robots have been used in several applications, such as inspection, surveillance, exploration of unknown environments, among others. For example, the Vale's speleology group acquired a robotic platform, named EspeleoRobô, capable of moving on rough terrain, exploring and mapping natural caves. Although EspeloRobô achieved its goal in several field tests, we have faced repeated operational challenges regarding loss of communication between the control base and the robot. A possible solution is to implement autonomous navigation. Thus, an embedded instrumentation and control system would guide the robot to improve the exploration and prevent it from damage. Therefore, this paper evaluates path planning techniques to optimize the robot exploration on rough terrain. We represent the environment using triangle meshes modeled as a graph and generate optimal paths with the Dijkstra's algorithm considering the following metrics as cost function: traveled distance, terrain traversability, and robot power consumption. Lastly, this paper proposes a cost function that accounts for multiple goals during the path planning, and the user can set the trade-off between them through weights. Thus, the algorithm evaluates the relevance of each metric while finding paths connecting the start and goal positions.","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74644540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-01DOI: 10.1109/LARS/SBR/WRE.2018.00064
César Peña Fernández
This paper presents an infinite horizon model predictive control (MPC) scheme for wheeled mobile robots with different time-scales and constrained linear parameter-varying (LPV). To this end, it is assumed that the time-varying parameter can be measured online and used for feedback. The proposed method is based on a parameter-dependent control law, which is obtained via the repeated solution of a convex optimization problem involving linear matrix inequalities. The closed-loop stability is guaranteed by the feasibility of the LMIs at initial time of a given trajectory tracking problem for WMRs. The MPC controller proposed is compared by means simulation tests with existing algorithms that use static linear control laws and more restrictive LMI conditions. In results can be noted that the proposed scheme reduces conservatism and improves performance.
{"title":"Stabilizing Model Predictive Control for Wheeled Mobile Robots with Linear Parameter-Varying and Different Time-Scales","authors":"César Peña Fernández","doi":"10.1109/LARS/SBR/WRE.2018.00064","DOIUrl":"https://doi.org/10.1109/LARS/SBR/WRE.2018.00064","url":null,"abstract":"This paper presents an infinite horizon model predictive control (MPC) scheme for wheeled mobile robots with different time-scales and constrained linear parameter-varying (LPV). To this end, it is assumed that the time-varying parameter can be measured online and used for feedback. The proposed method is based on a parameter-dependent control law, which is obtained via the repeated solution of a convex optimization problem involving linear matrix inequalities. The closed-loop stability is guaranteed by the feasibility of the LMIs at initial time of a given trajectory tracking problem for WMRs. The MPC controller proposed is compared by means simulation tests with existing algorithms that use static linear control laws and more restrictive LMI conditions. In results can be noted that the proposed scheme reduces conservatism and improves performance.","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78215002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-01DOI: 10.1109/LARS/SBR/WRE.2018.00023
Alexandre Santos Brandão, J. Barbosa, Joao Vitor Rodrigues Vasconcelos, Diego Romie Neiva
This paper presents a strategy to guide multiple robots in a virtual adaptable structure. The Multi-Layer Control Scheme (MLCS) is here implemented in order to guide various robots during trajectory tracking and positioning tasks. In this work, the robots are split in sets of two agents to establish several line-structure formation, which are individually controlled. The proposal is validated numerically. First, two robots in line formation perform positioning task and then they follow a circular trajectory. In the sequel, five robots generate a regular polygon, which should follow a straight-line reference. The concept of line-formation can be expanded for n-robots, only establishing and rearranging the new regular polygon, in a closed rigid structure.
{"title":"Line Formation Using Multi-layer Control Scheme","authors":"Alexandre Santos Brandão, J. Barbosa, Joao Vitor Rodrigues Vasconcelos, Diego Romie Neiva","doi":"10.1109/LARS/SBR/WRE.2018.00023","DOIUrl":"https://doi.org/10.1109/LARS/SBR/WRE.2018.00023","url":null,"abstract":"This paper presents a strategy to guide multiple robots in a virtual adaptable structure. The Multi-Layer Control Scheme (MLCS) is here implemented in order to guide various robots during trajectory tracking and positioning tasks. In this work, the robots are split in sets of two agents to establish several line-structure formation, which are individually controlled. The proposal is validated numerically. First, two robots in line formation perform positioning task and then they follow a circular trajectory. In the sequel, five robots generate a regular polygon, which should follow a straight-line reference. The concept of line-formation can be expanded for n-robots, only establishing and rearranging the new regular polygon, in a closed rigid structure.","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79799356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-01DOI: 10.1109/lars/sbr/wre.2018.00008
{"title":"WRE 2018 Program Committee","authors":"","doi":"10.1109/lars/sbr/wre.2018.00008","DOIUrl":"https://doi.org/10.1109/lars/sbr/wre.2018.00008","url":null,"abstract":"","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78269884","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-01DOI: 10.1109/LARS/SBR/WRE.2018.00109
Vitor Gabriel Reis Caitite, Diego Maradona Goncalves dos Santos, Iago Conceição Gregório, Willian Braga da Silva, V. F. Mendes
Autonomous robots are intelligent machines capable of performing tasks without continuous and explicit human interference in their movements. Line follower robots, as the name suggests, are a class of autonomous robots that identify and follow a trail. The line follower robot has been a tool used by the Tutorial Education Program of Electrical Engineering of the Federal University of Minas Gerais, to promote the diffusion of robotics to superior, high school, middle and elementary students. The three main forms of diffusion used are the Autonomous Robot Competition (CoRA), the Line Follower Robot Workshop, that teaches how to develop a line follower, and the event "Engineering in the Schools", which is a university extension project that promotes exhibition of playful technological prototypes for public school students. In this article, we present the methodology that has been used to promote the teaching and diffusion of robotics in different degrees of teaching, and the results that have been achieved in this process.
{"title":"Diffusion of Robotics through Line Follower Robots","authors":"Vitor Gabriel Reis Caitite, Diego Maradona Goncalves dos Santos, Iago Conceição Gregório, Willian Braga da Silva, V. F. Mendes","doi":"10.1109/LARS/SBR/WRE.2018.00109","DOIUrl":"https://doi.org/10.1109/LARS/SBR/WRE.2018.00109","url":null,"abstract":"Autonomous robots are intelligent machines capable of performing tasks without continuous and explicit human interference in their movements. Line follower robots, as the name suggests, are a class of autonomous robots that identify and follow a trail. The line follower robot has been a tool used by the Tutorial Education Program of Electrical Engineering of the Federal University of Minas Gerais, to promote the diffusion of robotics to superior, high school, middle and elementary students. The three main forms of diffusion used are the Autonomous Robot Competition (CoRA), the Line Follower Robot Workshop, that teaches how to develop a line follower, and the event \"Engineering in the Schools\", which is a university extension project that promotes exhibition of playful technological prototypes for public school students. In this article, we present the methodology that has been used to promote the teaching and diffusion of robotics in different degrees of teaching, and the results that have been achieved in this process.","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78128783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-01DOI: 10.1109/LARS/SBR/WRE.2018.00103
J. R. Fonseca, Pedro Vitor Soares Gomes de Lima, Maria Helena Rocha de Alencar Bezerra, J. M. Teixeira, J. Cajueiro
Line-following robots have the ability to recognize and follow a line drawn on a surface. It works based on a simple self-sustainable system composed with a set of sensors, motors and a controller. In order to get optimal performance in such robots, it's necessary to carry out several tests to evaluate the behavior in each trial. In the majority of cases, a new trial requires to upload a new program, thus slowing down the development of the line-following. This paper presents an approach to solve the inconvenience of having to upload a new program in each trial. It consists in merging multiple codes in to one to create a program that gives the user the ability to switch between them anytime inside Pololu's 3pi line follower platform.
{"title":"Turning Pololu 3Pi into a Multi-Programming Platform","authors":"J. R. Fonseca, Pedro Vitor Soares Gomes de Lima, Maria Helena Rocha de Alencar Bezerra, J. M. Teixeira, J. Cajueiro","doi":"10.1109/LARS/SBR/WRE.2018.00103","DOIUrl":"https://doi.org/10.1109/LARS/SBR/WRE.2018.00103","url":null,"abstract":"Line-following robots have the ability to recognize and follow a line drawn on a surface. It works based on a simple self-sustainable system composed with a set of sensors, motors and a controller. In order to get optimal performance in such robots, it's necessary to carry out several tests to evaluate the behavior in each trial. In the majority of cases, a new trial requires to upload a new program, thus slowing down the development of the line-following. This paper presents an approach to solve the inconvenience of having to upload a new program in each trial. It consists in merging multiple codes in to one to create a program that gives the user the ability to switch between them anytime inside Pololu's 3pi line follower platform.","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76705126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-11-01DOI: 10.1109/LARS/SBR/WRE.2018.00102
Alexander S. Barbosa, Alice P. de Oliveira, Aline R. Silva, Ana Sophia C. A. Vilas Boas, Elias R. Vilas Boas, Felipe S. de Almeida, Joao Vitor A. e Souza, Mariane A. Vilas Boas
This article aims to present the development and construction of two prototypes of a robotic manipulators with two degrees of freedom constituting the body and a third degree of freedom being the end-effector. The research goal is illustrate how a more practical development helps to increase the motivation and the learning process of the students. In the class the content of the discipline was transmitted by structuring the development of a project, each one of the projects phases were then applied with the students. To measure the viability of the method a survey were done with the students. The Different types of end-effector shows the use of educational Robotics platform geared towards learning and applications of robotic manipulators concepts in a educational environment.
{"title":"Design and Development of a Manipulator for Educational Robotics","authors":"Alexander S. Barbosa, Alice P. de Oliveira, Aline R. Silva, Ana Sophia C. A. Vilas Boas, Elias R. Vilas Boas, Felipe S. de Almeida, Joao Vitor A. e Souza, Mariane A. Vilas Boas","doi":"10.1109/LARS/SBR/WRE.2018.00102","DOIUrl":"https://doi.org/10.1109/LARS/SBR/WRE.2018.00102","url":null,"abstract":"This article aims to present the development and construction of two prototypes of a robotic manipulators with two degrees of freedom constituting the body and a third degree of freedom being the end-effector. The research goal is illustrate how a more practical development helps to increase the motivation and the learning process of the students. In the class the content of the discipline was transmitted by structuring the development of a project, each one of the projects phases were then applied with the students. To measure the viability of the method a survey were done with the students. The Different types of end-effector shows the use of educational Robotics platform geared towards learning and applications of robotic manipulators concepts in a educational environment.","PeriodicalId":52265,"journal":{"name":"Journal of Computational Technologies","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75962323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：