Browsing by Author "Rohrich, Ronnier Frates"
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- A bio-inspired approach for robot swarm in smart factoriesPublication . Rohrich, Ronnier Frates; Teixeira, Marco Antônio Simões; Piardi, Luis; Oliveira, Andre SchneiderRecent theoretical developments have revealed that the influences and efficiency that mobile robots have brought to society in the last years are incredibly revealing and should be explored in applications for the benefit of the community and the corporate world. Access to this technology enables the development of innovative research for increasingly active industrial environments. This research constitutes a relatively new area which has emerged from the problems of the industry that aims to automate activities considered costly efficiently. A common strategy used to study mobile robots, in production, is to automate work routines through robots, but specific tasks improve specific works. This paper proposes a new approach to use a SWARM of mobile robots to solve problems in the industry based on the bio-inspired solution. The bacteria can have actions that guarantee the survival of their colony; for this purpose, a series of measures can be adopted by the bacteria constituting the colony. This approach has been widely adopted in the field of SWARM of mobile robots with technical and sensory restrictions, to realize a plausible application in the industrial environment. The results of the experiment found clear support for the methodology created, and the bio-inspired SWARM proved to be potentially useful for applications in real industrial robot solutions
- Bio-inspired distributed sensors to autonomous search of gas leak sourcePublication . Rohrich, Ronnier Frates; Piardi, Luis; Lima, José; Oliveira, Andre SchneiderThis work presents multiple small robots in an unhealthy industrial environment responsible for detecting harmful gases to humans, avoiding possible harmful effects on the body. Mixed reality is widely used, considering that the environment and gases are virtual and real small robots. Essential components for the experiments are virtual, such as gases and BioCyber-Sensors. The results establish the great potential for applications in several areas, such as industrial, biomedical, and services. The entire system was developed based on ROS (Robot Operating System), thus the ease in diversifying different applications and approaches with multiple agents. The main objective of small robots is to guaranty a healthy work environment.
- Collaborative fuzzy controlled obstacle avoidance in a vibration-driven mobile robotPublication . Lewin, Gustavo Fontes; Fabro, João Alberto; Lima, José; Oliveira, Andre Schneider; Rohrich, Ronnier FratesSpecial care must be taken when considering robots designed to operate collaboratively, such as a swarm, to prevent these agents from being damaged due to unwanted collisions. This work proposes integrating techniques used to move robots, using the Robot Operating System (ROS) and Python’s Scikit-Fuzzy module. Thus, this work developed a fuzzy-controlled collaborative obstacle avoidance system for a type of robot whose dynamics are based on motors’ vibration. Thus, these robots were designed to participate in a swarm, and the collision must be avoided. In the search for navigation stability, optimal values were sought for the engines’ pulse width modulation (PWM).
- Collective gas sensing in a cyber-physical systemPublication . Rohrich, Ronnier Frates; Teixeira, Marco Antonio Simoes; Lima, José; Oliveira, Andre SchneiderThis paper discusses a novel collective sensing approach using autonomous sensors specially designed to monitor gas leaks and search for gas sources. The proposed collective behavior aims to improve the gas-source search by sharing information between mobile sensors and reducing the risks associated with gas leakage. The group acts as a composite sensor that can move independently to search for an optimal sensing zone. The autonomous searching behavior is bio-inspired by colonies of bacteria that continuously seek energy sources throughout their existence. Each sensor makes its own autonomous search decision, considering the group sense, to move in the direction of a better energy source. The collective approach is based on autonomous agents sharing information to achieve a collective sense of gas perception and utilizes more intelligent searching. The method is evaluated in a cyber-physical system specially developed to safely experiment with gases and mobile sensors while reproducing the realistic dynamic behavior of the gas. Experiments are performed to clarify the collective gas-sensing contributions, and the gas search is compared through multiple mobile sensors with and without collective sensing. The proposed approach is evaluated in an unhealthy environment to elucidate its effectiveness. In addition to presenting the related differences between collective and individual sensory approaches, this work contributes with analyzes of the scalability of mobile gas sensing systems. This work also contributed as a simulated semi-physical experimental system to test algorithms' performance before applying it to practice. © 2001-2012 IEEE
- Collective mapping of gas leakages to determine safe routes using multi-robot systemPublication . Rohrich, Ronnier Frates; Messias, Luís Felipe; Lima, José; Oliveira, Andre SchneiderThis article discusses a novel approach to collective mapping that uses autonomous sensors to create safe routes in environments with gas leaks. Multiple mobile sensors seek to delimit different regions and assign them different tasks according to their momentary needs. In this study, robot groups act as multiple composite sensors that can move independently according to their assigned functions. Autonomous detection, collective mapping, and collective decision-making of the robots are behaviors bioinspired by the cognitive mechanisms observed in bacterial colonies. These colonies continuously seek to maintain the lives of their species based on their collective decision-making in searching for energy sources and changing colony size. In addition, as gas dispersion in the environment increases, the received data from the sensors aids collective decision-making, assigning different functions, such as mapping, environment exploration, and route creation, to groups of mobile sensors. Depending on the momentary need, the number of sensors in each group changes. The proposed method in this study was based on real mobile robots with characteristics that enable varying levels of scalability in size. Subsequently, it was evaluated in a simulated system and developed for experimentation with gas and mobile sensors in a dynamic and realistic environment. This study further contributes to analyzing multiple tasks in homogeneous sensor groups executing different tasks. Furthermore, this work introduced a simulated experimental system to test different topologies of multiple scalable mobile sensors.
- A linear regression based-approach to collective gas source localizationPublication . Rohrich, Ronnier Frates; Messias, Luís Felipe; Lima, José; Oliveira, Andre SchneiderThis work addresses the problem of gas leaks and proposes a search strategy for identifying the source of a gas leak within a virtual simulation environment. The research focuses on designing and implementing simulation, control, and gas source search packages using swarm robotics. The simulation employs numerical integration strategies, while the robot swarm control is based on potential fields theory. The location of the gas source using a weighted linear regression strategy is used to estimate the gas concentration gradient, which plays a crucial role in the optimization strategy employed. The paper presents an overview of the key concepts employed and their relevance to different stages of the problem and highlights the main results achieved through the chosen strategies. A significant outcome of this work is the development of reusable software packages applicable to various research contexts in mobile robotics.
- Modelling of a vibration robot using localization ground truth assisted by aruco markersPublication . Matos, Diogo; Lima, José; Rohrich, Ronnier Frates; Oliveira, Andre Schneider; Valente, António; Costa, Pedro; Costa, Paulo Gomes daSimulators have been increasingly used on development and tests on several areas. They allow to speed up the development without damage and no extra costs. On realistic simulators, where kinematics play an important role, the modelling process should be imported for each component to be accurately simulated. Some robots are not yet modelled, as for example the Monera. This paper presents a model of a small vibration robot (Monera) that is acquired in a developed testbed. A localisation ground truth is used to acquire the position of the Monera with actuating it. Linear and angular speeds acquired from real experiments allow to validate the proposed methodology.