A carregar...
Projeto de investigação
Performance enhancement of a mobile robot using a competition as benchmark
Financiador
Autores
Publicações
Programming Mobile Robots in an Educational Context: a Hardware-in-the-loop Approach
Publication . Brancalião, Laiany Suganuma; Alvarez, Mariano José; Coelho, João Paulo; Conde, Miguel Ángel; Costa, Paulo Gomes da; Gonçalves, José
In this paper it is presented a Hardware-in-theloop (HIL) mobile robot programming approach, to be applied in a robotics educational context. The motivation to apply this approach is the fact that students can program the robots without access to the robot hardware, but still maintain some important closed loop control critical features, such as a realistic lag time and the possibility for a larger number of students to program at the same time. Therefore, the developed software is applied to the real hardware without any change. The HIL approach was applied to provide a simulation close to reality, once the processing occurs in the real robot processor and the actuation and sensorization inside the simulation, adding to the
advantage to test the firmware avoiding damage in the physical
robot.
Prototyping and Control of an Educational Manipulator Robot
Publication . Coelho, João Paulo; Brancalião, Laiany Suganuma; Alvarez, Mariano José; Costa, Paulo Gomes da; Gonçalves, José
This article presents the prototyping of an educational manipulator robot, based on the “EEZYbotARM Mk2” robot, tailored for first-year master’s students in the field of robotics. The project encompasses the assembly of the robot arm, computation of both forward and inverse kinematics, and analysis of two path-planning movement algorithms. These features are consolidated into an Arduino library to streamline the process for students to generate instructions for the robot.
The “EEZYbotARM Mk2” features a three-degree-of-freedom revolute arm with a gripper that remains parallel to its base at all times, enhancing its suitability for educational applications such as pick-and-place tasks. The article provides detailed descriptions of the materials and methods employed, along with proposed challenges for student engagement.
Contributions to accelerating a numerical simulation of free flow parallel to a porous plane
Publication . Schepke, Claudio; Spigolon, Roberta A.; Rufino, José; Cristaldo, Cesar F. Da C.; Pizzolato, Glener L.
Flow models over flat p orous surfaces have applications in natural processes, such as material, food, chemical processing, or mountain mudflow simulations. The development
of simplified a nalytical or numerical models can predict characteristics such as velocity, pressure, deviation length, and even temperature of such flows for geophysical and engineering purposes. In this context, there is considerable interest in theoretical and experimental models. Mathematical models to represent such phenomena for fluid mechanics have continuously been developed and implemented. Given this, we propose a mathematical and simulation model to describe a free-flowing flow pa rallel toa
porous material and its transition zone. The objective of the application is to analyze the influence o f t he p orous matrix on the flow u nder d ifferent m atrix p roperties. W e i mplement a Computational Fluid Dynamics scheme using the Finite Volume Method to simulate and calculate the numerical solutions for case studies. However, computational applications of this type demand high performance, requiring parallel execution techniques. Due to this, it is necessary to modify the sequential version of the code. So, we propose a methodology describing the steps required to adapt and improve the code. This approach decreases 5.3% the execution time of the sequential version of the code. Next,
we adopt OpenMP for parallel versions and instantiate parallel code flows and executions on multi-core. We get a speedup of 10.4 by using 12 threads. The paper provides simulations that offer the correct understanding, modeling, and construction of abrupt transitions between free flow a nd porous media. The process presented here could expand to the simulations of other porous media problems. Furthermore, customized simulations require little processing time, thanks to parallel processing.
Learning Mobile Robotics: An Approach Based on a Classroom Competition
Publication . Brancalião, Laiany Suganuma; Alvarez, Mariano José; Coelho, João Paulo; Conde, Miguel; Costa, Paulo; Gonçalves, José
Robotic competitions have been popularly applied in the educational context, proving to be an excellent method for fostering student engagement and interest in science, technology, engineering, and math (STEM). In this context, this paper presents the application of mobile robots in a classroom competition, in order to encourage students to enhance mobile robotics concepts learning in a dynamic and collaborative environment. The mobile robot prototyping is presented, and the methodology, including the Hardware-in-the-loop approach applied in the classrooms, is also described, together with the competition rules and challenges proposed for the students. The results indicated an improvement in students’ motivation, teamwork, communication, and the development of technical skills, computational thinking, and problem-solving
Actuators with Force Feedback: A Literature Review in the Scope of Educational, Academic, and Industrial Applications
Publication . Alvarez, Mariano José; Brancalião, Laiany Suganuma; Coelho, João Paulo; Carneiro, Jorge; Lopes, Ricardo; Costa, Paulo; Gonçalves, José
Force sensors are essential elements of actuator systems, providing measurement and force control in different domains. This literature review discusses its applications in the industry, academic research, and educational domains. In an industrial setup, force sensors enhance efficiency, safety, and reliability within automation systems, predominantly robotic arms and assembly lines. In the academic environment, using such sensors fosters innovation within robotics and biomechanical studies, allowing for testing theoretical models and new methodologies. In education, force sensors help students understand basic concepts about mechanics and robotics from practical work. Understanding this diverse application allows one to design effective actuator systems, promoting technological advances and improved learning experiences. With this literary review, the aim is to gain an understanding of the state of the art in force sensor actuators applied in various areas, such as academia, education, and industry.
Unidades organizacionais
Descrição
Palavras-chave
Contribuidores
Financiadores
Entidade financiadora
Fundação para a Ciência e a Tecnologia
Programa de financiamento
PDQI
Número da atribuição
2023.01441.BD