Doutorado em Engenharia Elétrica
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Navegando Doutorado em Engenharia Elétrica por Autor "Amaral, Paulo Faria Santos"
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- ItemBack Lane Marking Registry: uma abordagem de localização e seguimento de caminho por veículos autônomos em via sinalizada(Universidade Federal do Espírito Santo, 2017-11-23) Vivacqua, Rafael Peixoto Derenzi; Martins, Felipe Nascimento; Vassallo, Raquel Frizera; Wolf, Denis Fernando; Samatelo, Jorge Leonid Aching; Komati, Karin Satie; Amaral, Paulo Faria SantosThis thesis aimed to contribute with the development of autonomous driving technology. More specifically, the aim of this work was to design, build and test all the hardware and software needed to adapt a commercial vehicle so that it is able to successfully perform a predetermined transport mission repeatedly, as if it was a train traveling on a virtual railway. The issue of dynamic obstacles was not addressed in this research. Three approaches widely used in the literature were studied: (i) direct path tracking by detection of lane markings, (ii) global localization tracking (GNSS), and (iii) path tracking by lane marking maps. A prototype vehicle was built, respecting the low cost philosophy of the project, to carry out the experimental tests. The first two approaches served as the basis for the development of the final approach, based on visual track marker maps. This approach has produced the most positive results of the work and represents the greatest contribution of this thesis: the method called Back Lane Marking Registry or BLMR. The BLMR allows the construction of accurate, reliable and extensive perception of lane markings in the vicinity of the vehicle from low-cost sensors. This extensive perception combined with a fast filtering algorithm and map matching techniques led to localization accuracy which is high enough for autonomous application, as demonstrated in tests conducted in Italy.
- ItemContribuição à modelagem, simulação, implantação e controle inteligente de sistemas de combustão(Universidade Federal do Espírito Santo, 2006-12-19) Lopes, Sérgio Leite; Ferreira, Edson de Paula; Salles, Evandro Ottoni Teatini; Amaral, Paulo Faria Santos; Amaral, Paulo Faria Santos; Fardin, Jussara FariasThe energy from combustion process performs na important role on World energy cenary and should be like that for a long time. The ambiental impact due to burn emissions joined to the rising fuel cost, justify new thechnological improvments on projects to control those process increasing energy efficience and emissions reducing. The proposal of this project is to reserch instrumentation technics, actuation and control in pulse and conventional combustion opperation process, applied to prototypes and industrial plants. The use of low cost instrumenatation and actuators on pulse furnace showed to br feasible since the design considerated high integration between fluid dynamics, sensors and actuators. On the traditional combustion issue, yhe use of neural net glue us a significant reduction on digital processing time at fuel burn chemical simulation giving a very good tool to control emissions and energetic efficiency.
- ItemImplementação de controle servo visual e coordenação visuo-motora em robôs manipuladores(Universidade Federal do Espírito Santo, 2006-05-12) Dâmaso, Renato de Sousa; Bastos Filho, Teodiano Freire; Campos, Tarcisio Passos Ribeiro de; Sarcinelli Filho, Mário; Amaral, Paulo Faria Santos; Ferreira, Édson de Paula; Salles, Evandro Ottoni Teatini; Rosário, João MaurícioThis work investigates strategies for controlling a manipulator to approach and grasp an object in its working environment, using visual feedback. Strategies that do not depend on models relating the visual space and the motor space of the manipulator are searched for. Results of the experimental implementations accomplished with an industrial and a prototyped manipulators are presented and analyzed. The main contribution is the proposition of a strategy to experimentally and incrementally build a visuo-motor model to manipulators with binocular visual feedback. Some meaningful characteristics of such a model are the demand of just a few experiments to "learn" the model and the adoption of two data structures to store the estimated parameters, one addressed by the end effector of the manipulator and the other addressed by the position of the object. The model thus obtained can be used to coordinate the manipulator during the execution of the task of interest. Such a system is capable to adapt the visuo-motor model in order to compensate for changes in the manipulator or the visual system, as well as to "remember" information learnt in previous experiments. The method here proposed, the incremental building of the visuo-motor model, is compared to a method of iterative adaptation of Jacobean matrix, and some conclusions are highlighted. As part of such a comparison, results of the implementation of these two methods using the same experimental setup are presented.
- ItemSistema de visão a laser para mapeamento de superfície de navegação de robôs quadrúpedes(Universidade Federal do Espírito Santo, 2008-08-22) Orlandi, José Geraldo das Neves; Bento Filho, Antônio; Amaral, Paulo Faria Santos; Sarcinelli Filho, Mário; Ferreira, Edson de Paula; Salles, Evandro Ottoni Teatini; Stemmer, Marcelo RicardoThis work presents, implements and tests a laser vision system to build navigating surface maps and localization of obstacles for quadruped robots. As long as the robot navigates on a pre defined trajectory, the system maps the surface, identifies the obstacles and makes decisions to pass by or to pass over them, depending on their dimensions, thus defining the robot navigation actions towards its trajectory destination point. The vision system uses a CCD camera and a laser microcontrolled system, which generates laser stripes to sweep the surface in front of the robot. The acquired images are then processed by some algorithms, so that the laser profiles inciding over the obstacles are used to generate range images which represent 2½D surface maps. The developed system integrates successive range images to extract relevant data from the obstacles and, together with the robot odometry and kinematics data, performs the surface mapping. A control strategy based on reactive navigation, which uses a binary decision-tree, has been implemented to allow the robot to safely and efficiently navigate on surfaces with obstacles. Experimental results have shown that the system is efficient. The Guará robot, which has been used in the tests, navigated on an environment with unknown obstacles, passing by or passing over them, up to reaching its trajectory destination point.
- ItemUma arquitetura de controle para um robô quadrúpede com comportamento reflexivo de estabilidade(Universidade Federal do Espírito Santo, 2007-12-07) Lima, Luis Eduardo Martins de; Amaral, Paulo Faria Santos; Moscato, Lucas Antonio; Schneebeli, Hans Jorg Andreas; Sarcinelli Filho, Mário; Bastos Filho, Teodiano FreireThis thesis presents a control architecture for a quadruped Robot with 16 degrees of freedom (4 per leg), the Guará* The proposal to develop this architecture aims to set a problem study platform inherent to mobile four-legged robots, such as the walking generation, the complex movement control, the obstacle transposition, and the stability reflex implementation. The challenge faced herein is to endow the robot with sufficient autonomy in order to process on board, the locomotion control and the obstacle transposition strategies, through the use of an architecture which can let an effective interaction of the robot with the environment in which he is navigating, with reduced computational cost. The proposed architecture is based on the hierarchical control paradigm using reflexive behavior. The hierarchical structure of this architecture concentrates the cinematic modeling processing of the robot and the decision making to define the movements to be fulfilled (in a free locomotion or with the presence of obstacles), in the higher control level that is supervisor level, whereas a net communication CAN (Controller Area Network) is used to distribute the information to be processed in the lower level of control (coordinator and actuator level). To allow the reactive interaction of the robot with the navigation environment, focusing the balance stability, Guará’s control architecture uses a two-axis accelerometer which provides information for fuzzy controllers processed in the coordinator level. This configuration defines reactions against undesirable bending of Guará’s platform (dive and rolling) generated in the course of the locomotion.The usage of the hierarchic control contributes to the robustness of the control architecture, establishing the higher control level (supervisor level), and the flexibility to take over distinct and complex tasks (cinematic and dynamic modeling, environment mapping, among others), while lower levels of the control hierarch concentrate on the tasks which demand immediate responses to external stimulus or balance stabilization of the robot.