Abordagem modular aplicada a projeto de pêndulo invertido sobre duas rodas

Orientadores: Eric Fujiwara, Ely Carneiro de PaivaDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia MecânicaResumo: Este trabalho propõe a exploração de uma abordagem modular para projeto de pêndulo invertido sobre rodas. Através da escolha apropriada de estruturas de controle, o método permite o desacoplamento de variáveis chave para simplificar o projeto e adicionar benefícios inerentes à modularização. Seguindo os procedimentos propostos, duas plantas virtuais foram simuladas em diferentes contextos e com múltiplos objetivos, como controles de velocidade linear, posição e rastreamento de um alvo. Os resultados demonstraram que o desacoplamento foi efetivo, obedecendo a proposta de baixos níveis de erro para os módulos mais internos com valores máximos menores que 5\% em transientes bruscos. Uma abordagem adaptativa foi proposta e implementada com o objetivo de permitir um desacoplamento mais apropriado entre as variáveis controladas, bem como entre os projetos dos controladores e da planta mecânica. Utilizando controles adaptativos via modelo de referência e via identificação de parâmetros, foi possível realizar o projeto independente de cada malha de controle, com o desempenho de cada componente verificado em simulaçõesAbstract: The following work proposes the evaluation of a modular approach for two-wheeled inverted pendulum design. By properly choosing control loop structures, the method allows for decoupling key variables in order to simplify the project and add inherent benefits from modular systems. By following the proposed approach, two virtual plants were simulated for different contexts with multiple objectives, such as linear velocity control, position control and target following. Results shown effective decoupling, obeying the proposed low error levels for inner modules, with peak values within 5\% for fast transients. An adaptive approach was proposed and implemented aiming to allow for a more appropriate decoupling between the decoupled variables, as well as between the control and the mechanical structure designs. By applying model reference and parameters identification control structures, the independent design of each control loop was made possible. The performance of each component was verified through simulationsMestradoMecatrônicaMestre em Engenharia Mecânica33003017CAPE

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

DEVELOPMENT AND CONTROL OF AN UNDERACTUATED TWO-WHEELED MOBILE ROBOT

Ph.DDOCTOR OF PHILOSOPH

Advances in Human-Robot Interaction

Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers

Proceedings of the Seventh Annual Summer Conference. NASA/USRA: University Advanced Design Program

The Advanced Design Program (ADP) is a unique program that brings together students and faculty from U.S. engineering schools with engineers from the NASA centers through integration of current and future NASA space and aeronautics projects into university engineering design curriculum. The Advanced Space Design Program study topics cover a broad range of projects that could be undertaken during a 20-30 year period beginning with the deployment of the Space Station Freedom. The Advanced Aeronautics Design Program study topics typically focus on nearer-term projects of interest to NASA, covering from small, slow-speed vehicles through large, supersonic passenger transports and on through hypersonic research vehicles. Student work accomplished during the 1990-91 academic year and reported at the 7th Annual Summer Conference is presented