Implementación de un sistema de medición de distancia con sensores infrarrojos utilizando dispositivos de lógica programable

Se presenta la implementación de un sistema de medición de distancia con sensores infrarrojos utilizando Dispositivos de Lógica programable, para aplicaciones de levantamiento de mapas de entorno en aplicaciones de robótica móvil. Se muestran los resultados obtenidos a partir de los sensores implementados y de la utilización de diferentes tecnologías trabajando de manera sincronizada como son los Microcontroladores y las FPGAS

XVIII International Coal Preparation Congress

Changes in economic and market conditions of mineral raw materials in recent years have greatly increased demands on the ef fi ciency of mining production. This is certainly true of the coal industry. World coal consumption is growing faster than other types of fuel and in the past year it exceeded 7.6 billion tons. Coal extraction and processing technology are continuously evolving, becoming more economical and environmentally friendly. “ Clean coal ” technology is becoming increasingly popular. Coal chemistry, production of new materials and pharmacology are now added to the traditional use areas — power industry and metallurgy. The leading role in the development of new areas of coal use belongs to preparation technology and advanced coal processing. Hi-tech modern technology and the increasing interna- tional demand for its effectiveness and ef fi ciency put completely new goals for the University. Our main task is to develop a new generation of workforce capacity and research in line with global trends in the development of science and technology to address critical industry issues. Today Russia, like the rest of the world faces rapid and profound changes affecting all spheres of life. The de fi ning feature of modern era has been a rapid development of high technology, intellectual capital being its main asset and resource. The dynamics of scienti fi c and technological development requires acti- vation of University research activities. The University must be a generator of ideas to meet the needs of the economy and national development. Due to the high intellectual potential, University expert mission becomes more and more called for and is capable of providing professional assessment and building science-based predictions in various fi elds. Coal industry, as well as the whole fuel and energy sector of the global economy is growing fast. Global multinational energy companies are less likely to be under state in fl uence and will soon become the main mechanism for the rapid spread of technologies based on new knowledge. Mineral resources will have an even greater impact on the stability of the economies of many countries. Current progress in the technology of coal-based gas synthesis is not just a change in the traditional energy markets, but the emergence of new products of direct consumption, obtained from coal, such as synthetic fuels, chemicals and agrochemical products. All this requires a revision of the value of coal in the modern world economy

Des cartes combinatoires pour la construction automatique de modèles d'environnement par un robot mobile

Ce travail s'inscrit dans la problématique classique de localisation et de cartographie simultanées pour un robot mobile évoluant en milieu intérieur supposé inconnu. Son originalité réside dans la définition d'un modèle de carte très structuré fondé sur un outil algébrique appelé « carte combinatoire », qui combine plusieurs types de représentations géométriques (modèles surfaciques et cartes basées sur des primitives géométriques) et fournit des informations topologiques telles que les liens d'adjacence. Nous détaillons la chaîne algorithmique permettant de construire des cartes en ligne suivant ce modèle, avec un robot équipé d'un télémètre laser à balayage : il s'agit d'adapter les techniques habituelles basées sur le filtrage de Kalman afin de gérer les relations d'adjacence (appariement de chaînes polygonales, définition de points de cassure virtuels, mises à jour géométrique et topologique spécifiques). Des résultats expérimentaux illustrent et valident les divers mécanismes mis en oeuvre. ABSTRACT : This thesis focuses on the well-known Simultaneous Localization And Map-building (SLAM) problem for indoor mobile robots. The novelty of this work lies in the definition of a well-structured map model based on an algebraic tool called « combinatorial map » which combines different kinds of geometric representations (space-based, grid-based as well as feature-based formats) and provides topological information such as adjacency links between map elements. We describe the whole algorithm designed to build maps on line according to this model, using a robot equipped with a laser scanner. Classical techniques relying on Kalman filtering are adapted in order to deal with adjacency relationships (via polyline matching, the use of virtual break-points and specific geometric and topological update operations). Exeprimental results are presented to illustrate and validate the various mecanisms involved in this process