A Novel Practical Technique to Integrate Inequality Control Objectives and Task Transitions in Priority Based Control

The task priority based control is a formalism which allows to create complex control laws with nice invariance properties, i.e. lower priority tasks do not affect the execution of higher priority ones. However, the classical task priority framework (Siciliano and Slotine) lacked the ability of enabling and disabling tasks without causing discontinuities. Furthermore, tasks corresponding to inequality control objectives could not be efficiently represented within that framework. In this paper we present a novel technique to integrate both the activation and deactivation of tasks and the inequality control objectives in the priority based control. The technique, called iCAT (inequality control objectives, activations and transitions) task priority framework, exploits novel regularization methods to activate and deactivate any row of a given task in a prioritized hierarchy without incurring in practical discontinuities, while maintaining as much as possible the invariance properties of the other active tasks. Finally, as opposed to other techniques, the proposed approach has a linear cost in the number of tasks. Simulations, experimental results and a time analysis are presented to support the proposed technique

Flexible human-robot cooperation models for assisted shop-floor tasks

The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet unreached is the design of flexible robots able to deal at all levels with humans' intrinsic variability, which is not only a necessary element for a comfortable working experience for the person but also a precious capability for efficiently dealing with unexpected events. In this paper, a sensing, representation, planning and control architecture for flexible human-robot cooperation, referred to as FlexHRC, is proposed. FlexHRC relies on wearable sensors for human action recognition, AND/OR graphs for the representation of and reasoning upon cooperation models, and a Task Priority framework to decouple action planning from robot motion planning and control.Comment: Submitted to Mechatronics (Elsevier

Robotized underwater interventions

Working in underwater environments poses many challenges for robotic systems. One of them is the low bandwidth and high latency of underwater acoustic communications, which limits the possibility of interaction with submerged robots. One solution is to have a tether cable to enable high speed and low latency communications, but that requires a support vessel and increases costs. For that reason, autonomous underwater robots are a very interesting solution. Several research projects have demonstrated autonomy capabilities of Underwater Vehicle Manipulator Systems (UVMS) in performing basic manipulation tasks, and, moving a step further, this chapter will present a unifying architecture for the control of an UVMS, comprehensive of all the control objectives that an UVMS should take into account, their different priorities and the typical mission phases that an UVMS has to tackle. The proposed strategy is supported both by a complete simulated execution of a test-case mission and experimental results

A task-priority based control approach to distributed data-driven ocean sampling

The paper illustrates the basic ideas and relevant algorithmic developments underlying the proposal for a task-priority based control approach to distributed data-driven ocean sampling applications. This approach is deemed allowing a better formalization of the overall motion problem of the involved team of agents; that apart the ultimate mission objective, also result characterized by other different control objectives directly related with both operability and safety aspects of the entire sampling system. Also, the proposed approach, other than leading to a unifying algorithmic structure, also seems allowing to foresee good possibilities for different types of downgrading toward efficient decentralized implementations

Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles

There is increasing interest in the deployment and operation of multiple autonomous marine vehicles (AMVs) for a number of challenging scientific and commercial operational mission scenarios. Some of the missions, such as geotechnical surveying and 3D marine habitat mapping, require that a number of heterogeneous vehicles operate simultaneously in small areas, often in close proximity of each other. In these circumstances safety, reliability, and efficient multiple vehicle operation are key ingredients for mission success. Additionally, the deployment and operation of multiple AMVs at sea are extremely costly in terms of the logistics and human resources required for mission supervision, often during extended periods of time. These costs can be greatly minimized by automating the deployment and initial steering of a vehicle fleet to a predetermined configuration, in preparation for the ensuing mission, taking into account operational constraints. This is one of the core issues addressed in the scope of the Widely Scalable Mobile Underwater Sonar Technology project (WiMUST), an EU Horizon 2020 initiative for underwater robotics research. WiMUST uses a team of cooperative autonomous ma- rine robots, some of which towing streamers equipped with hydrophones, acting as intelligent sensing and communicat- ing nodes of a reconfigurable moving acoustic network. In WiMUST, the AMVs maintain a fixed geometric formation through cooperative navigation and motion control. Formation initialization requires that all the AMVs start from scattered positions in the water and maneuver so as to arrive at required target configuration points at the same time in a completely au- tomatic manner. This paper describes the decoupled prioritized vehicle motion planner developed in the scope of WiMUST that, together with an existing system for trajectory tracking, affords a fleet of vehicles the above capabilities, while ensuring inter- vehicle collision and streamer entanglement avoidance. Tests with a fleet of seven marine vehicles show the efficacy of the system planner developed.Peer reviewe

Biomassa de cinco espécies de Eucalyptus para uso como biocombustível

Orientadora : Profª. Drª. Ghislaine Miranda BonduelleCoorientador : Prof. Dr. Dimas Agostinho da SilvaDissertação (mestrado) - Universidade Federal do Paraná, Setor de Ciências Agrárias, Programa de Pós-Graduação em Engenharia Florestal. Defesa: Curitiba, 05/04/2016Inclui referências : f. 53-61Área de concentração : Tecnologia e utilização de produtos florestaisResumo: Esse trabalho teve por objetivo avaliar o potencial da biomassa de cinco espécies de Eucalyptus como fonte de energia e, também, matéria-prima para a produção de carvão vegetal. Foram utilizadas as espécies Eucalyptus benthamii, Eucalyptus dunnii, Eucalyptus grandis, Eucalyptus saligna e o hibrido Eucalyptus grandis x Eucalyptus urophylla (Eucalyptus urograndis) provenientes de plantios arbóreos comerciais com 7 anos de idade, localizados no bioma Pampa no estado do Rio Grande do Sul. Foram avaliadas as propriedades energéticas dos compartimentos da árvore: madeira, casca, galho e folha; além da biomassa seca e o estoque de energia destes compartimentos. Utilizando o compartimento madeira foi produzido carvão vegetal, com temperatura de 450 °C e taxa de aquecimento de 2 °C min-1, no qual foram avaliadas as propriedades energéticas. A partir desse processo foram avaliados os rendimentos de carvão vegetal, licor pirolenhoso, gases não condensáveis, carbono fixo e energia. Na avaliação energética dos diferentes compartimentos houve pouca variação entre as espécies, o compartimento da casca destacou-se pelo alto teor de cinzas, enquanto o compartimento folhas apresentou o maior poder calorífico superior. Para biomassa seca e estoque de energia a espécie E.dunnii foi a que apresentou resultados superiores e a espécie E.benthamii os inferiores. Em relação a produção de carvão vegetal e qualidade do mesmo, as espécies apresentaram diferenças para o teor de cinzas e materiais voláteis, densidade relativa aparente e rendimentos. A espécie E.benthamii apresentou os melhores resultados de rendimentos em carvão vegetal, energia e carbono fixo, enquanto a espécie E.dunnii apresentou os resultados inferiores para essas mesmas propriedades. As espécies estudadas apresentam potencial para a produção de energia via combustão direta e para a produção de carvão vegetal. Palavras-chave: Análise termogravimétrica. Biorredutor. Propriedades tecnológicas da madeira. Qualidade carvão. Recursos Florestais.Abstract: This study aimed to evaluate the potential of biomass of five species Eucalyptus as an energy source and raw material for the production of charcoal. In this study were used the species Eucalyptus benthamii, Eucalyptus dunnii, Eucalyptus grandis, Eucalyptus saligna and hybrid Eucalyptus grandis x Eucalyptus urophylla (Eucalyptus urograndis) from commercial arboreal plantations 7 years old, located in the "pampa gaucho" region in the Rio Grande do Sul state. Energy properties of tree compartments were evaluated: stem wood, stem bark, leaf and branches; and the dry biomass and energy stock of these compartments. The stem wood was used to produce charcoal, with the final temperature of 450 ° C and a heating rate of 2 ° C min-1, which were evaluated energy properties, this process were evaluated yields of charcoal, pyrolignous liquid, no condensable gases, fixed carbon and energy. The energy evaluation of the different compartments showed little variation among species, the stem bark compartment highlighted by high ash content, while the leaves compartment showed the largest higher calorific value. For dry biomass and energy stock the E.dunnii was the species that showed superior results and E.benthamii lower results. In to charcoal production and quality of the same species showed differences for ash and volatiles, apparent relative density and yields. The E.benthamii stood out positively in relation to income in charcoal, energy and fixed carbon, while the E.dunnii showed lower results for these same properties. The species showed low variation between the technological properties so that all have the potential for energy production. Keywords: Thermo-gravimetric analysis. Bioreducer. Wood technological properties. Charcoal quality. Forest resources

Diagnóstico em uma indústria de pellets no Paraná

Orientador: Prof. Dr. Dimas Agostinho da SilvaMonografia (graduação) - Universidade Federal do Paraná, Setor de Ciências Agrárias, Curso de Engenharia Industrial Madeireira.Resumo: O presente trabalho pretende demostrar um estudo de caso sobre a producao de pellets de madeira, produto que se apresenta com uma forma de melhorar a biomassa como fonte de energia, na regiao sul do Brasil. A industria de pellets e recente no Brasil, ainda existem poucos estudos na area e nao ha normatizacao para o produto no mercado nacional, enquanto na Europa e America do Norte esse produto e consolidado e existem normatizacoes para seu uso industrial e domestico. Foram avaliadas as propriedades energeticas, fisicas e mecanicas de tres diferentes tipos de pellets feitos pela empresa e da materia-prima utilizada, assim como o consumo de energia eletrica necessaria na producao dos pellets. Os produtos avaliados demonstraram haver diferencas significativas na qualidade final dos mesmos. Esses produtos ainda nao atingem o nivel de qualidade exigido por normas internacionais, sendo os pontos chaves para isso o poder calorifico inferior e o teor de cinzas

ROBUST project: Control Framework for Deep Sea Mining Exploration

This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of containing a manganese nodule field and proceeds with a detailed low altitude survey. Whenever a possible nodule is found, it performs an insitu measurement through laser induced spectroscopy. To do so, the underwater vehicle must first land on the seafloor, with a certain precision to allow a subsequent fixed-based manipulation, bringing its manipulator endowed with the laser system in the position to carry out the measurement. The work reports the developed control architecture and the simulation results supporting it