safety testing, programming and failure anticipation in projects involving industrial robots. To make this possible, a virtual model equal to the real one is needed and our research objective is to develop the Digital Twin of the ABB... more
safety testing, programming and failure anticipation in projects involving industrial robots. To make this possible, a virtual model equal to the real one is needed and our research objective is to develop the Digital Twin of the ABB IRB-120 process and robot to digitally validate the robotic cell and minimize installation and project implementation time in the “shop floor” in the context of I4 .0 Currently, a major problem related to Virtual Commissioning activities is the lack of precision between the virtual model and the physical model (digital twin), due to difficulties related to mechanical fabrication after model generation 3D The use of the Process Simulate software (SIEMENS PLM), allowed more accurate and real results to commission the robotic cell of the Robotics Advanced Institute - I.A.R. The main analysis tools are shown in this study.
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The industrial robots that carry out tasks with accuracy and rapidity are request more and more. The most industrial robots controllers does not consider the dynamics, and they use the PID with constant parameters, it becomes it rigidit... more
The industrial robots that carry out tasks with accuracy and rapidity are request more and more. The most industrial robots controllers does not consider the dynamics, and they use the PID with constant parameters, it becomes it rigidit with low speed operation. The study and applications of new structure control, that possibiltes good performance in relation to the parameter variations, is studied here. The development of techniques where controlling classics of type PID can be substituted efficiently is the aim this article. Generalized Predictive Control (GPC) has shown to be an effective strategy in many application fields, with good temporal and frequency properties (small overshoot, cancellation of disturbances, good stability and robustness margins), able to cope with important parameters variations. This kind of controller was studied on a robotic platform (PRR) design with 3 DOF’s with the model implementation, simulation and a reprogrammable logic components design (FPGA).
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Os exoesqueletos de auxílio à locomoção baseiam-se no comportamento biomecânico da marcha humana. Neste contexto, este trabalho fez um estudo dinâmico de três modelos que podem ser utilizados para um exoesqueleto de membro inferior com... more
Os exoesqueletos de auxílio à locomoção baseiam-se no comportamento biomecânico da marcha humana. Neste contexto, este trabalho fez um estudo dinâmico de três modelos que podem ser utilizados para um exoesqueleto de membro inferior com dois graus de liberdade. Assim, foram modeladas as estruturas serial, paralelogramo e híbrido (paralelogramo com compensação por mola), com base na equação de Lagrange.
Exoesqueletos são dispositivos mecatrônicos integrados ao corpo humano, que se destinam a mapear e/ou ampliar suas funções motoras interagindo de forma física e cognitiva com o usuário. Visando a aplicação de exoesqueletos, esse projeto... more
Exoesqueletos são dispositivos mecatrônicos integrados ao corpo humano, que se destinam a mapear e/ou ampliar suas funções motoras interagindo de forma física e cognitiva com o usuário. Visando a aplicação de exoesqueletos, esse projeto propunha a modelagem de um sistema que representasse o funcionamento de membros inferiores, com o estudo, compreensão e simulação do comportamento biomecânico da marcha e sua possível aplicação em protótipo utilizando componentes robóticos e hardware de supervisão e controle.
ABSTRACT An exhaustive Gaussian approach (EGA) is proposed to evaluate, through numerical simulation, the bit error ratio (BER) of direct-detection orthogonal frequency-division multiplexing systems employing square and cross quadrature... more
ABSTRACT An exhaustive Gaussian approach (EGA) is proposed to evaluate, through numerical simulation, the bit error ratio (BER) of direct-detection orthogonal frequency-division multiplexing systems employing square and cross quadrature amplitude modulation. Excellent agreement between the BER estimates from the direct error counting (DEC) and the EGA is shown for different levels of optical signal-to-noise ratio and signal distortion. It is shown that the EGA requires about three orders of magnitude less in computation time than the DEC method for BER levels around 10^(-6), with the difference getting higher for lower BER levels.
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... 1. Mobile robot platform prototype. Fig. ... of half duplex data transmission at speeds up to 40 kbit/s over distances of 30 meters in-building and 120 ... motor drives, gears, kinematics and dynamics model, and controllers can be... more
... 1. Mobile robot platform prototype. Fig. ... of half duplex data transmission at speeds up to 40 kbit/s over distances of 30 meters in-building and 120 ... motor drives, gears, kinematics and dynamics model, and controllers can be modelled in the same diagram using blocks from the ...
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Research Interests: Quaternion and EPSILON
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ABSTRACT Esta comunicação descreve o projecto e simulação de um amplificador monolítico de ganho variável, que pode ser usado na banda ISM (Industrial, Scientific and Medical) dos 900MHz, cujo ganho é controlado directamente por um... more
ABSTRACT Esta comunicação descreve o projecto e simulação de um amplificador monolítico de ganho variável, que pode ser usado na banda ISM (Industrial, Scientific and Medical) dos 900MHz, cujo ganho é controlado directamente por um conjunto de quatro bits. O circuito, totalmente integrado, é implementado numa tecnologia CMOS normalizada de 0,35μm. As simulações foram obtidas usando o modelo BSIM3 e apresentam um ganho a variar entre um mínimo de -36dB e um máximo de 28dB a 1GHz e com uma tensão de alimentação de 3V. O consumo total máximo é inferior a 5mW.
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Communication in online collaborative environments such as communities of practice, discussion lists, or institutional e-mail repositories hide information and knowledge that is imperceptible to the individual, despite the effort made in... more
Communication in online collaborative environments such as communities of practice, discussion lists, or institutional e-mail repositories hide information and knowledge that is imperceptible to the individual, despite the effort made in the storage of messages. This paper presents and ongoing work on the graphical representation of aspects of communication in online collaborative environments, aimed at uncovering the implicit knowledge hidden in the archived messages. We review the literature on graphical representation of information in online collaborative environments, followed by a pilot study on the extraction and filtering of messages of a community of practice, with rules for the graphical representation of frequent terms used in the messages and of the evolution of those frequencies in time. The graphical representation allows for the understanding of qualitative aspects of communication, such as the identification of hot topics and trends, and the forming of social networks among the participants.
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To date, different techniques of navigation for mobile robots have been developed. However, the experimentation of these techniques is not a trivial task because usually it is not possible to reuse the developed control software due to... more
To date, different techniques of navigation for mobile robots have been developed. However, the experimentation of these techniques is not a trivial task because usually it is not possible to reuse the developed control software due to system incompabilities. This paper proposes a software platform that provides means for creating reusable software modules through the standardization of software interfaces, which represent the various robot modules.
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This paper shows that a hierarchical architecture, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing, enables to take into account the easiness of future... more
This paper shows that a hierarchical architecture, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing, enables to take into account the easiness of future modifications, updates and improvements in robotic applications. An experimental example of a Stewart-Gough platform control, platform applied as a solution of countless practical problems, is presented using reconfigurable
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This paper describes the design and simulation of an innovative monolithic active balun integrated with low noise amplifier. The Single-ended-to-differential signal transformation circuit comprises a differential signal generation... more
This paper describes the design and simulation of an innovative monolithic active balun integrated with low noise amplifier. The Single-ended-to-differential signal transformation circuit comprises a differential signal generation circuit, which is able to receive a single-ended signal and generate a pair of signals having a 180º (differential) relationship phase. The fully integrated circuit was implemented in a 0.35µ µ µ µm AMS CMOS standard technology. The simulations, optimized to noise performance, minimum differential phase and magnitude error, were performed with BSIM3 model. The complete circuit presents 20.6dB of differential power gain at 2.4GHz, a phase and a transducer gain magnitude errors less than 0.2º and 0.04dB (0.32%), respectively, in a 1GHz span around 2.4GHz, a 3.7dB noise figure, a 2dBm output-referred 1dB compression point, 50Ω Ω Ω Ω input and output match, while drawing 11mA from a 3V power supply. Keywords — CMOS RFIC, balanced-unbalanced (balun), single/dif...
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ABSTRACT With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on... more
ABSTRACT With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA)
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... 1. Mobile robot platform prototype. Fig. ... of half duplex data transmission at speeds up to 40 kbit/s over distances of 30 meters in-building and 120 ... motor drives, gears, kinematics and dynamics model, and controllers can be... more
... 1. Mobile robot platform prototype. Fig. ... of half duplex data transmission at speeds up to 40 kbit/s over distances of 30 meters in-building and 120 ... motor drives, gears, kinematics and dynamics model, and controllers can be modelled in the same diagram using blocks from the ...
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Web service-based application is an architectural style, where a collection of Web services communicates to each other to execute processes. With the popularity increase of developing Web service-based application and once Web services... more
Web service-based application is an architectural style, where a collection of Web services communicates to each other to execute processes. With the popularity increase of developing Web service-based application and once Web services may change, in terms of functional and non-functional quality of service (QoS), we need mechanisms to monitor, diagnose, and repair Web services into a Web application. This
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We analyse both the market reaction and the long-term returns of stock picks mentioned on the Consumer News and Business Channel (CNBC) programme ‘Mad Money’, hosted by former hedge fund manager Jim Cramer. We find that Cramer's... more
We analyse both the market reaction and the long-term returns of stock picks mentioned on the Consumer News and Business Channel (CNBC) programme ‘Mad Money’, hosted by former hedge fund manager Jim Cramer. We find that Cramer's stock-picking style is consistent with a positive-feedback trading strategy, favouring stocks which have outperformed over an interval prior to the pick date. Subsequent
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... of Integrated Automation and Robotics, Mechanical Engineering Dep., State University of Campinas, PO Box 6122, 13083970, Campinas, S˜ao Paulo, Brazil {silas,rosario}@fem ... On the activity Hunt and Hunter, the two robots are placed... more
... of Integrated Automation and Robotics, Mechanical Engineering Dep., State University of Campinas, PO Box 6122, 13083970, Campinas, S˜ao Paulo, Brazil {silas,rosario}@fem ... On the activity Hunt and Hunter, the two robots are placed in the environment and with different goals ...
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Using robots for teaching is one approach that has gathered good results on Middle-School, High-School and Universities. Robotics gives chance to experiment concepts of a broad range of disciplines, principally those from Engineering... more
Using robots for teaching is one approach that has gathered good results on Middle-School, High-School and Universities. Robotics gives chance to experiment concepts of a broad range of disciplines, principally those from Engineering courses and Computer Science. However, there are not many kits that enables the use of robotics in classroom. This article describes the methodologies to implement tools which
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In this paper a comparison of the simulation of MMICs typical microstrip elements, such as transmission lines, open rectangular stubs and radial stubs, with commercial CAD circuit and electromagnetic simulators with on-wafer measurements... more
In this paper a comparison of the simulation of MMICs typical microstrip elements, such as transmission lines, open rectangular stubs and radial stubs, with commercial CAD circuit and electromagnetic simulators with on-wafer measurements up to 70GHz, will be presented. Conclusions about the simulators accuracy and corrected models for each element will be presented.
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Using 0.5¿m GaAs MESFET technology, we have implemented a 7.5 to 15GHz monolithic frequency doubler which has a conversion gain of 2dB and a fundamnental signal suppression of 20dB for a 5dBm@7.5GHz input signal. A design criteria... more
Using 0.5¿m GaAs MESFET technology, we have implemented a 7.5 to 15GHz monolithic frequency doubler which has a conversion gain of 2dB and a fundamnental signal suppression of 20dB for a 5dBm@7.5GHz input signal. A design criteria established by the authors, that leads to the calculation of the active device termination to optimise the output power (Pout) - conversion gain
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ABSTRACT
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... Silas FR Alves, Humberto Ferasoli Filho, René Pegoraro, Marco AC Caldeira, João M. Rosário and Wilson M. Yonezawa T 264 978-1-61284-251-6/11/$26.00 cс 2011 IEEE ... On the activity Hunt and Hunter, the two robots are placed in the... more
... Silas FR Alves, Humberto Ferasoli Filho, René Pegoraro, Marco AC Caldeira, João M. Rosário and Wilson M. Yonezawa T 264 978-1-61284-251-6/11/$26.00 cс 2011 IEEE ... On the activity Hunt and Hunter, the two robots are placed in the environment and with different goals. ...