Program. Thursday, June 14, 2012

Transcription

1 Program Thursday, June 14, :15-08:30 Event Opening 08:30-09:30 Lecture: Bio-inspired Multi Robot Systems Prof. Dr. Ronald Arkin - Georgia Institute of Technology 09:30-09:50 Coffee-Break 09:50-11:30 11:30-12:50 Lunch 12:50-14:00 Lunch 14:00-15:00 15:00-15:20 Coffee-Break 15:20-17:00 Technical Session I - Human Robot Interfaces Sala Júpiter - FunDeB Chairs Prof. Dr. Edson Roberto de Pieri UFSC Prof. Dr. Humberto Ferasoli Filho UNESP/Bauru 1. Glove-based optical fiber sensor system for applications in robotics 2. An Environment Endowed With a Behavior-Based Control Architecture to Allow Physically Disabled Children to Control Mobile Robots 3. Gesture-based Interactions with a Mobile Wheeled Robot 4. Gesture based Control of Mobile Robots using Open-Source Software Technical Session II - Robotic Control Sala Saturno - FunDeB Chairs Prof. Dr. Walter Fetter Lages UFRGS Prof. Dr. Mário Sarcinelli Filho - UFES 1. Development of Robotic System For Transportation of People With Special Needs 2. Modeling and Control of an Articulated Robot Arm 3. Automatized Translation from a Functional into an Architectural Model: an Application to the QuadRotor UAV 4. Identification and Control of a Commercial QuadRotor Helicopter Lecture: Novel Robots for Functional Training of Neural Impaired Adults and Children Prof. Dr. Sunil Agrawal - University of Delaware Technical Session III - Assistive Robotics Chairs Prof. Dr. Flávio Tonidandel UniFEI Prof. Dr. Arturo Forner-Cordero USP 1. Zigbee Network of IMU and semg Sensors for Rehabilitation Robotics 2. Development of an Exoskeleton for Lower Limbs Rehabilitation 3. A Computational Game for Robotic Rehabilitation and Motor Learning Studies 4. Development of a robotic platform for the upper limb rehabilitation Panel Discussion - Assistive Robotics MINICURSO I: Sistemas Inteligentes Para Automação e Robótica Sala Marte FunDeB Prof. Dr. Ivan Nunes da Silva and Prof. Dr. Danilo Hernane Spatti - University of São Paulo MINICURSO II: Modelagem e Controle de Veículos Aéreos de Asas Rotativas Sala Marte FunDeB Prof. Dr. Mário Sarcinelli Filho, Ms. Alexandre Santos Brandão e Ricardo Carelli - Federal University of Espírito Santo 17:00-18:00 Prof. Dr. Glauco Augusto de Paula Caurin USP-SC Prof. Dr. Arturo Forner-Cordero USP Prof. Dr. Sunil Kumar Agrawal UD Moderador Prof. Dr. Flávio Tonidandel FEI

2 Friday, June 15, :30-09:30 Lecture: From the Lab to the Field: Developing Autonomous Robotic Systems for Challenging Environments Prof. Dr. Alberto Elfes - Commonwealth Scientific and Industrial Research Organization 09:30-09:50 Coffee-Break Technical Session IV - Robotic Navigation Sala Jupiter - FunDeB Chairs Prof. Dr. Paulo Roberto Gardel Kurka UNICAMP Prof. Dr. Roseli A. Francelin Romero USP-SC 1. Harmonic Potential Fields applied to frontier-based exploration problem using multiple robots 2. Closing the Loop: Towards a Robotic System Based on Sun SPOT Architecture 3. Assessment of uncertainties in the control of trajectory of a robot using image information MINICURSO III: Uma Introdução à Engenharia de Sistemas de Automação Industrial Sala Marte FunDeB Prof. Dr. João Maurício Rosário State University of Campinas Palestra: Acelerando a inovação com Projeto Gráfico de Sistema LabVIEW Arnaldo Ortiz Clemente National Instruments 09:50-11:30 11:30-12:50 Lunch 12:50-14:00 Lunch 14:00-14:30 14:30-15:00 15:00-15:20 Coffee-Break 15:20-17:00 Technical Session V - Robotic Techniques Sala Saturno - FunDeB Chairs Prof. Dr. Marcelo Nicoletti Franchin UNESP Prof. Dr. Vitor Ferreira Romano - UFRJ 1. RWE patterns extraction for on-line human action recognition through window-based analysis of invariant moments 2. Embedded Control Modeling For Differential And Omnidirectional Mobile Robot Navigation Systems 3. Integrating the OROCOS Framework and the Barrett WAM Robot 4. Hardware and telemetry architectures to an Unmanned Aerial Vehicle of quadrotor type Lecture: Implementation of Impedance Control and its Applications on Robotic Rehabilitation Prof. Dr. Glauco Augusto de Paula Caurin - University of São Paulo Lecture: Rhythmic Leg Motion is Easy, Biped Stability is Difficult. Implications for Motor Control, Rehabilitation and Robot Design Prof. Dr. Arturo Cordero Forner - University of São Paulo Technical Session VI - Robotics in Education Chairs Prof. Dr Luiz Marcos Garcia Gonçalves - UFRN Prof. Dr. José Reinaldo Silva - USP 1. Towards smarter robots with smartphones 2. A block programming interface for educational mobile robots 3. H-Educ: A Low Cost Plataform for Educational Robotics 4. Augmented Reality and the Teaching of Mobile Robotic: Two Case Studies Panel Discussion - Robotic in Education MINICURSO IV: Arquiteturas Cognitivas em Robótica Sala Marte FunDeB Prof. Dr. Ricardo R. Gudwin - State University of Campinas MINICURSO V: LabVIEW e as Ferramentas National Instruments para Robótica Sala AutoDesk - FunDeB André Bassoli Napoleão and Jailton Dias - National Instruments 17:00-18:00 Prof. Dr. Vitor Ferreira Romano UFRJ Prof. Dr. Marcos Banheti Rabello Vallim UTFPR Ms. Daniel Igarashi da Cruz - MStech Moderador - Prof. Dr Luiz Marcos Garcia Gonçalves - UFRN

3 Human Robot Interface Sala Júpiter - FunDeB Chairs Prof. Dr. Edson Roberto de Pieri UFSC Prof. Dr. Humberto Ferasoli Filho UNESP/Bauru Technical Sessions June 14 th 9:50AM - 11:30AM Glove-based optical fiber sensor system for applications in robotics Yu Tzu Wu, Eric Fujiwara, Carlos Suzuki, Unicamp, Brazil. Abstract. In this paper, a glove-based optical fiber sensor for monitoring the hand movements is presented. The sensing system is associated to a software responsible for sensor calibration and user hand real time simulation, presenting an average absolute error of 5.6 and 3.7 to the MCP and PIP joints, respectively. An Environment Endowed With a Behavior-Based Control Architecture to Allow Physically Disabled Children to Control Mobile Robots Caetano Ranieri, Universidade Estadual Paulista - UNESP, Brazil Silas F.R. Alves, UNESP - FC, Brazil Humberto Ferasoli Filho, Universidade Estadual Paulista - UNESP, Brazil Marco Antônio Corbucci Caldeira, UNESP - Universidade Estadual de São Paulo Júlio de Mesquita Filho - Campus Bauru, Brazil Rene Pegoraro, UNESP - Campus de Bauru, Brazil. Abstract. Patients with severe motor disabilities become dependent on other people to perform many of their essential daily activities. It is hard for these people to interact with the world around them, because of the small variety of movements that they can perform. Frequently, tools like adapted wheelchairs reduce these limitations impact, improving disabled people life quality. It is necessary, thus, to properly explore the movements that they are able to do and create tools that allow them to interact with certain devices. This project aims to build an environment that may be useful to perform recreational and educational activities with disabled children, improving their motivation to learn by indirectly interacting with the physical objects around them. For this purpose, a system to control mobile robots based on few movements, as head inclinations, is presented. A hierarchical control architecture in three layers is proposed. Such architecture is based on predetermined behaviors that give the robot own reactions, providing interaction with the user in a scenario of collaborative tasks. Gesture-based Interactions with a Mobile Wheeled Robot Silas F.R. Alves, UNESP - FC, Brazil Alvaro Uribe Quevedo, UNICAMP, Brazil Byron Pérez, UMNG, Colombia Humberto Ferasoli Filho, Universidade Estadual Paulista - UNESP, Brazil. Abstract. This work presents the development and integration of an user interface (UI) framework for teleoperating a wheeled robot through upper member gestures. As performance vary from UI to UI the framework is suitable as a complementary industrial or didactic tool for motivating inexperience users in working with mobile robots while performing simple gesture-based teleoperation tasks. Gesture based Control of Mobile Robots using Open-Source Software Martin Bloedorn, Guilherme Raffo, Ebrahim El''youssef, Universidade Federal de Santa Catarina, Brazil Julio Normey Rico, Universidade de Santa Catarina, Brazil Edson De Pieri, Federal University of Santa Catarina - Brazil, Brazil. Abstract. In this paper we present the development a gesture based interface using a Microsoft Kinect sensor for controlling a Parrot ARDrone Quadrotor and a Adept MobileRobots PowerBot. After analyzing the chosen platforms, a control structure and grammar for gesture interpretation is defined. Using established opensource drivers, these platforms are then integrated using Robotics Operating System, a meta-operating system for robotics software development.

4 Robotic Control Sala Saturno - FunDeB Chairs Prof. Dr. Walter Fetter Lages UFRGS Prof. Dr. Mário Sarcinelli Filho - UFES June 14 th 9:50AM - 11:30AM Development of Robotic System For Transportation of People With Special Needs Ivo Oliveira Neto, University of UFRN, Brazil Pablo Alsina, Universidade Federal do Rio Grande do Norte, Brazil Fabio Meneghetti U. de Araujo, UFRN, Brazil. Abstract. The purpose of this paper is to describe the process of Development of Robotic System for Transportation The People With Special Needs, including the study of multi-manipulator cooperative and parallel architecture, making a checklist of problems and barriers to accessibility in various pathways, based on standards, existing laws and decrees, analyzing the steps for developing and implementing an innovative solution, with the completion of programming the robot with the use of specific sensors and kinematic modeling of the technological solution. Modeling and Control of an Articulated Robot Arm Pedro Ramon Silva, Instituto de Estudos Superiores da Amazônia (IESAM), Brazil Leandro Cavalcanti, IESAM, Brazil Max R. P. Trindade, Instituto de Estudos Superiores da Amazônia, Brazil Danilo Figueiredo, Universidade Federal do Pará, Brazil. Abstract. This paper presents the applications of mathematical modeling and independent joint control strategy on a prototype of an articulated robotic manipulator of five degrees of freedom. Geometric transformations were used for calculating the kinematic model, and the Euler-Lagrange equation for the dynamic model. Automatized Translation from a Functional into an Architectural Model: an Application to the QuadRotor UAV Daniela Castellain, Universidade Federal de Santa Catarina, Brazil Jean-Marie Farines, Universidade Federal Santa Catarina - UFSC, Brazil Cristian Koliver, Guilherme Raffo, Universidade Federal de Santa Catarina, Brazil. Abstract. A networked embedded system has critical requirements that need to be checked in order to prevent loss of life or material damage. These requirements are related to both functional, e.g. controller stability, as non-functional aspects, e.g. time constraints. Usually, in the system design phase are built models driven to functional aspects by using modeling languages, such as Matlab/Simulink or LUSTRE/SCADE. The architectural model, driven to non-functional aspects, is omitted or is not integrated to the functional model. In this paper, we propose an approach for filling this gap. Our approach, based on Model-Driven Engineering (MDE) automatically performs a mapping from the functional model, described by using the SCADE language, into the architectural model, described by the AADL language. As case-study, we use a particular kind of Unmanned Aerial Vehicles (UAV), the quadrotor helicopters. Identification and Control of a Commercial QuadRotor Helicopter Cristian Souza, Guilherme Raffo, Douglas Bertol, Universidade Federal de Santa Catarina, Brazil Eugenio Castelan Neto, UFSC, Brazil. Abstract. This paper presents an identified model of a commercial quadrotor helicopter and a control design to solve the path tracking problem on the XY frame. The system is identified as a Hammerstein-Wiener model and the controllers are projected through the root locus method. Simulation results are carried out to validate the identified model and to corroborate the proposed controllers in presence of external disturbances.

5 Assistive Robotics - Sala Vênus - FunDeB Chairs Prof. Dr. Flávio Tonidandel UniFEI Prof. Dr. Arturo Forner-Cordero USP June 14 th 15:20PM - 17:00PM Zigbee Network of IMU and semg Sensors for Rehabilitation Robotics Carlos Cifuentes, Federal University of Espirito Santo, Brazil Anselmo Frizera Neto, Universidade Federal do Espírito Santo, Brazil Teodiano F. Bastos Filho, UFES, Brazil Ariel Braidot, UNER, Argentina. Abstract. This paper presents a new wireless sensor technology to enhance the rehabilitation robotics. It is based on ZigBee network of wearable Inertial Measurement Unit (IMU) and Surface Electromyography (semg) sensor nodes. These sensor nodes will allow the kinematic and muscle electrical activity measurement of patients in continuous therapy motion. Development of an Exoskeleton for Lower Limbs Rehabilitation Bruno Jardim, Universidade de São Paulo, Brazil Willian M. dos Santos, Universidade de São Paulo, Brazil. Adriano A. G. Siqueira, Universidade de São Paulo, Brazil. Abstract. This paper presents the development and construction of an impedance controlled exoskeleton for rehabilitation of lower limbs movements. The proposed device is named Exo-Kanguera (from Tupi, a Brazilian Indian language, kanguera means bones). It can be used to help people who suffered stroke or spinal cord injuries to recover their walking abilities. The impedance controlled characteristic is provided by using series elastic actuators. Three different designs of such devices are presented. The first one is the classical linear actuator originally proposed, positioned at the hip joint. The second one, actuating at the ankle joint, is a compact version of it. The third one has a torsional elastic element and reproduces the knee movements. Experimental results of force and impedance control are presented for these series elastic actuators. Also, experimental results of the exoskeleton Exo-Kanguera performing a position tracking control are presented. A Computational Game for Robotic Rehabilitation and Motor Learning Studies Leonardo Consoni, Adriano Siqueira, University of São Paulo, Brazil Glauco A P Caurin, USP, Brazil Kleber Andrade, Ricardo Joaquim, Arturo Forner Cordero, Universidade de São Paulo, Brazil. Abstract. This paper presents a computational game which can be configured for robotic rehabilitation of wrist movements as well as to be a tool for motor learning studies. Through the game, data of angular movements of the wrist, measured by the Wrist Rehabilitation Platform (a mechatronic device developed for rehabilitation purposes) are appropriately stored for subsequent analysis. The proposed game, associated with the Wrist Rehabilitation Platform, allows the therapist to set a wide variety of playing configurations, including radial/ulnar deviation or flexion/extension and congruent/incongruent movements. The rehabilitation system as a whole was tested in healthy subjects in order to provide more knowledge about the process of motor learning and evaluate the efficiency of information gathering. Development of a robotic platform for the upper limb rehabilitation Tarcisio Hess-Coelho, University of São Pauççp, Brazil Rynaldo Almeida, University of Sao Paulo, Brazil Luis Filipe Rossi, USP, Brazil Arturo Forner Cordero, Universidade de São Paulo, Brazil. Abstract. This work deals with the design and construction of a robotic platform actuating on the hand in order to produce upper limb movements that help the physical rehabilitation process. The hand is regarded as an end-effector and its motion results in movements at the wrist, elbow and shoulder joints. The paper focus on the synthesis of the mechanical structure of the robot which will work in cooperation with the human upper limb. In addition, the modeling, the built prototype and the control subsystem are also presented

6 Robotic Navigation Sala Júpiter - FunDeB Chairs Prof. Dr. Paulo Roberto Gardel Kurka UNICAMP Prof. Dr. Roseli A. Francelin Romero USP-SC June 15 th 9:50AM 11:30AM Harmonic Potential Fields applied to frontier-based exploration problem using multiple robots Murillo Batista, Universidade de São Paulo, Brazil Roseli Francelin Romero, USP-SC, Brazil. Abstract. The use of many mobile robots equipped with laser sensors to map an unknown environment using an Harmonic Potential Field approach to explore and occupancy grid to generate the map is proposed. Some related issues are discussed and solutions are presented. Simulated results show that the approach helps building maps faster. Closing the Loop: Towards a Robotic System Based on Sun SPOT Architecture Cynthia Nascimento, Univrsidade Federal do Rio Grande do Norte, Brazil Luiz Gonçalves, Universidade Federal do Rio Grande do Norte, Brazil Anderson Souza, UFRN, Brazil. Abstract. We propose a complete robotic system based on the Sun Spot platform that can be applied to robot locomotion, localization and mapping. The developed system gets reading of sensors and provides feedback to actuators in real time, thus allowing the control of the robot resources in a closed loop manner. This article introduces the algorithms developed for executing odometry, planning and trajectory execution, and also how is done the communication between the robot and a computer base. Assessment of uncertainties in the control of trajectory of a robot using image information Paulo Kurka, DPM/FEM/UNICAMP, Brazil Jaime Vargas, FEM/UNICAMP, Brazil Luciana Diógenes, Thyssenkrupp Brasil, Brazil Fernando Pereira, University of Porto, Portugal. Abstract. The paper proposes a trajectory control strategy for a roving robot, using Kalman filtered estimates of position from odometry and stereoscopic vision measurements. Position estimate uncertainties are determined from the constitutive robots kinematic model and the geometry of spatial reconstruction of image projected points. Different levels of uncertainties from odometry and vision estimates of position are input in a simulation of the robots movement. The simulations evaluate the influence of sensor noise to the robots attitude in an autonomous roving stretch.

7 Robotic Techniques - Sala Saturno - FunDeB Chairs Prof. Dr. Marcelo Nicoletti Franchin UNESP Prof. Dr. Vitor Ferreira Romano - UFRJ June 15 th 9:50AM - 11:30AM RWE patterns extraction for on-line human action recognition through window-based analysis of invariant moments Dennis Romero, Federal University of Espirito Santo, Brazil Boris Vintimilla, Centro de Investigación, Desarrollo e Innovación de Sistemas Computacionales (CIDIS), Ecuador Anselmo Frizera Neto, Universidade Federal do Espírito Santo, Brazil Teodiano F. Bastos Filho, UFES, Brazil. Abstract. This paper presents a method for on-line human action recognition on video sequences. An analysis based on Mahalanobis distance is performed to identify the "stay" state, which defines the beginning and end of the person movement, for posterior patterns extraction based on Relative Wavelet Energy from sequences of invariant moments. Embedded Control Modeling For Differential And Omnidirectional Mobile Robot Navigation Systems Leonimer Melo, Universidade Estadual de Londrina, Brazil Silas Alves, UNESP, Brazil Joao Rosario, State University of Campinas, Brazil Humberto Ferasoli Filho, Universidade Estadual Paulista - UNESP, Brazil. Abstract. This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modeling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. Integrating the OROCOS Framework and the Barrett WAM Robot Darlan Ioris, Walter Lages, UFRGS, Brazil Diego Santini, Universidade Federal do Rio Grande do Sul, Brazil. Abstract. This paper deals with the development of an interface between the OROCOS framework and the Barret WAM robot. The interface is designed as an OROCOS component, which integrates the Barrett WAM with a previously developed open architecture for robot control. Hardware and telemetry architectures to an Unmanned Aerial Vehicle of quadrotor type Alessandro Schildt, Armando Sanca, João Paulo Guimarães, Universidade Federal do Rio Grande do Norte, Brazil Michel Santana Deus, UFRN, Brazil Pablo Alsina, Universidade Federal do Rio Grande do Norte, Brazil. Abstract. The quadrotor UAV is designed for the purpose of supervision, some sensors are needed to make your flight and navigation. Thus, we need an architecture based microcontrollers and was essential to set up a base station for the helicopter flight conditions were monitored from a distance.

8 Robotics in Education Sala Vênus - FunDeB Chairs Prof. Dr Luiz Marcos Garcia Gonçalves - UFRN Prof. Dr. José Reinaldo Silva - USP June 15 th 15:20PM - 17:00PM Towards smarter robots with smartphones Rafael Aroca, Luiz Gonçalves, Universidade Federal do Rio Grande do Norte, Brazil Pericles Oliveira, UFRN, Brazil. Abstract. Smartphones are becoming each time more powerful and equipped with several accessories that are useful for robots. In this paper we present a survey of recent developments of robots controlled by such phones. We also present a novel closed loop control system that we have developed based on audio channels of mobile devices. A block programming interface for educational mobile robots Antonio Valerio Netto, Cientistas Desenvolvimento Tecnológico Ltda., Brazil Felipe Miranda, XBot, Brazil Wesley Silva, Xbot, Brazil Yan Freitas, José Tadeu Aldrigue, XBot, Brazil. Abstract. This paper describes Curumim Program Interface, the software used control the robot Curumim with block programming. Using this, even those who don''t have enough knowledge about program languages can determinate some action to the robot. In order to write the program, it is only necessary to click in the icon in the menu and the block will be inserting in the program''s window. Then a sequence of blocks will be created which can be executed by Curumim. Its possible to change any parameter of the block, delete it, insert a new block between among others already fixed. For the expert users, there is the possibility to use C/C++ languages to program the robot. H-Educ: A Low Cost Plataform for Educational Robotics Sarah Thomaz, University of Rio Grande do Norte, Brazil Carla Fernandes, Lucas Cavalcante, UFRN, Brazil Luiz Gonçalves, Universidade Federal do Rio Grande do Norte, Brazil. Abstract. With technological developments, a lot of educational robotics sets and projects using scrap (E-Waste) were developed to facilitate the creation of robotic prototypes. Many of these have a high cost and require technical expertise for its use. This paper proposes the development of a lowcost robotic platform aimed at applications in educational robotics. There will be proposed HS-Educ as a complete prototype of a low cost robotic set. Augmented Reality and the Teaching of Mobile Robotic: Two Case Studies Tiago Gaspari, Antonio Carlos Sementille, Universidade Estadual Paulista - UNESP, Brazil Emerson Massaki Kinjo, Daniela Tiemi Akyama, UNESP - Bauru, Brazil Fábio Nazima, Universidade Estadual Paulista, Brazil João Fernando Marar, UNESP, Brazil Humberto Ferasoli Filho, Universidade Estadual Paulista - UNESP, Brazil. Abstract. This study examines two case studies in which augmented reality is used as a teaching tool in the teaching of robotics and programming logic. It also presents an overview of what augmented reality provides, as well as their advantages and disadvantages.