DSpace Collection:
http://hdl.handle.net/11624/171
2024-03-18T13:44:42ZDesenvolvimento de um robô cartesiano acionado por CNC.
http://hdl.handle.net/11624/2153
Title: Desenvolvimento de um robô cartesiano acionado por CNC.
Authors: Oliveira, Luís Felipe dos Santos
Abstract: The use of computational tools - Computer Aided Manufacturing (CAM) - the industry accelerated the development of the resources used in this context, machines controlled by CNC - Computer Numeric Control (CNC) - perform jobs more agile, fast and accurate. A machine with CNC control type can perform various types of work, such as cutting, chopping, drilling, planning, grinding, among others, and are composed of two or more programmable axes furniture typically controlled by a computer. This work will address CNC machines characterized as a Cartesian robot 2 and 3 degrees of freedom and computer control. The construction of this type of machinery involves different areas, such as mechanics, electronics and computing, which together can ensure the accuracy and speed of such machines. This academic work presents bibliographic content on the subjects pertinent to the construction of a cartesian robot, as well as: details of projection, development of hardware and software, physical construction, data collection and evaluation of results obtained.2016-01-01T00:00:00ZModelo genérico de plataforma robótica omnidirecional em código aberto.
http://hdl.handle.net/11624/2151
Title: Modelo genérico de plataforma robótica omnidirecional em código aberto.
Authors: Ritter, Guilherme Alan
Abstract: Despite robotics being well established in industry since the 1960s, and being consolidated
in other areas like defense, health and services, there still are many areas that
can be explored. However, the research still presents many challenges. One way to
encourage research is to increase the number or researchers, and one way to do that is
to facilitate the access of students to the subject. Since robotics frequently involves complex
math, the use of a tool with solved solutions can anticipate the interest of students
for robotics. With the intention to strenghten research and to provide a base for more
ambitious projects, the objective of this work is to develop an omnidirectional mobile
robotic platform generic model that moves according to varied commands. To provide
the robot for future researches, all of the documents necessary to its construction, including
source code(s), will be shared on an on-line platform for the community in a
free way. This work is compared to similar works, justifying it’s relevance. Several tests
are realized and their results are discussed, resulting in the validation of the control
program. Future improvements for the work are mentioned.2016-01-01T00:00:00ZSistema baseado em kinect para avaliação de amplidute de movimento de membros superiores e controle de protótipo de uma órtese ativa.
http://hdl.handle.net/11624/2150
Title: Sistema baseado em kinect para avaliação de amplidute de movimento de membros superiores e controle de protótipo de uma órtese ativa.
Authors: Duarte Junior, José Antonio
Abstract: Este trabalho tem como objetivo um sistema capaz de medir ângulos articulares do corpo humano, gerar uma avaliação da amplitude de movimento articular (ADM) através destes ângulos e operar um protótipo de órtese ativa com os mesmos. Este sistema tem importância no auxilio a médicos, fisioterapeutas e fisiologistas no diagnóstico e tratamento de pacientes com lesões nos membros superiores e uma opção para um futuro tratamento de reabilitação remota. O sistema desenvolvido apresenta, de forma sucinta, um software que utiliza o sensor kinect para captar informações dos membros superiores do paciente avaliado e realizar as medições de ângulos articulares com base na geometria analítica. Um microcontrolador recebe os dados processados e opera um protótipo de órtese ativa. Um arquivo de avaliação também é gerado pelo sistema, com informações como nome do paciente e data da avaliação. O sistema construído foi validado sendo atestado de maneira satisfatória seu funcionamento, obtendo as medições de ADM (amplitude de movimento) confiáveis e válidas, além de gerar uma avaliação que pode ser utilizada por profissionais da área da fisioterapia de maneira confiável. Os resultados demonstraram um erro em torno de 1,5%, em comparação aos valores captados com uso de um goniômetro convencional. Por outro lado, a avaliação gerada pelo software em um paciente obteve uma taxa de erro de 8,5% em relação a o sistema convencional de avaliação.2016-01-01T00:00:00ZRover Sim : plataforma de validação de algoritmos aplicados a veículos autônomos para desvio de obstáculos.
http://hdl.handle.net/11624/2137
Title: Rover Sim : plataforma de validação de algoritmos aplicados a veículos autônomos para desvio de obstáculos.
Authors: Devitte, Rafael
Abstract: The development of autonomous vehicles is a contemporary theme, which aims to provide facilities for drivers and minimize traffic problems generated by them. Many of the research in the area aim at solving problems related to vehicle locomotion in complex environments that can contain static and dynamic obstacles. This paper presents the development of a validation platform to obstacle avoidance algorithms, applied to autonomous vehicles. The goal is to help define the best obstacle avoidance strategy for a given environment, and assist in the definition of sensors to be used. For the validations were implemented the Tangent Bug and Artificial Potential Fields obstacle avoidance algorithms, in addition to the implementation of simulation of ultrasonic and laser sensors. The tests performed had as objective to verify the behavior of the two algorithms in different environments, in order to identify, from parameters such as the number of collisions, targets reached and displacement performed, which of the algorithms performed the defined path presenting the best results. The Tangent Bug algorithm was able to perform all defined paths in the environments in which it acted, while the Artificial Potential Fields algorithm, in one of the environments, was not able to perform the course. As for the sensors, the laser sensors presented superior results to the ultrasonic sensors when the Tangent Bug algorithm was used. In the use of the algorithm Artificial Potential Fields, both sensors demonstrated a similar performance.2017-01-01T00:00:00Z