16 documents found, page 1 of 2
Development of a digital frequency meter for signal analysis on a respiratory p...
Silva, Guilherme Carvalho da; Castro, Raissa Moraes de; Forte, Marcus Davi do Nascimento; Nogueira, Fabrício Gonzalez; Torrico, Bismark ClaureThis work presents preliminary results of a digital frequency meter that has been designed to measure the frequency of oscillatory vibrations in respiratory physiotherapy devices. Maintain a frequency around 13Hz is important to keep an efficient treatment. Therefore, the proposed circuits and systems are intended to give a visual feedback to the patient with a suggestion of the optimal blow strength. A Linear ...
Trajectory Tracking Control of a Mobile Robot Using Lidar Sensor For Position a...
Lima, Thiago Alves; Forte, Marcus Davi do Nascimento; Nogueira, Fabrício Gonzalez; Torrico, Bismark Claure; Paula, Adriano Rodrigues deIn this paper it is investigated the trajectory tracking control of a wheeled mobile robot using a laser rangefinder sensor to estimate the robot position and orientation (posture). This technique is compared with the conventional odometry method where the encoders data are used for posture estimation. The paper also presents the description of the robot as well as its mathematical modeling. Two controllers in ...
Trajectory tracking control of a nonholonomic mobile robot with differential drive
Sousa, Rigoberto Luis Silva; Forte, Marcus Davi do Nascimento; Nogueira, Fabrício Gonzalez; Torrico, Bismark ClaureThis paper presents the development and trajectory tracking control of a nonholonomic mobile robot with differential drive. The used control system is composed of two loops cascaded, with internal PID controlling the speed of the two wheels and an external loop controlling the robot position and orientation. The second one is a feedfoward kinematics controller which is tuned according to desired closed-loop cha...
Desenvolvimento de Instrumentação para Geração de Nuvem de Pontos Usando Sensor...
Santos, Judá Teixeira; Forte, Marcus Davi do Nascimento; Paula, Adriano Rodrigues de; Sousa, Nadson Renan Tomé de; Lima, Thiago AlvesThis works presents the development of an embedded system which generates a point cloud data based on measurements acquired by LiDAR (Light Detection and Ranging) sensors. The LiDAR sensor is integrated with an IMU (Inertial Measuring Unit) so that angular motion is detected and synchronized with the measured distances, forming a three-dimensional point cloud. A mathematical model based on quaternions is used f...
Controle adaptativo auto-ajustável para controle de seguimento de trajetórias d...
Lobo, Thiago Diniz; Forte, Marcus Davi do Nascimento; Nogueira, Fabrício Gonzalez; Torrico, Bismark Claure; Lima, Thiago Alves; Araújo, Jéssica PessoaThis work presents an application of an adaptive control strategy for reference trajectory tracking of a mobile robot with non-holonomic constraints. The controller consists of two cascade control loops, whose first loop is responsible for the wheeled motor speed control, and the second is responsible for a non-linear control action that allows reference trajectory tracking. In order to maintain performance spe...
Anti-windup dead-time compensation for stable and integrative first-order dead-...
Torrico, Bismark Claure; Lima, Thiago Alves; Almeida Filho, Magno Prudêncio de; Nogueira, Fabrício Gonzalez; Rios, Clauson Sales do NascimentoThis work proposes an anti-windup structure for the ltered Smith predictor (FSP) which belongs to a class of dead-time compensators (DTCs). The proposed FSP structure does not use any extra tuning parameter due to the anti-windup characteristic. In addition stability analysis is presented based on describing function method to show robustness properties of the controller. Simulation results are used to compare ...
Controle de uma planta de dessalinização por osmose reversa acionada por sistem...
Queiroz, Dayse Maria Benevides de; Araújo, Jéssica Pessoa; Nogueira, Fabrício Gonzalez; Carvalho, Paulo Cesar Marques de; Torrico, Bismark ClaureNeste trabalho são apresentadas a modelagem e controle de um sistema de dessalinização por osmose reversa. As entradas do sistema são as válvulas de bypass e da água de concentrado. As saídas do sistema são o fluxo da água de produto e a pressão de entrada do sistema. O modelo não linear obtido é linearizado para o ponto de operação considerado um controlador por alocação de pólos com ação integral é projetado....
Tuning rules for unstable dead-time processes
Rodrigues, Rejane Cavalcante Sá; Sombra, Andresa Kelly Ribeiro; Torrico, Bismark Claure; Pereira, René Descartes OlímpioDespite many advances in the field of dead-time compensators (DTCs) for unstable first-order plus dead- time (UFOPDT) processes, the tuning, in general, is manually carried out. Therefore, this paper proposes simple tuning rules for a DTC intended to UFOPDT processes. The rules are based on the relative dead time, desired closed-loop time constant, and achievable robustness. Besides, as the practical implemen- ...
Reference tracking of a nonholomic mobile robot using sensor fusion techniques ...
Forte, Marcus Davi do Nascimento; Correia, Wilkley Bezerra; Nogueira, Fabrício Gonzalez; Torrico, Bismark ClaureThis paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning is performed through a LQR problem whose feedback gains are set as the proportional gain of the PI controller. The...
Avaliação da carga pressórica e da vibração oferecida pelo Acapella® Blue e Green
Santos, Nathiara Ellen dos; Diniz, Denise Maria Sá Machado; Castro, Raissa Moraes de; Nascimento, Andreza Costa; Faustino, Bruno LuizO Acapella® combina oscilação de alta frequência e pressão expiratória positiva (PEP). O ar passa através de um cone, produzindo oscilações do fluxo. A frequência obtida varia de 0 a 30 Hz. Os objetivos do nosso estudo foram avaliar a vibração produzida pelo Acapella® em voluntários saudáveis através de um microfone de eletreto, e comparar a sensação subjetiva de vibração e de PEP. O período de realização da pe...