2008 5th Latin American Robotics
Symposium
(LARS 2008)
Salvador, Bahia, Brazil
29 – 30 October 2008
IEEE Catalog Number:
ISBN:
CFP08LAR-PRT
978-1-4244-3379-7
TABLE OF CONTENTS
ROBOT COMPETITIONS
Mixed Reality RoboCup Category - An Overview of FURGBOL-PV Contributions...................................1
Mariane Mendes Medeiros, Rafael Gonçalves Colares, Renan Rosado De Almeida, Gisele Moraes
Simas, Eder Mateus Nunes Gonçalves, Silvia Silva Da Costa Botelho
Robust and Efficient Embedded Vision for Aibo in Robocup.........................................................................6
D. Herrero-Pérez, H. Martínez-Barberá
RoboCup Small-size League: Using Neural Networks to Learn Color Segmentation During
Visual Processing...............................................................................................................................................12
Ernesto Torres, Alfredo Weitzenfeld
Team Agent Behavior Architecture in Robot Soccer.....................................................................................18
Myriam Arias Ruiz, Jorge Ramirez Uresti
ROBOT VISION
Visual Selective Attention Model for Robot Vision........................................................................................24
Milton Roberto Heinen, Paulo Martins Engel
Vision-Based Outdoor Navigation Using Mobile Robots...............................................................................30
Denis F. Wolf, Celio N.S. Netto
Real-Time Neural Network Based Color Classifier .......................................................................................35
Éder Augusto Penharbel, Ben Hur Gonçalves, Roseli Aparecida Francelin Romero
A Robotic Vision System Using a Modified Hough Transform to Perform Weld Line
Detection on Storage Tanks..............................................................................................................................40
Lucas Molina, Elyson A.N. Carvalho, Eduardo O. Freire, Jugurta R. Montalvão-Filho, Flávio De A.
Chagas
ROBOT CONTROL
Nonlinear Modeling, Identification and Control for a Simulated Miniature Helicopter............................46
Ener Diniz Beckmann, Geovany Araújo Borges
Experimental Implementation of the Cascade Controller with Adaptive Dead-Zone
Compensation Applied to a Hydraulic Robot.................................................................................................52
Claudio L.D. Machado, Victor J. De Negri, Mauro A.B. Cunha
Stabilization of a Wheeled Inverted Pendulum by a Continuous-Time Infinite-Horizon
LQG Optimal Controller..................................................................................................................................58
Luis F Lupian, Rodrigo Avila
An Intelligent Adaptive Controller..................................................................................................................63
Magno Cavalcante, Leizer Schnitman, Augusto Loureiro
ROBOT LOCALIZATION
Real-Time Robot Localization in Indoor Environments Using Structural Information ............................68
Pablo Espinace, Alvaro Soto, Miguel Torres-Torriti
Robust State-Space Estimation for Mobile Robot Localization....................................................................74
Roberto Santos Inoue, Marco Henrique Terra, Valdir Grassi Jr.
SLAM in Underwater Environment Using SIFT and Topologic Maps........................................................80
Paulo Drews Jr., Silvia Botelho, Sebastião Gomes
Execution Monitoring Applied to Data Estimation Processes.......................................................................86
Eduardo O. Freire, Elyson A. N. Carvalho, Carlos A.V. Cardoso, Benedito A. Luciano
LEGGED ROBOTS
5-link Bipedal Robot Stabilized by Means of Dorsal Movement Compensation .........................................92
Luiz R. Douat, Eugênio B. Castelan, Ubirajara F. Moreno
Morphology and Gait Control Evolution of Legged Robots .........................................................................98
Milton Roberto Heinen, Fernando Santos Osório
Cooperative Path Planning for a Heterogeneous Robotic System Composed of a
Humanoid Robot and a Wheel Robot............................................................................................................104
Andre M. Santana, Adelardo A.D. Medeiros
Reflexive Behavior for a Four-Legged Mobile Robot Using Fuzzy Logic..................................................110
Luis E.M. Lima, Paulo F.S. Amaral, Antônio B. Filho
ROBOT DEVELOPMENT AND SIMULATION
Diagnostic Robotic Agent in the RoboEduc Environment for Educational Robotics ...............................116
Alzira F. Silva, Renata P. Barros, Samuel O. Azevedo, Akynara Silva, Luiz M.G. Gonçalves
MecaTeam Framework: An Infrastructure for the Development of Soccer Agents for
Simulated Robots ............................................................................................................................................122
Orivaldo Vieira Santana Jr., Christina Von Flach Garcia Chavez, Augusto Loureiro Da Costa
Dynamic Modelling of a Quadrotor Aerial Vehicle with Nonlinear Inputs ...............................................128
Armando S. Sanca, Pablo J. Alsina, Jés De Jesus F. Cerqueira
APPLICATION OF ROBOT TECHNOLOGIES
Human Detection Using Thermopiles............................................................................................................134
José Luis Honorato, Ignacio Spiniak, Miguel Torres-Torriti
Effective Pedestrian Detection and Counting at Bus Stops .........................................................................141
Guillermo García-Bunster, Miguel Torres-Torriti
Adaptive Knee Joint Control for an Active Amputee Prosthesis................................................................147
Glauco Garcia Scandaroli, Geovany Araujo Borges, Adson Ferreira Da Rocha, Francisco Assis De
Oliveira Nascimento
TATUBOT – Robotic System for Inspection of Undergrounded Cable System........................................153
Claudio Mello Jr., Eder Mateus Gonçalves, Emanuel Estrada, Gabriel Oliveira, Humberto Souto Jr.,
Renan Almeida, Silvia Botelho, Thiago Santos, Vinícius Oliveira
ROBOT ARCHITECTURES AND TASK CONTROL
Variable Utility in Multi-robot Task Allocation Systems ............................................................................159
Guilherme S. Bastos, Carlos Henrique C. Ribeiro, Luiz Edival De Souza
A Five-layers Open-Architecture Robot Controller Applied to Interaction Tasks ...................................164
André Schneider de Oliveira, Edson Roberto De Pieri, Daniel Martins, Ubirajara Franco Moreno
Deadline Missing Prediction in Systems Based on Distributed Threads....................................................170
Patricia Della Méa Plentz, Carlos Montez, Rômulo Silva De Oliveira
MaeRobot: An Open Source Test Platform for Prototyping Robots..........................................................176
Thiago De F.O. Araújo, Miguel A. De S. Falcão, Antonio M.N. Lima, Clarissa F.C.L. Loureiro
Author Index