Program
Thursday, June 14, 2012
08:15-08:30
Event Opening
08:30-09:30
Lecture: Bio-inspired Multi Robot Systems
Sala 1 – Anfiteatro “Antonio Manoel dos Santos”
Prof. Dr. Ronald Arkin - Georgia Institute of Technology
09:30-09:50
Coffee-Break
09:50-11:30
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
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
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
11:30-12:50
Lunch
12:50-14:00
Lunch
14:00-15:00
Lecture: Novel Robots for Functional Training of Neural Impaired Adults and Children
Sala 1 – Anfiteatro “Antonio Manoel dos Santos”
Prof. Dr. Sunil Agrawal - University of Delaware
15:00-15:20
Coffee-Break
15:20-17:00
Technical Session III - Assistive Robotics
Sala Vênus – FunDeB
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
Sala Vênus – FunDeB
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
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
Friday, June 15, 2012
08:30-09:30
Lecture: From the Lab to the Field: Developing Autonomous Robotic Systems for Challenging Environments
Sala 1 – Anfiteatro “Antonio Manoel dos Santos”
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.
2.
3.
09:50-11:30
Harmonic Potential Fields applied to frontier-based
exploration problem using multiple robots
Closing the Loop: Towards a Robotic System Based on
Sun SPOT Architecture
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
Palestra: Acelerando a
inovação com Projeto
Gráfico de Sistema
LabVIEW
Sala Vênus – FunDeB
Prof. Dr. João Maurício
Rosário
State University of
Campinas
Arnaldo Ortiz Clemente
National Instruments
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
11:30-12:50
Lunch
12:50-14:00
Lunch
14:00-14:30
Lecture: Implementation of Impedance Control and its Applications on Robotic Rehabilitation
Sala 1 – Anfiteatro “Antonio Manoel dos Santos”
Prof. Dr. Glauco Augusto de Paula Caurin - University of São Paulo
14:30-15:00
Lecture: Rhythmic Leg Motion is Easy, Biped Stability is Difficult. Implications for Motor Control, Rehabilitation and Robot
Design
Sala 1 – Anfiteatro “Antonio Manoel dos Santos”
Prof. Dr. Arturo Cordero Forner - University of São Paulo
15:00-15:20
Coffee-Break
15:20-17:00
Technical Session VI - Robotics in Education
Sala Vênus – FunDeB
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
Sala Vênus – FunDeB
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
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
Technical Sessions
June 14th – 9:50AM - 11:30AM
Human Robot Interface – Sala Júpiter - FunDeB
Chairs – Prof. Dr. Edson Roberto de Pieri – UFSC
Prof. Dr. Humberto Ferasoli Filho – UNESP/Bauru
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.
June 14th – 9:50AM - 11:30AM
Robotic Control – Sala Saturno - FunDeB
Chairs – Prof. Dr. Walter Fetter Lages – UFRGS
Prof. Dr. Mário Sarcinelli Filho - UFES
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.
June 14th – 15:20PM - 17:00PM
Assistive Robotics - – Sala Vênus - FunDeB
Chairs – Prof. Dr. Flávio Tonidandel – UniFEI
Prof. Dr. Arturo Forner-Cordero – USP
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
June 15th – 9:50AM – 11:30AM
Robotic Navigation – Sala Júpiter - FunDeB
Chairs – Prof. Dr. Paulo Roberto Gardel Kurka – UNICAMP
Prof. Dr. Roseli A. Francelin Romero – USP-SC
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.
June 15th – 9:50AM - 11:30AM
Robotic Techniques - – Sala Saturno - FunDeB
Chairs – Prof. Dr. Marcelo Nicoletti Franchin – UNESP
Prof. Dr. Vitor Ferreira Romano - UFRJ
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.
June 15th – 15:20PM - 17:00PM
Robotics in Education – Sala Vênus - FunDeB
Chairs – Prof. Dr Luiz Marcos Garcia Gonçalves - UFRN
Prof. Dr. José Reinaldo Silva - USP
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.