Documents disponibles écrits par cet auteur

Development and navigation of a mobile robot for floating production storage and offloading ship hull inspection / Menegaldo, Luciano Luporini in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3717-3722 Titre : Development and navigation of a mobile robot for floating production storage and offloading ship hull inspection Type de document : texte imprimé Auteurs : Menegaldo, Luciano Luporini, Auteur ; Ferreira, Gustavo Andre Nunes, Auteur ; Santos, Melquisedec Francisco, Auteur Article en page(s) : pp. 3717-3722 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Mobile  robot  Floating  production  storage  Offloading  platforms Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : This paper describes the current development status of a mobile robot designed to inspect the outer surface of large oil ship hulls and floating production storage and offloading platforms. These vessels require a detailed inspection program, using several nondestructive testing techniques. A robotic crawler designed to perform such inspections is presented here. Locomotion over the hull is provided through magnetic tracks, and the system is controlled by two networked PCs and a set of custom hardware devices to drive motors, video cameras, ultrasound, inertial platform, and other devices. Navigation algorithm uses an extended-Kalman-filter (EKF) sensor-fusion formulation, integrating odometry and inertial sensors. It was shown that the inertial navigation errors can be decreased by selecting appropriate Q and R matrices in the EKF formulation. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5130123 [...] [article] Development and navigation of a mobile robot for floating production storage and offloading ship hull inspection [texte imprimé] / Menegaldo, Luciano Luporini, Auteur ; Ferreira, Gustavo Andre Nunes, Auteur ; Santos, Melquisedec Francisco, Auteur . - pp. 3717-3722. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3717-3722 Mots-clés : Mobile  robot  Floating  production  storage  Offloading  platforms Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : This paper describes the current development status of a mobile robot designed to inspect the outer surface of large oil ship hulls and floating production storage and offloading platforms. These vessels require a detailed inspection program, using several nondestructive testing techniques. A robotic crawler designed to perform such inspections is presented here. Locomotion over the hull is provided through magnetic tracks, and the system is controlled by two networked PCs and a set of custom hardware devices to drive motors, video cameras, ultrasound, inertial platform, and other devices. Navigation algorithm uses an extended-Kalman-filter (EKF) sensor-fusion formulation, integrating odometry and inertial sensors. It was shown that the inertial navigation errors can be decreased by selecting appropriate Q and R matrices in the EKF formulation. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5130123 [...]

Inverse dynamics of a redundantly actuated four-bar mechanism using an optimal control formulation / Olavo Luppi Silva in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 6 (Novembre 2011) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 6 (Novembre 2011) . - 10 p. Titre : Inverse dynamics of a redundantly actuated four-bar mechanism using an optimal control formulation Type de document : texte imprimé Auteurs : Olavo Luppi Silva, Auteur ; Menegaldo, Luciano Luporini, Auteur Année de publication : 2012 Article en page(s) : 10 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Actuators  Matrix  algebra  Optimal  control  Robot  dynamics  Robot  kinematics  Torque  control Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : This paper presents an approach to estimating joint torques in a four-bar closed-chain mechanism with prescribed kinematics and redundant actuation, i.e., with more actuators than degrees of freedom. This problem has several applications in industrial robots, machine tools, and biomechanics. The inverse dynamics problem is formulated as an optimal control problem (OCP). The dynamical equations are derived for an open-chain mechanism, what keeps the formulation simple and straightforward. Sets of constraints are explored to force the three-link open-chain to behave as a four-bar mechanism with a crank rotating at a constant velocity. The controls calculated from the OCP are assumed to be the input joint torques. The standard case with one torque actuator is solved and compared to cases with two and three actuators. The case of two actuators presented the smallest peak and mean torques, using one specific set of constraints. Such torques were smaller than the solution obtained using an alternative method existing in literature that solves the redundancy problem by means of the pseudo-inverse matrix. Comparison with inverse dynamics solutions using well-established methods for the one-actuator closed-loop four-bar were equal. Reconstructed kinematical trajectories from forward integration of the closed-loop mechanism with the OCP obtained torques were essentially similar. The results suggest that the adopted procedure is promising, giving solutions with lower torque requirements than the regularly actuated case and redundantly actuated computed with other approaches. The applicability of the method has been shown for the four-bar mechanism. Other classes of redundantly actuated, closed-loop mechanisms could be tested using a similar formulation. However, the numerical parameters of the OCP must be chosen carefully to achieve convergence. DEWEY : 553 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000133000006 [...] [article] Inverse dynamics of a redundantly actuated four-bar mechanism using an optimal control formulation [texte imprimé] / Olavo Luppi Silva, Auteur ; Menegaldo, Luciano Luporini, Auteur . - 2012 . - 10 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 6 (Novembre 2011) . - 10 p. Mots-clés : Actuators  Matrix  algebra  Optimal  control  Robot  dynamics  Robot  kinematics  Torque  control Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : This paper presents an approach to estimating joint torques in a four-bar closed-chain mechanism with prescribed kinematics and redundant actuation, i.e., with more actuators than degrees of freedom. This problem has several applications in industrial robots, machine tools, and biomechanics. The inverse dynamics problem is formulated as an optimal control problem (OCP). The dynamical equations are derived for an open-chain mechanism, what keeps the formulation simple and straightforward. Sets of constraints are explored to force the three-link open-chain to behave as a four-bar mechanism with a crank rotating at a constant velocity. The controls calculated from the OCP are assumed to be the input joint torques. The standard case with one torque actuator is solved and compared to cases with two and three actuators. The case of two actuators presented the smallest peak and mean torques, using one specific set of constraints. Such torques were smaller than the solution obtained using an alternative method existing in literature that solves the redundancy problem by means of the pseudo-inverse matrix. Comparison with inverse dynamics solutions using well-established methods for the one-actuator closed-loop four-bar were equal. Reconstructed kinematical trajectories from forward integration of the closed-loop mechanism with the OCP obtained torques were essentially similar. The results suggest that the adopted procedure is promising, giving solutions with lower torque requirements than the regularly actuated case and redundantly actuated computed with other approaches. The applicability of the method has been shown for the four-bar mechanism. Other classes of redundantly actuated, closed-loop mechanisms could be tested using a similar formulation. However, the numerical parameters of the OCP must be chosen carefully to achieve convergence. DEWEY : 553 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000133000006 [...]