Carlos M. Figueiredo

Modeling and control of biologically inspired flying robots

This paper covers a wide knowledge of physical and dynamical models useful for building flying robots and a new generation of flying platform developed in the similarity of flying animals. The goal of this work is to develop a simulation environment and dynamic control using the high-level calculation tool MatLab and the modeling, simulation, and analysis of dynamic systems tool Simulink. Once created the dynamic models to study, this work involves the study and understanding of the dynamic stability criteria to be adopted and their potential use in the control of flying models.

A methodology for detection and estimation in the analysis of golf putting

This paper presents a methodology for visual detection and parameter estimation to analyze the effects of the variability in the performance of golf putting. A digital camera was used in each trial to track the putt gesture. The detection of the horizontal position of the golf club was performed using a computer vision technique, followed by an estimation algorithm divided in two different stages. On a first stage, diverse nonlinear estimation techniques were used and evaluated to extract a sinusoidal model of each trial. Secondly, several expert golf player trials were analyzed and, based on the results of the first stage, the Darwinian particle swarm optimization (DPSO) technique was employed to obtain a complete kinematical analysis and a characterization of each player’s putting technique. In this work, it is intended not only to test the performance of the DPSO method, but also to present a novel study in this field by identifying a putting “signature” of each player.

Darwinian swarm exploration under communication constraints: Initial deployment and fault-tolerance assessment

In most real multi-robot applications, such as search-and-rescue, cooperative robots have to move to complete their tasks while maintaining communication among themselves without the aid of a communication infrastructure. However, initially deploying and ensuring a mobile ad-hoc network in real and complex environments is an arduous task since the strength of the connection between two nodes (i.e., robots) can change rapidly in time or even disappear. An extension of the Particle Swarm Optimization to multi-robot applications has been previously proposed and denoted as Robotic Darwinian PSO (RDPSO). This paper contributes with a further extension of the RDPSO, thus integrating two research aspects: (i) an autonomous, realistic and fault-tolerant initial deployment strategy denoted as Extended Spiral of Theodorus (EST); and (ii) a fault-tolerant distributed search to prevent communication network splits. The exploring agents, denoted as scouts, are autonomously deployed using supporting agents, denoted as rangers. Experimental results with 15 physical scouts and 3 physical rangers show that the algorithm converges to the optimal solution faster and more accurately using the EST approach over the random deployment strategy. Also, a more fault-tolerant strategy clearly influences the time needed to converge to the final solution, but is less susceptible to robot failures.

Biological Inspired Flying Robot

This paper presents the development of computational simulation based on the dynamics of a robotic bird. The study analyze the wing angle of attack and the velocity of the bird, the tail influence, the gliding flight and the flapping flight with different strategies and algorithms of control. The results are positive for the construction of flying robots. Some highlights are given about the fist implemented architecture of the structure of a robotic bird. This platform consists on a body, wings and tail with actuators independently controlled though a microcontroller; a radio transmission system and batteries are used in order to avoid wired connections between the computer and the robot.Copyright

Initial deployment of a robotic team - a hierarchical approach under communication constraints verified on low-cost platforms

In most real multi-robot applications, e.g., search-and-rescue, cooperative robots have to fulfill their tasks while driving and communicating among themselves without the aid of a network infrastructure. However, initially deploying autonomously a wireless sensor robot network in a real environment has not taken the proper attention. This paper presents an autonomous and realistic initial deployment strategy, based on a hierarchical approach, in which exploring agents, denoted as scouts, are autonomously deployed through explicit cooperation with supporting agents, denoted as rangers. To evaluate the initial deployment strategy proposed, experimental results with a team of heterogeneous robots are conducted using modified low-cost platforms previously developed by the authors. Preliminary results show the effectiveness of the method and pave the way for a whole series of possible new approaches.

Fostering the NAO platform as an elderly care robot

Depression and loneliness among the elderly are one of the biggest problems affecting the world population. This leads to elderly isolation which is a major risk factor for suicide. Moreover, if isolation is coupled with physical illness and incapacitation, such a risk increases exponentially. To fight back this problem, roboticists have been proposing solutions to autonomously monitor, support and even promote physical activities among the elderly. Nevertheless, those appear as very high-cost and complex solutions that require an advanced technical expertise. Recent off-the-shelf solutions, such as the well-known NAO robot, emerged as possible alternatives. An extension to the NAO robot, denoted as RIA, is being developed at the Engineering Institute of Coimbra (ISEC). The RIA is not only built for a social interaction with the elderly but also as an autonomous tool to promote professional care through the analysis of health and environmental parameters. Therefore, the RIA robot is an adapted NAO low-cost platform equipped with several sensors that can measure different parameters like body temperature, blood pressure and heart rate. By validating this valuable platform, the foundations were laid for a whole new paradigm in elderly care.

A Proposal for Detection and Estimation of Golf Putting

This study presents an experimental research design of a PhD work, studying the effects of the variability in the performance of the Golf putting. The instruments used to analyze the putting were two digital cameras to detect the relevant dynamic objects (i.e., ball and putter) and a biaxial accelerometer to confirm the exact moment at which the putter hits the ball. To synchronize the instruments, it was used a trigger. The ball’s trajectory and the putting movement were automatically analyzed based on visual detection and parameter estimation. The kinematic analysis of the putting was performed using the Matlab software, to determine the amplitude, velocity and acceleration of the players’ gestures. We concluded that the Golf putting action parameters are divided into different stages (i.e., backswing, downswing and follow-through) and that those can be useful to investigate the effects of variability in this movement.

On a Ball’s Trajectory Model for Putting’s Evaluation

The main goal of the present work is to draw conclusions about the influence of constraints such as different striking spots on the presence of a ramp, in the performance of golf putting while determining if the player’s performance is indeed unique and presents a signature for each of the 3 expert players in study. Each of them performed 30 trials at 2 distinct spots (in a total of 60 trials) and a standard curve for their performance was obtained with the Robust Linear Least Squares (LLSQ) method. The obtained results show that the putting performance is a “fingerprint”, unique to each player.

Design of a Golf Putting Pneumatic Mechanism Integer vs Fractional Order PID

According to Dave Pelz, one of the foremost short game and putting instructors in golf, the putting technique, or simply the putt, is defined as a light golf stroke made on the putting green in an effort to place the ball into the hole (Pelz, 2000). Hence, the putt is used in short distance shots on or near the green, as seen in Fig. 1. Similarly, putter may refer to a golf club used in the putting stroke.

Exploiting the development of robotic hands

In this paper, some considerations about the state-of-the-art and the current trends in the design and mechanisms of robotic hands are reported and discussed. Several robotic hands with multiple degrees-of-freedom have been developed over the last two decades, mainly through the use of traditional means of action (e.g., electric actuators). This paper surveys the related work accomplished by the scientific community so far, focusing on the problems engendered by these often conflicting requirements, and the work that has been done in this area. Although there are many robotic hands projects, only a few have been addressing alternative technologies such as the use of Shape Memory Alloy.