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Publications

Publications by José Alexandre Gonçalves

2017

Dc motor educational kit: A teaching aid in control theory

Authors
Moreira, AP; Costa, P; Gonçalves, J; Faria, BM;

Publication
Lecture Notes in Electrical Engineering

Abstract
This paper describes a laboratory control theory experiment supported by the use of a DCMotor Educational Kit. The impact, as a teaching aid, of the proposed laboratory control experiment is evaluated, having in mind the student’s feedback. The DC motor that is used in the developed educational Kit is the EMG30, being a low cost 12V motor equipped with encoders and a 30:1 reduction gearbox. The experiment is based on real hardware and on simulation, using the SimTwo realistic simulation software. In order to implement the realistic simulation the EMG30model was obtained. Students’ feedback was acquired using a questionnaire and the results confirmed the importance given to these practical experiments. © Springer International Publishing Switzerland 2017.

2013

Humanoid Gait Optimization Resorting to an Improved Simulation Model

Authors
Lima, JL; Goncalves, JA; Costa, PG; Moreira, AP;

Publication
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS

Abstract
The simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for these robots is using simulation and optimization techniques. This paper addresses a new approach to optimizing gait parameter sets using an adaptive simulated annealing optimization algorithm, combined with a new joint model that reduces its instability. The new model and the optimization are implemented in SimTwo (a developed physical robot simulator that is capable of simulating user defined robots in a three-dimensional space, since it includes a physical model based on rigid body dynamics) and results are shown that validate the approach.

2013

Modeling and simulation of a laser scanner sensor: An industrial application case study

Authors
Lima, J; Gonçalves, J; Costa, PJ; Paulo Moreira, A;

Publication
Lecture Notes in Mechanical Engineering

Abstract
A laser scanner is a popular sensor widely used in industry and mobile robots applications that measures the distance to the sensor on a slice of the plan. At the same time, simulation has becoming more and more used in industries and academia since it presents several advantages. It takes the building and rebuilding phase out of the loop by using the model already created in the design phase. Further, simulation time on testing is cheaper and faster than performing the multiple tests of the design each time. Besides, it is easier to measure some variables in simulation than in real scenarios. In this paper, a laser scanner sensor is modeled and implemented in a developed simulator that already has several other sensors and actuators models. The presented simulation reflects the laser model properties such as target color dependences, noise, limits, time constraints, and target angle functions. As a case study, the same scenario is assembled with real components on a conveyer belt and in simulation. Results from both approaches are compared and validate the proposed model methodology. As an example, a 3D object recognition task is addressed highlighting the developed realistic model. Further industrial and R&D implementations based on this sensor could be stressed in simulation before implementation. © Springer International Publishing Switzerland 2013.

2013

Modeling and simulation of the EMG30 geared motor with encoder resorting to simtwo: The official robot@factory simulator

Authors
Gonçalves, J; Lima, J; Costa, PJ; Moreira, AP;

Publication
Lecture Notes in Mechanical Engineering

Abstract
This paper describes the EMG30 mechanical and electrical modeling and its simulation resorting to SimTwo (Robot@Factory mobile robot competition official simulator). It is described the developed setup applied to obtain the experimental data that was used to estimate the actuator parameters. It was obtained an electro-mechanical dynamical model that describes the motor, its gear box, and the encoder. The motivation to model and simulate the EMG30 is the fact that it is an actuator worldwide popular in the mobile robotics domain, being a low cost 12v motor equipped with encoders and a 30:1 reduction gearbox. The Goal of this work is to provide more realism and new features to the Robot@Factory official simulator, allowing participating teams to produce and validate different robot prototypes and its software, reducing considerably the development time. © Springer International Publishing Switzerland 2013.

2017

A new plant growth system rig based on thermodynamic solar energy: A study for energy efficiency assessment

Authors
Coelho, JP; Gonçalves, J; Braz César, M; Dias, J;

Publication
Lecture Notes in Electrical Engineering

Abstract
At the present there is a high pressure toward the improvement of all production processes. Those improvements can target distinct factors along the production chain. In particular, and due to recent tight energy efficiency policies, those that involve energy efficiency. As can be expected, agricultural processes are not immune to this tendency. Even more when dealing with indoor productions. In this context, this work presents an innovative system that aims to improve the energy efficiency of a trees growing platform. This improvement in energy consumption is accomplished by replacing an electric heating system by one based on thermodynamic panels. The assessment of the heating fluid caudal and its temperature was experimentally obtained by means of a custom made scaled prototype whose actuators status are commanded by a Fuzzy-based controller. The obtained results suggest that the change in the heating paradigm will lead to overall savings that can easily reach 60% on the energy bill. © Springer International Publishing Switzerland 2017.

2015

Fuzzy control of awater pump for an agricultural plant growth system

Authors
Dias, J; Coelho, JP; Gonçalves, JA;

Publication
IJCCI 2015 - Proceedings of the 7th International Joint Conference on Computational Intelligence

Abstract
At the present time there is a high prebure toward the improvement of all the production procebes. Those improvements can be sensed in several directions in particular those that involve energy efficiency. The definition of tight energy efficiency improvement policies is transversal to several operational areas ranging from industry to public services. As can be expected, agricultural procebes are not immune to this tendency. This statement takes more severe contours when dealing with indoor productions where it is required to artificially control the climate inside the building or a partial growing zone. Regarding the latter, this paper presents an innovative system that improves energy efficiency of a trees growing platform. This new system requires the control of both a water pump and a gas heating system based on information provided by an array of sensors. In order to do this, a multi-input, multi-output regulator was implemented by means of a Fuzzy logic control strategy. Presented results show that it is pobible to simultaneously keep track of the desired growing temperature set-point while maintaining actuators streb within an acceptable range. © Copyright 2015 by SCITEPRESS - Science and Technology Publications, Lda.

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