Abstract
The area of object/people location consists on the identification of their instantaneous movement in a given area of space and during a given time frame. This location takes an important role because it can help rectify trajectories (in the case of autonomous objects) or improve the performance (in the case of sport practices). In this research project, a system based on RFID that automatically rectifies a location and calculates a wheelchair trajectory in a pre-defined route will be presented. For that, a commercial location system was used as well as a wheelchair and two routes: a linear one and a complex route. In order to correct the trajectory a low pass filter was also used. The obtained results showed that this approach decreased 38% of the mean squared error and in more than 7 centimeters the maximum error. In the future this research work will be enclosed in a new project where a multi agent system capable of executing a management of an autonomous wheelchair set in a hospital environment will be developed. © 2011 AISTI.

Abstract

Abstract

Abstract
Fractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades. It has been recognized the advantageous use of this mathematical tool in the modelling and control of many dynamical systems. Having these ideas in mind, this paper discusses a FC perspective in the study of the dynamics and control of several systems. The paper investigates the use of FC in the fields of controller tuning, legged robots, electrical systems and digital circuit synthesis.

Abstract
This paper presents the development of an autonomous mobile robot controlled by a fuzzy logic controller (FLC). The robot is capable of performing several behavior-based tasks, such as to follow walls and avoid obstacles, and can be used for the embodiment of different behaviors. Experimental results are given to assess the performance of the FLC and to validate the adopted design options for the construction and control of the robot.

Abstract
This paper presents the Human-Machine Interface developed for the manual and automatic control of a wheeled climbing robot, with adhesion through permanent magnets. This machine has been developed with the intention of being used in the inspection of ferromagnetic structures, in order to, for instance, detect weaknesses due to corrosion. Although it can be manually controlled, the vehicle is designed to have a semi-autonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even while crossing irregular and curved surfaces.