Browsing by Issue Date, starting with "2001-08"
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- Sistemas Automáticos de MediçãoPublication . Alves, Gustavo R.A presente lição insere-se na parte final do programa da disciplina de Instrumentação e Medidas, dos cursos de Engenharia Mecânica (3º ano), Engenharia Mecânica de Transportes (4º ano), e Engenharia de Manutenção Industrial (2º ano), e ainda da disciplina de Instrumentação e Medidas II, do curso de Engenharia de Instrumentação e Qualidade Industrial, do Instituto Superior de Engenharia do Porto (ISEP). O autor foi regente de todas estas disciplinas (1999/2000 e 2000/2001) integradas no Grupo de Ciências Básicas de Electrotecnia, ao qual se destina a vaga de professor-coordenador referente ao concurso publicado no Edital 611/2000.
- Manipulation analysis of two cooperating armsPublication . Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.Many tasks involving manipulation require cooperation between robots. Meanwhile, it is necessary to determinate the adequate values for the robot parametrs to obtain a good performance. This paper discusses several aspects related with the manipulability and the workspace of two co-operative robots when handling objects with different lengths and orientations.
- An evolutionary approach to robot structure and trajectoryPublication . Pires, E. J. Solteiro; Tenreiro Machado, J. A.; Oliveira, P. B. de MouraThis paper proposes a genetic algorithm to generate a robot structure and the required manipulating trajectories. The objective is to minimize the space/time ripple in the workspace, while optimizing the mechanical structure.
- Performance analysis of periodic gaits in multi-legged locomotionPublication . Tenreiro Machado, J. A.; Silva, Manuel; Lopes, António M.This paper presents the kinematic study of periodic gaits for multi-legged locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective the precribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, maximum foot clearance, link lengths and cycle time. In this work, we formulate two indices to quantitatively measure the performance of the walking robot namely the perturbation analysis and the locomobility measure. A set of experiments reveal the influence of the locomotion variables in the proposed indices.
- Towards the development of intelligent transportation systemsPublication . Figueiredo, Lino; Jesus, Isabel S.; Tenreiro Machado, J. A.; Ferreira, José Rui; Carvalho, J. L. Martins deThis paper presents a review of the state of the art on Intelligent Transportation Systems. ITS involves a large number of research areas and, therefore, this paper focus on those we belive to be the most relevant. The main purpose is to study the achievements attained in the last years and to give an overview of possible directions towards future research.
- Control of biped walking based on force interactionPublication . Silva, Filipe M.; Tenreiro Machado, J. A.The focus of this paper is the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The walking cycle is divided in two phases: single support, in which one leg is in contact with the ground and the other leg swings foward, and double support, in which the foward leg absorbs the impact and gradually accepts the robot's weight. The contact of the foot with the constrained surface is modelled through linear and nonlinear spring-damper systems. The proposed control approach is based on simple motion goals taking into account the reaction forces between the feet and the ground. The control algorithm is tested through several experiments and its effectiveness is discussed.