Browsing by Issue Date, starting with "2009-09"
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- Development of a genetic algorithm for the optimization of hexapod robot parametersPublication . Silva, Manuel; Barbosa, Ramiro; Tenreiro Machado, J. A.Legged robots allow the locomotion on terrains inaccessible to other type of vehicles because they do not need a continuous support surface. Different strategies have been adopted for the optimization of these systems, during their design and construction phases, and during their operation. Among the different optimization criteria followed by different authors, it is possible to find issues related to energy efficiency, stability, speed, comfort, mobility and environmental impact. Evolutionary strategies are a way to ”imitate nature” replicating the process that nature designed for the generation and evolution of species. The objective of this paper is to present a genetic algorithm, running over a simulation application of legged robots, which allows the optimization of several parameters of the robot model and of its gaits, for different locomotion speeds.
- Biological inspired flying robotPublication . Couceiro, Micael S.; Ferreira, N. M. Fonseca; Figueiredo, Carlos M.; Tenreiro Machado, J. A.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.
- Smith predictor embedded with fractional algorithms for the control of a heat diffusion systemPublication . Jesus, Isabel S.; Tenreiro Machado, J. A.In this paper we study the control of a heat diffusion system based on the application of the fractional calculus concepts. In this perspective, several algorithms are investigated and compared, when integrated within a Smith predictor structure. Simulations are presented assessing the performance of the proposed fractional algorithms.
- Fractional-order control of a robotic birdPublication . Couceiro, Micael S.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.In this paper it is studied the relation between the angle of attack and the velocity of the bird, the tail influence over the bird trajectory, the gliding and the flapping flight in a closed loop with fractional order controllers. The results are positive for the design and construction of flying robots having similarities with flying animals. The development of computational simulation based on the dynamic of the robotic bird that should allow testing strategies and algorithms of control.