Offshore Systems

Project: Design And Modeling Of Container Crane Systems Using Cable Suspension Manipulator Platform - Desenvolvimento de uma Plataforma Automatizada para Testes de Transferência de Cargas em Sistemas Offshore -  2008-2010.

Abstract: Cable suspension manipulator are a special class of parallel manipulator using cables and support a payload platform by several spatially arranged cables. The present contribution treats a design and modeling a new concept of a container crane system that combine the ability of crane to support heavy payloads in a large workspace with the dexterity of robot manipulator. In particular, this system is considered that is being developed at Robotics Laboratory – UFRJ.

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Offshore Systems

Project: Especificação de Controladores para um Sistema de Transbordo de Carga. 2010.

Authors: Julio Cesar de Jesuz, Lengerke O., Dutra, M.S.

Abstract: The Maneuvering Control Systems of a Ship is the mechanism responsible in reflecting accurately, in the rudder axle, the angle commanded by the rudder or from information on route inserted in the automatic system by the wheelsman and compared to the signals in the gyroscopic needle. Current systems are based on servomechanisms principles, which angular movements are converted into a set of electric signals, analogical and interdependent. This paper aims to launch a solution of low cost to replace the systems upon for tools found in the automation market and easy acquisition and make it easier in its maintenance.

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Offshore Systems

Project: Controle de Perseguição de Movimentos de uma Plataforma Automatizada para Transferência de Carga e Descarga Offshore usando Visão Artificial2008-2010.

Authors: Horacio França, Lengerke O., Dutra, M.S.

Abstract: Reproduzir os movimentos de um navio por plataformas automatizadas, sem o uso de sensores que forneçam dados exatos sobre as variáveis numéricas envolvidas, é um problema não trivial. Criar um sistema de visão artificial que siga a cadência do navio em seis graus de liberdade é o objetivo desta pesquisa. Dado que uma resposta em tempo real é um importante requisito neste caso, decidiu-se por aplicar uma rede neural artificial Booleana que consiga identificar e acompanhar pontos de interesse quaisquer que possam definir, em conjunto, um modelo da movimentação de uma embarcação observada. Este trabalho descreve o desenvolvimento de um protótipo baseado no modelo de perceptron Booleano WiSARD (Wilkie, Stonham and Aleksander's Recognition Device), implementado na linguagem de programação C, em um computador desktop comum, utilizando como entrada uma webcam comum.

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Offshore Systems - Hydrates

Project: Hidratos de Gás: Potencial Fonte de Energia e Alternativa de Transporte de Gás Natural - Gas Hydrate: Potential Energy Source and Alternative for Transportation of Natural Gas. 2010.

Authors: Amália Burger Santa Brígida Ferreira, Lengerke O., Dutra, M.S.

Abstract: The oil industry is used to associate gas hydrates with clogged pipelines or equipments instead of a potential solution for energy problems. Considering the growth worldwide consumption demand, gas hydrates could be used as a potential energy source or an alternative for transportation of the natural gas. Based on the recent researches of gas hydrates, are estimated huge deposits of natural gas in this form, in addition there are projections of increasing deficit of conventional fuel production and deplation of traditional energy sources in a brief time, the gas hydrates appears as a most promising alternative source of energy. In parallel there is an interest into develop safe and economic technologies to natural gas transportation. One of studied solutions is use gas hydrate as a form to transport natural gas, hence its volume is reduced of 150 to 170 times when he gas is encaged as hydrate comparing the gas in the standard conditions. Another advantage is that the transport and the storage can be made nearby ambient conditions. Regarding this scenario the use of hydrate as transport becomes an attractive alternative. The present work aims to present different applications of hydrate using, mainly as a power source and as an alternative of transportation and storage based on its physics and chemical properties.

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Offshore Systems - Hydrates

Project: Detecção da Presença de Hidratos Gasosos em Sistemas Fluidos - Gas Hydrate Detection In Fluid Systems. 2008-2010.

Authors: Rejane Siqueira Jardim, Lengerke O., Dutra, M.S.

Abstract: One of the main concerns of the petroleum industry, chiefly for deepwater offshore exploration and production, is the hydrate formation in oil and gas pipelines/ installations. The presence of hydrate deposits inside pipes and equipments can cause blockages that normally results in financial losses due to raise costs of detection and removal techniques. The accurate identification of the hydrate presence and its position inside the pipe and/or equipment would make possible to treat the problem in an efficient and economic way. Usually, is done an operating temperature and pressure analyzes and is verified if there are hydrate formation conditions. This method could spend a long time and leading to false conclusions that in the most of cases means expensive treatments. The purpose of the present work is to suggest accurate methods capable of detect the hydrate presence in fluid systems based on the hydrates physical and chemical properties. Regarding the proposed methods would be necessary to define the viability and capability of each one in order to develop an efficient technology of hydrate plugs detections. 


Mechatronics Systems

Project: Projeto de um Sistema de Controle PID para Câmara Hiperbárica - Development of a PID Control for Hyperbaric Chamber.

Authors: Silva Capatto, R., Lengerke O., Dutra, M.S.

Abstract: The objective of this monograph is to present a general control for the process variable of a hyperbaric chamber or pressure vessel. A PID control is used for this goal, using a pressure regulator with onboard electronic, already available in the market, this is to facilitate the implementation of this control system proposed.

Mechatronics Systems

Project: Diseño y construcción de una máquina empacadora y dosificadora de productos pastosos - Mechatronics Design of a Low-Cost Packaging and Dosing Machine for Doughy Products.

Authors: Martinez, C., Lengerke O.

Abstract: The need to improve a packaging system of a company was the idea that impelled the realization of this mechatronics project. So taking into account the significance that represented for the company the acquiring of a mechanism that would allow the upgrading of the product, at a low cost, this research was developed; where, first of all, the type of machinery that would be able to take effect according to the characteristics of the substances to be packed was examined; then, the design parameters were analyzed in order to verify, that the machine complied with the specifications and rules established, and finally the construction of a prototype that described the different stages of the packaging process emphasizing the technical and economic solutions that were presented for the company, was developed. The machine uses two types of actuating system: electrical and pneumatic. The electric system controls the security of the machine, the temperature control of the sealing, and also actuates the pneumatic system which actuates the dosing valve and the horizontal seal. The interaction between these systems and also with a third component related with legal rules from a food engineering point of view allowed us to conceive the machine as a mechatronic design.


Mechatronics Systems

Project: Sistema Automático de Adição de Areia Refratária em Panelas de Aciaria.

Authors: Sereno, H., Lengerke O., Dutra, M.S.

Abstract: In metallurgical companies all equipment used in the processing of iron ore into steel should be made of materials that withstand the harsh conditions of work. Due to the high cost of such equipment, refractory materials are used, in order to increase its life. The placing of the refractory material should be done appropriately for the equipment to be protected not display premature wear. This paper presents a mechanism adopted in a metal Colombian as a solution to sanding refractory directly at the headquarters of the valves of ladle, which were of major wear and heat caused by the failure in the placement of refractory material. The device also has a solution for handling and positioning system that enables installing and removing the pan in the place of steel without the need for additional equipment.

Mechatronics Systems

Project: Diseño de un AS/RS (Automated Stored & Retrieval System), para implementación didáctica.

Authors: Lengerke, O., García-Herreros, L.F., Lache, S.I., Rodriguez, F.S.

Abstract: El presente proyecto, describe el proceso de diseño y construcción de un sistema AS/RS para implementación didáctica aplicando metodologías de diseño de mecanismos Mecatrónico, desde su concepción, desarrollo, evaluación numérica, montaje y puesta en marcha del sistema en su totalidad, obteniendo un sistema mecatrónico que puede almacenar y recuperar elementos de un volumen aproximado de 100 cms3 y peso inferior a 1Kg.

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Mechatronics Systems

Project: Simulator for Fatigue Tests in Automotive Parts with PLC

Authors: Madson Ferrari Pereira, Lengerke O., Dutra, M.S.

Abstract: By its nature hydraulic and pneumatic systems are in a concrete application of the principles of fluid mechanics, compressible and incompressible which underlies the development of components and circuits. Such systems are commonly used in various applications in industry because of the concept of automation and control is closely related to hydraulics and pneumatics. They have characteristics that make them able to be applied where the forces and torques requires relatively high speed of response to start, stop or reversal of movement and speed. Apply in robotics, automated plants, presses, automotive, heavy machinery and can be used as proposed for testing and fatigue testing of materials and components. Thus, it is possible to determine rapidly the life of a particular component when applied to a system and the conditions under which it operates. The fatigue tests are almost always independent of the frequency of work. The fatigue life varies primarily with the number of load cycles applied to the component or material tested in view of the strength and intensity of the alternating stress and mean applied. So designing a machine capable of applying a particular frequency provides an advantage, and accelerate the results also substantially reduce the costs of a given project in order that they can achieve forces applied repeatedly as many times as necessary in the frequencies required in the case of hydraulic systems to achieve even a frequency of one hundred hertz. To achieve this it is necessary to test a controlled system capable of reproducing the working conditions of the component to be tested, i.e., to simulate acceleration, application of force and tension. It is proposed here a system of pneumatic test a single channel for applications at low frequencies to simulate the conditions of voltage automotive components. The system is based primarily on a system that can be controlled by a PLC on a pneumatic system in order to reproduce accelerations that generate tension fatigue on a particular component.

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Mechatronics Systems

Project: Projeto e Simulação de um Manipulador Robótico em Forma de Paralelogramo

Authors: Filipe Sacchi, Lengerke O., Dutra, M.S.

Abstract: A principal motivação para o presente trabalho é o fato de que a simulação de manipuladores robóticos em ambiente computacional é de vital importância para o projeto dos mesmos, deste modo, procurou-se desenvolver um estudo que permitisse realizar o projeto de um manipulador. O objetivo do projeto é apresentar o projeto de um manipulador, passando pelas caracteristicas dinamicas e cinemáticas e realizar simulações de controle de trajetória utilizando um técnica clássica e um técnica inteligente.

Forensic Engineering

Project: Relatório CSN/TECAR - Estudo Retomadora de caçambas R3 (Acidente).

Authors: Lengerke, O., Dutra M.S., Carvalho, C.S., Carmo, A.

Abstract: No início da noite do dia 01 de agosto de 2007, o descarregador minério foi destruído por uma caída da estrutura, durante a carga de matérias no porto de Sepetiba. Acidentes, como ensinam a longa e frequentemente sofrida experiência humana, raramente são obras do acaso. Ao contrário, costuma ser o último elo de uma cadeia de eventos, razão pela qual formou se a consciência de que as comissões constituídas para investigá-los não devem ver a investigação como um fim em si mesmo, mas como um poderoso instrumento de diagnóstico, por meio do qual é possível atingir níveis de desempenhos operacionais mais seguros. Consoante a essa orientação, a Comissão Técnica do DEM/COPPE/UFRJ (Departamento de Engenharia Mecânica), têm como objetivo principal identificar as possíveis causas físicas do acidente, estudando o funcionamento mecânico, eletrônico e hidráulico do equipamento, responsáveis pelo giro, translação, basculamento (elevação) e giro da roda de caçambas da máquina retomadora. O resultado de todo esse trabalho, conduzido ao longo de 120 dias, e que foi apresentado em um relatório.  


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Forensic Engineering

Project: CSN - Companhia Siderurgica Nacional - Relatório de avaliação (Acidente) do sistema de transportadores de minério da CSN Porto de Itaguaí, Rio de Janeiro, Brasil.

Authors: Lengerke, O., Dutra M.S., Carvalho, C.S., Carmo, A.

Abstract: O presente relatório descreve os resultados dos trabalhos técnicos previstos obtidos pelo Grupo de Mecatrônica do Programa de Engenharia Mecânica da COPPE/UFRJ, relacionados ao estudo dos sistemas de transportadores de minério e em particular ao evento ocorrido no dia 22 de maio de 2008 no sistema TM-110 no Porto de Itaguaí. Nessa ocasião ocorreu paralisação do transportador devido à ruptura da correia, com enrolamento em um tambor motriz, ruptura do carro esticador e danos na estrutura de suporte do sistema. No item 2.13 do presente relatório encontra-se a descrição do cenário do evento ocorrido no TM-110. Este estudo procurou identificar possíveis anomalias nos sistemas dos transportadores através da análise do funcionamento mecânico, eletrônico, hidráulico - sistema mecatrônico - responsável pela sua operação.

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Mechatronics Systems

Project: Aplicação de Inversor de Frequência em Carretas para Descarga de Produtos Criogênicos - Application of Inverter of Frequency in Semi Trailers for Discharge of Cryogenic Products.

Authors: Marques Braga, L., Lengerke O., Dutra, M.S.

Abstract: Currently, the necessity of increase of production and reduction of costs, if inside made of this scene to appear the automation, still in initial phase in Brazil, with this the great equipment infinity had been developed for the most diverse varieties of applications and industrial sectors, one of the used equipment more in these processes jointly with the CLP is the Invertor of Frequency, a versatile and dynamic equipment. A frequency invertor is a device capable to generate an adjustable tension and three-phase frequency, with the purpose to control the speed of an three-phase engine of induction. This work consists of offering a more efficient system for discharge of cryogenic products carried in carts through the application from the Invertor of Frequency. A proper panel will be developed where the operator will not have contact in such a way some in its interior guaranteeing the perfect functioning and the security. It is waited that this new system guarantees one better operationalization of the system diminishing the time of product discharge and improving the performance of the equipment used in this operation. Also the results of the practical test of an Invertor of Frequency will be shown, installed in a cryogenic cart, in order to all present details of the basic functioning of the elaboration of a tension with changeable amplitude and frequency, from a fixed tension.

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Mechatronics Systems

Project: Viabilidade da Recuperação da Energia Cinética em Veículos de Transporte Ferroviário - Energy Recover Process Applied to Railway Transport Vehicles.

Authors: Amador Poceiro Orelo, Dutra, M.S., Lengerke, O.

Abstract: The heavy loads and masses displacement around the Earth’s surface by means of railways offers the best global advantages, among all the alternatives in the transportation matrix already developed. This work presents a system specially designed to reduce the global costs in such a mass transportation systems, mainly in railways with short distance between stations, and frequent stop and go needs. A special mechatronics machinery, able to store the Kinetic Energy contained in the moving system until total or partially it stops is proposed. The mechatronics system allows the recovering of the stored energy, to be applied in order to put in movement the railway compositions, minimizing the energy consumption in such a way.

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Mechatronics Systems

Project: Sistema Mecatrônico de Lubrificação Hidrostatica para Mancais Axiais - Mechatronic System Of Hydrostatic Lubrication For Axial Bearings.

Authors: Pinto da Silva, R., Lengerke O., Dutra, M.S.

Abstract: The electric energy generating units of a hydroelectric power plant have oil bearings hydro dynamically lubricated called trust bearings in order to avoid the damage of the pads. In this kind of bearing, the creation of a “fluid film” between the rotating part (trunnion) and the fixed part (the trust bearing it self) becomes necessary during the starting and stopping processes of the generating units. The objective of this work is to introduce the design of an under pressure oil injection mechatronic system for the trust bearings of the generating units, in order to lubricate them hydrostatically, that is, to create, through the pressurization forced of the lubricant fluid, an oil film during the starting and the stopping processes of the machines object of this study. The proposed system will be composed by one skid of oil injection and a protection, supervision and control panel containing a programmable logic controller (PLC), in order to integrate the starting and stopping control system of the generating units with the functioning of skid of oil injection.

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Mechatronics Systems

 

 

Project: Diseño e implementación de un codificador para imprimir información variable sobre el empaque de un determinado producto - Mechatronics Design Of A Codifier For The Dating Of Packings Of Nutritious Products.

Authors: Forero, C., Diaz, O., Lengerke O.

Abstract: The purpose of this project is the mechatronics design and implementation of a codifier of thermal printing to print elaboration dates, expiration, batch numbers, or other information on the packing of a certain products; and to carry out a control of the tape through an encoder and a motor operated by a microcontroller. On the other hand, the control of temperature was made with the use of a pyrometer so that the process of thermal printing would be visible. The codifier is based mainly on the use of a microcontroller PIC 16F84, pneumatic and temperature control devices.

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Mechatronics Systems

Project: Diseño y automatización de un puente grúa, aplicado a un proceso secuencial como el galvanizado.

Authors: Jaime Niño, Lengerke O.

Abstract: Una de las principales preocupaciones de las empresas en materia de producción, consiste en incrementar los niveles de productividad, aumentando la efectividad y eficiencia de sus procesos. En la búsqueda de mantener la competitividad en el mercado y mejorar dichos factores, deben abrir sus perspectivas hacia la integración de sus operaciones mecánicas con sistemas automatizados y mecatrónicos. En este artículo, se describe el uso de una metodología de diseño mecatrónico para la automatización de un puente grúa, usando herramientas computacionales de diseño (CAD) para la comprobación del sistema. El sistema diseñado, reduce al máximo la intervención del operario durante el procesos aplicado, con el fin de dar seguridad y eliminar errores humanos. La inclusión de un sistema de carga automático e implementacion de tecnologias de automatización envolviendo controladores lógicos programables (PLC), tiene como objetivo eliminar el problema de transporte que existe de forma artesanal en la gran parte de las industrias que realizan procesos secuenciales como el galvanizado, cromado, zincado, entre otros, obteniendo así, un transportador bidimensional automático que convierte la operación de transporte dentro del proceso, en una más automatizada y segura.

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Mechatronics Systems

Project: Integração de Ferramentas de Automação para Modernização dos Sistemas de Controle de Governo dos Navios da Marinha do Brasil - Integration of Automation Tools for Upgrade in Maneuvering Control Systems of the Brazilian Navy Ships.

Authors:Rodriguez de souza, F., Lengerke O.,Dutra M.S.

Abstract: The Maneuvering Control Systems of a Ship is the mechanism responsible in reflecting accurately, in the rudder axle, the angle commanded by the rudder or from information on route inserted in the automatic system by the wheelsman and compared to the signals in the gyroscopic needle. Current systems are based on servomechanisms principles, which angular movements are converted into a set of electric signals, analogical and interdependent. This paper aims to launch a solution of low cost to replace the systems upon for tools found in the automation market and easy acquisition and make it easier in its maintenance.

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Unmanned Autononomous Vehicles (UAV)

Project: Estudo de um Sistema de Navegação para Veículos Aéreos Autônomos - Unmanned Autonomous Vehicle Navigation System Study.

Authors: Luis Felipe de Andrade Chalar da Silva, Dutra, M.S. Lengerke, O.

Abstract: The usage of UAV (Unmanned Aerial Vehicle), nowadays is basically restricted to military sectors, can be expanded easily to civil uses, since the costs are compatible with that market. This proposal can be made in a simple way adapting a commercial air model. Those air models, even with a small cargo capacity, can provide a great help in researches and common tasks that can be done with a aerial platform. This is possible thanks to the use and popularization of technologies like GPS (Global Positioning System). The UAV system cost reduction can expand the usage horizon of this kind of platform, giving it uses in areas where it was never been used this kind of technology. This work proposes and explain a way to built UAVs using commercials air models and other materials that can be easily found, with low cost, that can be assembled even for hobbyists

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Robotics Systems

Project: Mechatronics Design of an Amphibious Hexapod Robot for Underwater Inspection on Offshore Platforms.

Authors: Fredy Giovany Osorio Gutierrez, Lengerke, O.

Abstract: This project presents to design of a hexapod robot, capable of swimming, walking and amphibious operation, using rigid paddles and flexible fins for propulsion. This work includes mechanical design, control and electrical systems and paddles design. The intention of the hexapod robot is to work in underwater and amphibious environments to find and track, while transmit video and information by to an operator located on the surface or underwater, also to be controlled by the same communications connection. The propulsion system makes the hexapod swimming more complex especially in tidal water, but is more energy efficient than walking on sea floor. This project offers us a challenge to learn and solve all design issues especially in control and mechatronic systems

Robotics Systems

Project: Mechatronics Design of Fire Fighter Robot Service

Authors: Michel Lombana, Lengerke, O.

Abstract: This project presents to mechatronic  design of a service robot  that allow get to places with a restricted access in disasters of this nature, getting a fast and better control of the situation. Finally, it will be done a detail of the basic components of the system and trajectory planning for its control, also the analysis of kinematics and dynamics aided by software.

Robotics Systems

Project: Control de Altura de un Quadrotor

Authors: Sergio Beltran, Lengerke, O.

Abstract: El objetivo del presente proyecto es diseñar  e implementar un prototipo Mecátronico de un QuadRotor modelarlo y simularlo   para controlar su posición en  el  eje Z.

Automated Guided Vehicles (AGV)

Project: Uma Arquitetura Mecatrônica de Navegação para Veículos com Reboques Guiados Automaticamente em Ambientes de Sistemas Flexíveis de Manufatura - Mechatronics Architecture for Navigation for Automated Guided Vehicles With Trailers on Environments of Flexible Manufacturing Systems. 2006/2010.

Abstract: Automated Guided Vehicle (AGV) systems have been frequently used as material handling equipment in manufacturing systems since the last two decades. Particularly, AGVs with trailers are, and will continue to be, the backbone of the industry of material manipulation. In this thesis, a study of the trajectories and simulation model of hypothetical systems, which include a FMS (Flexible Manufacturing System) environment, were developed. The new approach is based on the Scheduling by Edge Reversal (SER) graph dynamics which, from an initial acyclic orientation over G’s edges, that can be defined through traditional efficient heuristics, so as to let jobs and AGVs to proceed in free way of deadlock and starvation-free, without the need of any central coordination. Also a simulation model has been developed to support this condition. In addition, the potential field method is used for generating paths on spaces with obstacles and parameters of a clear meaning. Finally is providing a computational modeling of two vehicles with trailer, which is followed with a description of methodology and a maneuvers control. The vehicles and a set of specific paths were developed to models test.

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Automated Guided Vehicles (AGV)

 

Project: Automated Guided Vehicles (AGV) Searching a Path in the Flexible Manufacturing Systems

 Abstract: Automated Guided Vehicle (AGV) systems have been frequently used as material handling equipment in manufacturing systems since the last two decades. Particularly, AGVs with trailers are, and will continue to be, the backbone of the material transport industry. In this research, a study of the trajectories and simulation model of hypothetical systems, which include a FMS (Flexible Manufacturing Systems) environment, were developed. In addition, a simulation model has been developed to assist in this respect. The simulation model is based on a distributed scheduling algorithm which also implements an advanced planning mechanism in the form of a decentralized Job Shop system control.

 

Automated Guided Vehicles (AGV)

Project: Método do Campo Potencial Virtual Modificado para Geração de Caminho com Obstáculos.

Authors: Trajano, A. Lengerke O., Dutra, M.S.

Abstract: Neste trabalho, apresenta-se um Método do Campo Potencial Virtual Modificado (MCPVM), adaptado para geração de caminhos em espaços com obstáculos poligonais e com parâmetros de claro significado geométrico e topológico, do qual resultam ainda o imediato traçado do diagrama de Voronói e da triangulação de Delaunay.

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Automated Guided Vehicles (AGV)

Project: Especificaçãoo de um Sistema de Localização Dinâmica Baseado na Tecnologia RFID - Dynamic Localization System Specification Based On RFID Technology.

Authors: Silva Mello, A. Lengerke O., Dutra, M.S.

Abstract: This work explores the possibilities of one or more objects position monitoring, through RFID (acronym for “radio frequency identification”) technology roperties and radio frequency localization techniques. The main variations of the RFID components as well the localization techniques based in radio signals are analyzed, with the objective to define the best theoretical solution to be applied in a monitoring system specification. 

Automated Guided Vehicles (AGV)

Project: Controle Distribuído de Sistemas Job Shop usando Escalonamento por Reversão de Arestas.

Authors: Lengerke O., Dutra, M.S., França, F.M.G.

Abstract: Este projeto apresenta a aplicação de um algoritmo distribuído de escalonamento para o controle descentralizado de sistemas do tipo Job Shop. Tal é possível através de um mapeamento do sistema Job Shop alvo em um grafo G(N,E) onde cada elemento de N representa uma das atividades previstas, com tempos pré-estabelecidos, a serem executadas de modo exclusivo sobre um conjunto limitado de recursos, cujas restrições de acesso definem o conjunto de arestas E. É também mostrado como uma orientação acíclica sobre E é realizada diretamente a partir dos critérios heurísticos clássicos tais como EDD (earliest due date), SPT (shortest processing time) e P (prioridade). A dinâmica de escalonamento por reversão de arestas pode então ser aplicada sobre G, atuando como um mecanismo de controle descentralizado de coordenação da execução das diversas atividades previstas, sejam estas concorrentes ou sequenciais.

Automated Guided Vehicles (AGV)

Project: Distributed Control of Job-shop Systems via Edge Reversal Dynamics for Automated Guided Vehicles.

Authors: Lengerke O., Dutra, M.S., França, F.M.G.

Abstract: Automated Guided Vehicle (AGV) systems have been frequently used as material handling equipment in manufacturing systems since the last two decades. Particularly, AGVs with trailers are, and will continue to be, the backbone of the material transport industry. In this research, a study of the trajectories and simulation model of hypothetical systems, which include a FMS (Flexible Manufacturing Systems) environment, were developed. In addition, a simulation model has been developed to assist in this respect. The simulation model is based on a distributed scheduling algorithm which also implements an advanced planning mechanism in the form of a decentralized Job Shop system control.  

Automated Guided Vehicles (AGV)

Project: Trajectories and Simulation Model of AGVs with Trailers.

Authors: Lengerke O., Dutra, M.S., França, F.M.G.

Abstract: Automated Guided Vehicle (AGV) systems have been frequently used as material handling equipment in manufacturing systems since the last two decades. Particularly, AGVs with trailers are, Manufacturing systems are undergoing a noticeable evolution due to an intense technological progress in industrial robotics. Serial production has evolved into the concept of Flexible Manufacturing Systems (FMS), which encapsulate processes in automatic equipment that are capable of executing different operations, that before be performed in several stages and diverse equipments. Automated Guided Vehicle (AGV) systems have been frequently used as material handling equipment in manufacturing systems since the last two decades. Particularly, AGV´s with trailers are, and will continue to be, the backbone of the material transport industry. The use of these systems has taken the attention of experts and researchers. They are numerous studies concerning AGV with trailers systems in literature; few of them deal with the adaptation of these systems into FMS. In this paper, a study of the trajectories and a simulation model of a hypothetical system, which included a FMS environment, were developed. In addition, a potential field’s method was explored in order to improve the ability of detecting obstacles in AGV´s with trailers moving through stations.

Robotics Systems

Project: Diseño y construcción de un manipulador automático aplicado al proceso de ensamble.

Authors: Lengerke, O., Quintero, M. A, Hernández, G. A.

Abstract: Este proyecto describe el diseño e implementación de un sistema de control de posición para un manipulador PUMA, usando un controlador lógico programable (CLP) monitoreado mediante un sistema de control supervisorio (SCADA). La caracterización de cada una de las articulaciones del manipulador es realizada en este documento, seguida de la implementación de una estrategia de control que permite repetibilidad y precisión en sus movimientos. Las interfases encargadas de la comunicación entre el CLP y el manipulador son expuestas, así como la programación implementada. Por último, hace parte de este artículo, el diseño de un sistema de simulación para el cálculo cinemático directo e inverso del manipulador

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Robotics Systems

Project: Elementos de diseño de articulaciones prismáticas para la fabricación de Robots Industriales.

Authors: Lengerke, O., Christian Javier Vera, Miguel Martínez Vásquez

Abstract: Este proyecto describe el diseño e implementación de un sistema de control de posición para un manipulador PUMA, usando un controlador lógico programable (CLP) monitoreado mediante un sistema de control supervisorio (SCADA). La caracterización de cada una de las articulaciones del manipulador es realizada en este documento, seguida de la implementación de una estrategia de control que permite repetibilidad y precisión en sus movimientos. Las interfases encargadas de la comunicación entre el CLP y el manipulador son expuestas, así como la programación implementada. Por último, hace parte de este artículo, el diseño de un sistema de simulación para el cálculo cinemático directo e inverso del manipulador.

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Robotics Systems

Project: Development and Control of a Mechanic Arm with an Educational Proposal

Authors: Lengerke, O., Félix do Rêgo Barros, Dutra, M.S.

Abstract: In recent years, there has been considerable effort by educational institutions in improving the technical courses / technology and methods of teaching and learning employed. Were several reasons leading to such changes, among them we can highlight the need to awaken new skills in students, as well as provide the interpersonal and interdisciplinary, seeking the development of new technologies and creativity. In this context, this project aimed to develop a robotic arm with educational purpose. Controlled by a computer system, it will serve as a platform for studies and tests, through application of theoretical knowledge in related disciplines. The structure of the robotic arm was composed of base, joints, linkages and claw. The base and the joints are servomotors responsible for their movements, clockwise and counter-clockwise, up and down. The claws are meant to pick up, secure and transport the object from one point to another. The links, acrylic, have the function to interface between the joints. This study is aimed at a teacher's aid, technical and technological areas, the development of interdisciplinary, since the various areas and steps required to build the arm, involving practical and theoretical content.

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Project: Modular robot type snake to explore

Authors: Lengerke, O., John Oter

Abstract: When natural disasters or accidents occur there are areas of difficult access to the people by the instability of the land and its potential biohazards, with mechatronic design of a modular robot type snake is intended to explore these areas, adapting to different terrain it can find to search for persons, materials or objects missing. The robots have identical modular units that can fit and take new forms so you can avoid obstacles and follow all land surveying.

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Robotics Systems

 

Project: Unmanned Aerial Vehicle Mechatronics Design for Supervisory in Oil and Natural Gas Industry

Authors: John Ibarra Alarcón, Lengerke, O.

Abstract:

En la última década, se ha incrementado el interés por el desarrollo de Vehículos Aéreos no Tripulados, para su uso tanto en la industria, como en la milicia, ya sea para efectos de vigilancia, inteligencia y reconocimiento, pues su naturaleza los hace aptos para entrar en zonas a la cuales el ser humano no puede llegar.

Los humanos siempre han deseado tener la capacidad de volar, para tener una mejor perspectiva de las cosas. Aunque aun no se ha descubierto la forma de volar por cuenta propia, ya existe la forma de colocar un “ojo en el cielo”. El interés en este tipo de vehículos ha aumentado debido a sus capacidades y por eso cada día, hay más interés en el desarrollo de esta tecnología para poder dejarla al alcance de la persona promedio.

UAV (Unmanned Aerial Vehicle), o vehículo aéreo pilotado por control remoto, RPV (Remotely Piloted Vehicle),conocido en castellano por sus siglas como VANT (Vehículo Aéreo NO Tripulado), es una aeronave que vuela sin tripulación humana a bordo. Son usados mayoritariamente en aplicaciones militares. Capaz de mantener un nivel de vuelo controlado y sostenido, y propulsado por un motor de explosión o de reacción.

 

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Researchs Topics

  • Distributed Control
  • Intelligent Vehicles
  • Guidance of Autonomous Vehicles
  • New Techniques for Robot Control
  • Training and Education