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An integrated project of entrepreneurship and innovation in engineering education

This paper presents a new line of project based learning in the School of Engineering of University of Minho: the Innovation and Entrepreneurship Integrated Project (IEIP). Four groups, each one composed of students from different engineering integrated master courses – Mechanical, Industrial Electronics and Computers, Polymer, Industrial Management – compete against each other in developing or improving commer...

Object transportation by a human and a mobile manipulator : a dynamical systems...

In this paper we address the problem of humanrobot joint transportation of large payloads. The human brings to the task knowledge on the goal destination and global path planning. The robot has no prior knowledge of the environment and must autonomously help the human, while simultaneously avoiding static and/or dynamic obstacles that it encounters. For this purpose a dynamic control architecture, formalized as...

CoopDynSim : a 3D robotics simulator

This paper presents CoopDynSim, a multi-robot 3D simulator. The main motivations for the development of a new simulation software lie in the need to emulate specific, custom made sensors, combined with the desire to smoothly transfer controller code from simulation to real implementation. The latter is achieved through the use of the same middleware layer already implemented in the real platforms. The high modu...

Multi-robot cognitive formations

In this paper, we show how a team of autonomous mobile robots, which drive in formation, can be endowed with basic cognitive capabilities. The formation control relies on the leader-follower strategy, with three main pair-wise con-figurations: column, line and oblique. Furthermore, non-linear attractor dynamics are used to generate basic robotic behaviors (i.e. follow-the-leader and avoid obstacles). The contro...

O estado e suas razões : o II PND

The State and its reasons: the 2nd PND. This paper intends to contribute to the debate on the reasons why the Geisel administration (1974-78) chose — as it faced an adverse conjuncture — an accelerated growth agenda which was materialized in the 2nd PND (National Development Plan). In order to do so, it resorts to a methodological definition which is based upon an institutionalist approach and favors the intera...

Attractor dynamics approach to formation control : theory and application

In this paper we show how non-linear attractor dynamics can be used as a framework to control teams of autonomous mobile robots that should navigate according to a predefined geometric formation. The environment does not need to be known a priori and may change over time. Implicit to the control architecture are some important features such as establishing and moving the formation, split and join of formations ...

O Estado e suas razões: o II PND

The State and its reasons: the 2nd PND. This paper intends to contribute to the debate on the reasons why the Geisel administration (1974-78) chose - as it faced an adverse conjuncture - an accelerated growth agenda which was materialized in the 2nd PND (National Development Plan). In order to do so, it resorts to a methodological definition which is based upon an institutionalist approach and favors the intera...

Robot formations : robots allocation and leader-follower pairs

In this paper we focus on the problem of assigning robots to places in a desired formation, considering random initial locations of the robots. Since we use a leader-follower strategy, we also address the task of choosing the leader to each follower. The result is a formation matrix that describes the relation between the robots and the desired formation shape. Simple algorithms are defined, that are based on t...

Economic policy and crisis in Brazil : the second Vargas administration (1951-1...

Attractor dynamics approach to formation

Tese de Doutoramento em Electrónica Industrial - Ramo de Automação e Controlo ; Ao longo desta tese, mostraremos como a dinâmica de atractores pode ser utilizada para controlar equipas de robôs móveis autónomos tornando-os capazes de navegar, em ambientes desconhecidos, de acordo com uma formação geométrica pré-determinada. Algumas das tarefas que são desempenhadas de forma mais eficiente por uma equipa de rob...