Supondo-se que os robôs coexistirão conosco num futuro próximo, é então evidente a necessidade de Arquiteturas de Controle Inteligentes voltadas para a Interação Humano-Robô. Portanto, este trabalho desenvolveu uma Organização de Arquitetura de Controle Inteligente comportamental, cujo objetivo principal é permitir que o robô interaja com as pessoas de maneira intuitiva e que motive a colaboração entre pessoas e robôs. Para isso, um módulo emocional sintético, embasado na teoria bidimensional de emoções, foi integrado para promover a adaptação dos comportamentos do robô, implementados por Esquemas Motores, e a comunicação de seu estado interno de modo inteligível. Esta Organização subsidiou a implantação da Arquitetura de Controle em uma aplicação voltada para a área assistencial da saúde, consistindo, destarte, em um estudo de caso em robótica social assistiva como ferramenta auxiliar para educação especial. Os experimentos realizados demonstraram que a arquitetura de controle desenvolvida é capaz de atender aos requisitos da aplicação, conforme estipulado pelos especialistas consultados. Isto posto, esta tese contribui com o projeto de uma arquitetura de controle capaz de agir mediante a avaliação subjetiva baseada em crenças cognitivas das emoções, o desenvolvimento de um robô móvel de baixo-custo, e a elaboração do estudo de caso em educação especial. / Assuming that robots will coexist with humans in the near future, it is conspicuous the need of Intelligent Control Architectures suitable for Human-Robot Interaction. Henceforth, this research has developed a behavioral Control Architecture Organization, whose main purpose is to allow the intuitive interaction of robot and people, thus fostering the collaboration between them. To this end, a synthetic emotional module, based on the Circumplex emotion theory, promoted the adaptation of the robot behaviors, implemented using Motor Schema theory, and the communication of its internal state. This Organization supported the adoption of the Control Architecture into an assistive application, which consists of the case study of assistive social robots as an auxiliary tool for special education. The experiments have demonstrated that the developed control architecture was able to meet the requirements of the application, which were conceived according to the opinion of the consulted experts. Thereafter, this thesis contributes with the design of a control architecture that is able to act upon the subjective evaluation based on cognitive beliefs of emotions, the development of a low-cost mobile robot, and the development of the case study in special education.

Distributed intelligence systems are starting to gain dominance in the field of large-scale complex systems. These systems are characterized by nonlinear behavior patterns that are only predicted through simulation-based engineering. In addition, the autonomy, intelligence, and reconfiguration capabilities required by certain systems introduce obstacles adding another layer of complexity. However, there exists no standard process for the design of such systems. This research presents a design methodology focusing on distributed control architectures while concurrently considering the systems design process. The methodology has two major components. First, it introduces a hybrid design process, based on the infusion of the control architecture and conceptual system design processes. The second component is the development of control architectures metamodel, placing a distinction between control configuration and control methods. This enables a standard representation of a wide spectrum of control architectures frameworks.

Due to the world’s rapidly growing elderly population, dementia is becoming increasingly prevalent. This poses considerable health, social, and economic concerns as it impacts individuals, families and healthcare systems. Current research has shown that cognitive interventions may slow the decline of or improve brain functioning in older adults. This research investigates the use of intelligent socially assistive robots to engage individuals in person-centered cognitively stimulating activities. Specifically, in this thesis, a novel learning-based control architecture is developed to enable socially assistive robots to act as social motivators during an activity. A hierarchical reinforcement learning approach is used in the architecture so that the robot can learn appropriate assistive behaviours based on activity structure and personalize an interaction based on the individual’s behaviour and user state. Experiments show that the control architecture is effective in determining the robot’s optimal assistive behaviours for a memory game interaction and a meal assistance scenario.

Due to the world’s rapidly growing elderly population, dementia is becoming increasingly prevalent. This poses considerable health, social, and economic concerns as it impacts individuals, families and healthcare systems. Current research has shown that cognitive interventions may slow the decline of or improve brain functioning in older adults. This research investigates the use of intelligent socially assistive robots to engage individuals in person-centered cognitively stimulating activities. Specifically, in this thesis, a novel learning-based control architecture is developed to enable socially assistive robots to act as social motivators during an activity. A hierarchical reinforcement learning approach is used in the architecture so that the robot can learn appropriate assistive behaviours based on activity structure and personalize an interaction based on the individual’s behaviour and user state. Experiments show that the control architecture is effective in determining the robot’s optimal assistive behaviours for a memory game interaction and a meal assistance scenario.

In this thesis, a combined feedforward and feedback controller for improved path tracking on autonomous heavy-duty vehicles is designed and implemented. The steering wheel is controlled in order to follow a reference curvature, computed by a higher-level MPC, responsible for minimizing the distance to a planned path. The steering dynamics, from steering wheel via wheel angles, to a measurable vehicle curvature, is modeled, and a conversion from desired curvature gain to input angle to the steering wheel is derived. Tests with an autonomous Scania R580 show that the desired curvature can be followed with satisfactory small error, both in a designed slalom path and on a more generic test track. By utilizing future curvature values computed by the MPC, a non-causal feedforward controller can reduce the delay from input to the steering wheel to a measured response in curvature, by almost two thirds, compared to the currently implemented solution. Compared to an open-loop control design, tests in simulation show that a feedback controller can reduce errors in curvature gain. However, with the identified steering dynamics and the improved conversion from steering wheel angle to curvature, no further improvement in the curvature gain was seen when implementing the feedback controller in the test vehicle. Care must also be taken not to introduce instability in the system when the feedback controller is implemented in series with a high-level MPC. / Den här rapporten beskriver design och implementering av en regulator med kombinerad framkoppling och återkoppling för förbättrad banföljning av autonoma tunga fordon. Fordonets ratt styrs för att följa en kurvaturreferens beräknad av en överordnad MPC, ansvarig för att minimera avståndet till en planerad bana. Dynamiken i styrningen, från ratten via hjulvinklarna till en mätbar kurvatur för fordonet, är modellerad. En översättning från önskad förstärkning av kurvatur till insignal för rattvinkeln är också framtagen. Tester utförda med en autonom Scania R580 visar att den önskade kurvaturen kan följas med tillfredsställande litet fel, både i en egendesignad slalombana och i en mer generisk testbana. Genom att utnyttja framtida referensvärden för kurvatur beräknade av MPC:n, kan en icke-kausal framkopplande regulator minska fördröjningen från insignal till ratten till en mätbar respons i fordonets kurvatur. Jämfört med den nuvarande lösningen minskas fördröjningen med nästan två tredjedelar. Jämfört med en öppen styrning visar tester i simulering att en återkoppling i regulatorn kan minska stationära fel i kurvatur. Med implementeringen av den identifierade styrdynamiken och den förbättrade översättningen från rattvinkel till kurvatur, syntes dock med återkoppling ingen ytterliggare förbättring i testfordonet. Implementering av den återkopplande regulatorn i serie med den överordnade MPC:n behöver också göras med omsorg för att inte introducera instabilitet i systemet.

Made available in DSpace on 2014-12-17T14:55:05Z (GMT). No. of bitstreams: 1 RicardoSB.pdf: 513523 bytes, checksum: a7e284b7570e2b02e306ed0d667aab6c (MD5) Previous issue date: 2008-01-25 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / In this work, we present a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The hardware of the robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontroller-based boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks / Neste trabalho ? apresentada uma arquitetura de hardware e software para controle do rob? m?vel aut?nomo Kapeck. O hardware do rob? Kapeck ? composto por um conjunto de sensores e atuadores organizados em um barramento de comunica??o CAN. Dois computadores embarcados e oito placas microcontroladas foram utilizadas no sistema. Um dos computadores foi utilizado para o sistema de vis?o, devido ? grande necessidade de processamento deste tipo de sistema. O outro computador foi utilizado para coordenar e acessar o barramento CAN e realizar as outras atividades do rob?. Placas microcontroladas foram utilizadas nos sensores e atuadores. O rob? possui esta configura??o distribu?da para um bom desempenho em tempo-real, onde os tempos de resposta e a previsibilidade temporal do sistema s?o importantes. Foi seguido o paradigma h?brido deliberativo-reativo para desenvolver a arquitetura proposta, devido ? necessidade de aliar o comportamento reativo da rede de sensores-atuadores com as atividades deliberativas necess?rias para realizar tarefas mais complexas

Orientador: Joao Mauricio Rosario / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-10T02:27:46Z (GMT). No. of bitstreams: 1 Melo_LeonimerFlaviode_D.pdf: 6867936 bytes, checksum: 344026f77cc24610774519b704ddccfa (MD5) Previous issue date: 2007 / Resumo: Este trabalho apresenta a proposta de implementação de um ambiente virtual de simulação para projeto e concepção de sistema de supervisão e controle para robôs móveis, que sejam capazes de operar e de se adaptar a diferentes ambientes e condições. Este sistema virtual tem como finalidade facilitar o desenvolvimento de protótipos de sistemas embarcados, enfatizando a implementação de ferramentas que permitam a simulação das condições cinemáticas, dinâmicas e de controle, com monitoração em tempo real de todos pontos lmportantes do sistema. Para isso, é proposta uma arquitetura aberta de controle, integrando as duas principais técnicas de implementação de controle robótico a nível de hardware: sistemas microprocessadores e dispositivos de hardware reconfiguráveis. O sistema simulador implementado é composto de um módulo gerador de trajetória, de um módulo simulador cinemático e dinâmico e de um módulo de análise de resultados e erros. O módulo gerador de trajetória tem a finalidade de, uma vez conhecendo-se o ambiente em que o robô irá atuar, com seus obstáculos e particularidades, gerar uma trajetória cartesiána ótima, respeitando os limites e características do robô móvel. Todos os resultados cinemáticos e dinâmicos colhidos durante a simulação podem ser avaliados e visualizados em formatos de gráficos e tabelas, no módulo de análise de resultados, permitindo que seja feito um aperfeiçoamento no sistema, no sentido de minimizar os erros com a otimização dos ajustes necessários. Para a implementação do controlador no sistema embarcado utiliza-se a prototipagem rápida, que é a tecnologia que permite, em conjunto com o ambiente virtual de simulação, o desenvolvimento de um projeto de um controlador para robôs móveis. A validação e testes foram realizados com modelos de robôs móveis não holonômicos de transmissão diferencial / Abstract: This work presents the proposal of virtual environment implementation for project simulation and conception of supervision aild control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that alIow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of alI important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes alI simulation of the mobile robot folIowing the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controlIer implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controlIer project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission / Doutorado / Mecanica dos Sólidos e Projeto Mecanico / Doutor em Engenharia Mecânica

Le sujet de thèse concerne le développement de l'architecture de contrôle et la génération de trajectoire pour un exosquelette évolutif appelé SOL. Les résultats de l'étude biomédicale ont révélé que la progressivité de la maladie pouvait être résolue par une réadaptation précoce et continue tout au long de la croissance. Ainsi, l'importance de l'utilisation d'un exosquelette a un impact positif puisqu'il sert à la fois à la locomotion et à la réhabilitation. Cependant, les exosquelettes actuels ne peuvent pas être adaptés au changement continu de la biomécanique de l'adolescent tout au long de sa croissance. Par conséquent, le besoin de développer un exosquelette évolutif capable de faire face aux besoins croissants est un sujet interdisciplinaire. L'architecture de contrôle d'un tel dispositif évolutif a été abordée dans cette thèse, à la fois dans les développements matériels et logiciels pour incorporer autant que possible la fonctionnalité d'évolutivité. Les étapes initiales ont été franchies en vue d'atteindre l'objectif d'un exosquelette évolutif, en contribuant à la fois aux développements matériels qui permettent d'apporter d'autres améliorations tout au long de l'avancement du projet, et aux développements du firmware, qui ont répondu aux besoins en matière d'évolutivité au niveau du contrôle.L'extensibilité a également été abordée aux trois niveaux hiérarchiques de contrôle. Plus spécifiquement, une attention particulière a été accordée à la génération des trajectoires de référence de la marche pour une population en croissance. Enfin, grâce à la connaissance de la biomécanique du sujet, le contrôleur développé est capable d’identifier les trajectoires appropriées et injecter les trajectoires de référence des actionneurs de l’exosquelette SOL.Un premier prototype de l'exosquelette est utilisé pour manifester les résultats du générateur de marche évolutionnaire (E.G.G.) proposé. Comme premier prototype, un mouvement de marche libre dans l'air est testé, où la validation du matériel proposé et des boucles de contrôle sont démontrées. L'étude des réponses de contrôle des exosquelettes contre les perturbations externes probables et des scénarios de sécurité en cas de défaillance est encore un travail futur obligatoire avant de réaliser les premiers tests sur l'exosquelette humain. / The thesis' subject concerns the development of the control architecture and the trajectory generation for a scalable exoskeleton called SOL. The biomedical study outcomes revealed that the progressiveness of the disease could be solved by early and continuous rehabilitation throughout the growth. Thus, the importance of using an exoskeleton has a positive impact since it is used to provide locomotion and rehabilitation, at the same time. However, the current exoskeletons cannot be adapted to fit the continuous change of teenager biomechanics throughout his growth. Hence, the need for developing a scalable exoskeleton that can cope with the growing needs is still a challenging topic. Especially, the control architecture of such a scalable device was tackled in this thesis, in both hardware and software developments to incorporate the scalability features. Initiative steps have been passed towards the goal of achieving a scalable exoskeleton, by contributing in hardware developments that allowing further enhancements to be included throughout the advancement of the project. Firmware developments achieved have addressed the scalability needs in terms of control by considering the three hierarchical levels (which are: High, Middle, and low-levels of control). More specifically, a focus was dedicated to the generation of the gait reference trajectories for the growing population. Data were collected from healthy subjects wearing a passive exoskeleton to extract the proper joint trajectories, then, the data were processed to build a gait library to be deployed on the exoskeleton controller. Finally, by knowledge of the subject biomechanics, the controller is able to fetch the proper trajectories and inject the reference trajectories to the SOL's actuators. A first prototype of the exoskeleton is used to manifest the outcomes of the proposed Evolutionary Gait Generator (E.G.G.). As a first prototype, A free walking in air motion is tested, where the validation of the proposed hardware and control loops are demonstrated. Studying the exoskeletons' control responses against probable external disturbances and fail-safe scenarios are still future work mandatory before achieving first human-exoskeleton testing.

In recent years international space agencies have become more and more explicit about long term lunar and Martian space missions. With the space program Terrae Novae, the European Space Agency puts forward a focus on the development of Human & Robotic Exploration technologies essential in enabling such long term missions. An integral component of this program is the focus on Advanced Life Support Systems. Life support systems are operated to provide astronauts with life necessities like oxygen, water and food. Currently, conventional Life Support System often have a linear supply design, relying on resources shipped from Earth, with limited onboard re-usage. However, for extended space missions, this linear supply model becomes impractical due to the constraints of dry mass during space travel. Given this need, the European Space Agency initiated the MELiSSA (Micro-Ecological Life Support System Alternative) project aimed at the development of a bioregenerative life support systems. In previous works, the MELiSSA Loop has been proposed: a system design inspired by terrestial ecosystems, that consists of multiple compartments that perform specific biological functions like nitrification and biosynthesis. Due to the complex interdependence of the individual compartments and general space system requirements, the control of such this cyber-physical system forms a significant challenge. This thesis proposes a previously undescribed architecture for the MELiSSA Loop controller design that coordinates the resource distribution between the compartments and establishes atmosphere revitalisation. The architecture meets control objectives specified at high level, and at the same time satisfies the physical and operational constraints. / Under de senaste åren har internationella rymdorganisationer blivit mer och mer tydliga om långsiktiga mån- och rymduppdrag på mars. Med rymdprogrammet Terrae Novae lägger Europeiska rymdorganisationen fram ett fokus på utvecklingen av Human & Robotic Exploration-teknik som är nödvändig för att möjliggöra sådana långsiktiga uppdrag. En integrerad del av detta program är fokus på Advanced Life Support Systems. Livsuppehållande system används för att förse astronauter med livsnödvändigheter som syre, vatten och mat. För närvarande har konventionella livsuppehållande system ofta en linjär försörjningsdesign som förlitar sig på resurser som skickas från jorden, med begränsad återanvändning ombord. Men för utökade rymduppdrag blir denna linjära försörjningsmodell opraktisk på grund av begränsningarna av torr massa under rymdresor. Med tanke på detta behov initierade Europeiska rymdorganisationen MELiSSA-projektet (MicroEcological Life Support System Alternative) som syftade till att utveckla ett bioregenerativt livsuppehållande system. I tidigare arbeten har MELiSSA Loop föreslagits: en systemdesign inspirerad av terrestiska ekosystem, som består av flera fack som utför specifika biologiska funktioner som nitrifikation och biosyntes. På grund av det komplexa ömsesidiga beroendet mellan de enskilda avdelningarna och allmänna krav på rymdsystem, utgör kontrollen av sådana detta cyberfysiska system en betydande utmaning. Denna avhandling föreslår en tidigare obeskriven arkitektur för MELiSSA Loopkontrollerdesignen som koordinerar resursfördelningen mellan avdelningarna och etablerar återupplivning av atmosfären. Arkitekturen uppfyller styrmål som anges på hög nivå, och uppfyller samtidigt de fysiska och operativa begränsningarna.

Vehicle Dynamics Control (VDC) systems (also known as Active Chassis systems) are mechatronic systems developed for improving vehicle comfort, handling and/or stability. Traditionally, most of these systems have been individually developed and manufactured by various suppliers and utilised by automotive manufacturers. These decentralised control systems usually improve one aspect of vehicle performance and in some cases even worsen some other features of the vehicle. Although the benefit of the stand-alone VDC systems has been proven, however, by increasing the number of the active systems in vehicles, the importance of controlling them in a coordinated and integrated manner to reduce the system complexity, eliminate the possible conflicts as well as expand the system operational envelope, has become predominant. The subject of Integrated Vehicle Dynamics Control (IVDC) for improving the overall vehicle performance in the existence of several VDC active systems has recently become the topic of many research and development activities in both academia and industries Several approaches have been proposed for integration of vehicle control systems, which range from the simple and obvious solution of networking the sensors, actuators and processors signals through different protocols like CAN or FlexRay, to some sort of complicated multi-layered, multi-variable control architectures. In fact, development of an integrated control system is a challenging multidisciplinary task and should be able to reduce the complexity, increase the flexibility and improve the overall performance of the vehicle. The aim of this thesis is to develop a low-cost control scheme for integration of Electric Power-Assisted Steering (EPAS) system with Enhanced Stability Program (ESP) system to improve driver comfort as well as vehicle safety. In this dissertation, a systematic approach toward a modular, flexible and reconfigurable control architecture for integrated vehicle dynamics control systems is proposed which can be implemented in real time environment with low computational cost. The proposed control architecture, so named “Integrated Vehicle Control System (IVCS)”, is customised for integration of EPAS and ESP control systems. IVCS architecture consists of three cascade control loops, including high-level vehicle control, low-level (steering torque and brake slip) control and smart actuator (EPAS and EHB) control systems. The controllers are designed based on Youla parameterisation (closed-loop shaping) method. A fast, adaptive and reconfigurable control allocation scheme is proposed to coordinate the control of EPAS and ESP systems. An integrated ESP & ESP HiL/RCP system including the real EPAS and Electro Hydraulic Brake (EHB) smart actuators integrated with a virtual vehicle model (using CarMaker/HiL®) with driver in the loop capability is designed and utilised as a rapid control development platform to verify and validate the developed control systems in real time environment. Integrated Vehicle Dynamic Control is one of the most promising and challenging research and development topics. A general architecture and control logic of the IVDC system based on a modular and reconfigurable control allocation scheme for redundant systems is presented in this research. The proposed fault tolerant configuration is applicable for not only integrated control of EPAS and ESP system but also for integration of other types of the vehicle active systems which could be the subject of future works.