Orientador: Janito Vaqueiro Ferreira / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-20T14:52:32Z (GMT). No. of bitstreams: 1 HernandezBeleno_RubenDario_M.pdf: 6591392 bytes, checksum: fd4c66b4e3769739bb1a4283c418d2d8 (MD5) Previous issue date: 2012 / Resumo: Com o avanço da tecnologia refletida nos sistemas eletrônicos e de computação, os métodos do controle de trajetória no sistema de navegação se tornaram importantes nas diversas aplicações de veículos autônomos, como na geração de mapas, desvio de obstáculos e tarefas de posicionamento. Além disso, o controle pode proporcionar um ganho significativo na confiabilidade, versatilidade e precisão das tarefas robóticas, questões cruciais na maioria das aplicações reais. O presente trabalho tem como objetivo principal apresentar a criação de um veículo autônomo em escala. Para tanto foi desenvolvido um sistema de função sensorial que provê informações sobre a posição e orientação do carro a partir de quatro sistemas sensoriais como GPS, acelerômetro, giroscópio e a bussola (IMU), para que o veículo autônomo possa realizar a rota corretamente, de forma eficiente e segura. Neste projeto foi desenvolvido um software que integra os sistemas de controle e de sensoriamento. Além disso, foi projetado um módulo que controla a posição e orientação do veículo. O robô antes de realizar a manobra calcula a distância mínima relacionada ao próximo ponto da coordenada planejada para trocar sua referência de trajetória satisfazendo a orientação do caminho e do veículo. Para fins de avaliação, foram realizados experimentos em ambientes reais onde o carro percorre um conjunto determinado de coordenadas geográficas sem nenhuma intervenção humana, apresentando resultados do seguimento de trajetórias proposto e validando os sistemas sensoriais, além do algoritmo de controle projetado / Abstract: As electronic and computational systems technology advances, the use of path control methods in navigation systems become very important for different autonomous vehicles applications such as generating maps, avoiding obstacles and carrying out positioning tasks. In addition, controls can help increase the reliability, versatility and precision level of programmed tasks, which is exceedingly significant regarding real applications. The first aim of this work is to present the creation of an autonomous scale vehicle. We have developed a sensor system that provides information about the vehicle's position and orientation through four sensor systems such as gps, accelerometer, gyroscope and compass so that it can effectively and safely cover the right route. This project developed a software, which integrates the control and sensors systems. In addition, a control module was projected for the positioning and orientation of the vehicle. Before the robot turns to any direction, it calculates the minimal distance to the next step of the programmed coordinate, in order to change its own referenced trajectory, satisfying the orientation of the trajectory and the vehicle. For the task validation were done experiments in real life scenarios, where the vehicle follows a determined group of geo-coordinates without any human intervention, presenting results of the purposed following trajectories, validating the sensors systems and the control algorithm / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

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Der vorliegende Band der wissenschaftlichen Schriftenreihe Eingebettete Selbstorganisierende Systeme widmet sich dem Entwurf von verteilten Eingebetteten Systemen. Einsatzgebiete solcher Systeme sind unter anderem Missions- und Steuerungssysteme von Flugzeugen (Aerospace-Anwendungen) und , mit zunehmender Vernetzung, der Automotive Bereich. Hier gilt es höchste Sicherheitsstandards einzuhalten und maximale Verfügbarkeit zu garantieren. In dieser Arbeit wird diese Problematik frühzeitig im Entwurfsprozess, in der Spezifikationsphase, aufgegriffen. Es werden Implementierungsvarianten wie Hardware und Software sowie Systemkomponenten wie Berechungskomponenten und Kommunikationskomponenten unterschieden. Für die übergreifende Spezifikation wird auf Grundlage des π-Kalküls ein formales Framework, das eine einheitliche Modellierung von Teilsystemen in den unterschiedlichen Entwurfsphasen unterstützt, entwickelt. Besonderer Schwerpunkt der Untersuchungen von Herrn Förster liegt auf Erweiterungen von Systemspezifikationen. So wird es möglich, Teilkomponenten zu verändern oder zu substituieren und die Gesamtspezifikation auf Korrektheit und Konsistenz automatisiert zu überprüfen. / This volume of the scientific series Eingebettete, selbstorganisierende Systeme (Embedded Self-Organized Systems) gives an outline of the design of distributed embedded systems. Fields of application for such systems are, amongst others, mission systems and control systems of airplanes (aeronautic applications) and - with increasing level of integration - also the automotive area. In this area it is essential to meet highest safety standards and to ensure the maximum of availability. Mr Förster addresses these problems in an early state of the design process, namely the specification. Implementation versions like hardware and software are differentiated as well as system components like computation components and communication components. For a general specification Mr Förster develops a formal framework based on the pi-calculus, which supports a standardised modelling of modules in different design steps. The main focus of Mr Förster's research is the extension of system specifications. Therefore it will be possible to modify or substitute modules and to check automatically the correctness and consistency of the total specification. Mr Förster can prove the correctness of his approach and demonstrates impressively the complexity by clearly defined extension relations and formally verifiable embedding in the pi-calculus formalism. A detailed example shows the practical relevance of this research. I am glad that Mr Förster publishes his important research in this scientific series. So I hope you will enjoy reading it and benefit from it.

This thesis deals with issue of reliability of real-time embedded systems. Contains a summary of basic concepts related to field in real-time embedded systems and mechanisms for dependability enhancement through redundancy techniques and control flow checking. Describes the implementation of selected control flow checking mechanisms, the technique uses software watchdog timers, use of hardware n-modular redundancy in software environment and technique of process pairs using operating system uC/OS-II. The different mechanisms are validated by method injection of faults into the chosen data structures of system uC/OS-II.