RESUMO
There are several tools, frameworks, and algorithms to solve information sharing from multiple tasks and robots. Some applications such as ROS, Kafka, and MAVLink cover most problems when using operating systems. However, they cannot be used for particular problems that demand optimization of resources. Therefore, the objective was to design a solution to fit the resources of small vehicles. The methodology consisted of defining the group of vehicles with low performance or are not compatible with high-level known applications; design a reduced, modular, and compatible architecture; design a producer-consumer algorithm that adjusts to the simultaneous localization and communication of multiple vehicles with UWB sensors; validate the operation with an interception task. The results showed the feasibility of performing architecture for embedded systems compatible with other applications managing information through the proposed algorithm allowed to complete the interception task between two vehicles. Another result was to determine the system's efficiency by scaling the memory size and comparing its performance. The work's contributions show the areas of opportunity to develop architectures focusing on the optimization of robot resources and complement existing ones.
RESUMO
By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure; the medium level includes two controls based on differential flatness for the actuators; and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here. The experimental results show the robustness of both controllers when parametric uncertainties are applied. However, the performance achieved with the switched controller introduced in the present paper is better than, or at least similar to, performance achieved with the average controller reported in literature.
RESUMO
A basic pattern in the body plan architecture of many animals, plants and some molecular and cellular systems is five-part units. This pattern has been understood as a result of genetic blueprints in development and as a widely conserved evolutionary character. Despite some efforts, a definitive explanation of the abundance of pentagonal symmetry at so many levels of complexity is still missing. Based on both, a computational platform and a statistical spatial organization argument, we show that five-fold morphology is substantially different from other abundant symmetries like three-fold, four-fold and six-fold symmetries in terms of spatial interacting elements. We develop a measuring system to determine levels of spatial organization in 2D polygons (homogeneous or heterogeneous partition of defined areas) based on principles of regularity in a morphospace. We found that spatial organization of five-fold symmetry is statistically higher than all other symmetries studied here (3 to 10-fold symmetries) in terms of spatial homogeneity. The significance of our findings is based on the statistical constancy of geometrical constraints derived from spatial organization of shapes, beyond the material or complexity level of the many different systems where pentagonal symmetry occurs.
