tag:blogger.com,1999:blog-74606810794893852222024-02-07T19:59:56.066-08:00Medição de Orientações Relativas de um Veículo em MovimentoAnonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.comBlogger12125tag:blogger.com,1999:blog-7460681079489385222.post-81747160727124534882014-05-08T21:08:00.000-07:002014-05-23T07:45:16.350-07:0011th and 12th Week!<div style="margin-bottom: .0001pt; margin: 0cm;">
<span style="font-family: Georgia, Times New Roman, serif;">Décima Primeira e Décima Segunda
Semana :<o:p></o:p></span></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">Criação de um simulador em "tempo real" do robô Fanuc em
matlab.</span><o:p></o:p></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">O seguinte vídeo contém os resultados da simulação. A azul os eixos do
"end efector" do robô. Está também representado a medição feita pelos
sensores da SHARP. </span><span style="background-color: white;">A verde o plano chão que os sensores deveriam
detetar. Este plano é calculado com base nos métodos anteriormente descritos.
Adiante estará presente os resultados de cada método.</span><o:p></o:p></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/uY6bpyYRtHw?feature=player_embedded' frameborder='0'></iframe></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">Pela observação do vídeo, pode-se concluir que os sensores estão
adquirir bem os dados, pelo que o plano chão matem-se razoavelmente horizontal.</span><o:p></o:p></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="background-color: white;"><span style="font-family: Georgia, Times New Roman, serif;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">Foram ainda conduzidos dois testes. Um teste com o robô parado e outro com ele em movimento.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">O objetivo do teste com o robô parado é de obter o erro em relação à horizontal, para depois com esses dados calibrar o sistema.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">Os gráficos seguintes apresentam os valores de Pitch e Roll nas condições anteriormente descritas. Bem como a distribuição dos dados em histogramas.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiDMc0HCMZOb8ONAXfOAkMG-2AE-uDANISEqYhozjvkxh26YLoBd7e7xM73AdAJKW1reu7L8vwI0YOf5E1DonK_Yll6CduBU0I33lvemMj5cthYJP51G0f5q8aq_IZNT9LEoq0KhlrAbdHc/s1600/Rol_h_met2.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiDMc0HCMZOb8ONAXfOAkMG-2AE-uDANISEqYhozjvkxh26YLoBd7e7xM73AdAJKW1reu7L8vwI0YOf5E1DonK_Yll6CduBU0I33lvemMj5cthYJP51G0f5q8aq_IZNT9LEoq0KhlrAbdHc/s1600/Rol_h_met2.jpg" height="210" width="400" /></span></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif; font-size: small;"><br /></span></td></tr>
</tbody></table>
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQh0yNZZxG83XHcoDuMhH5uD4DYIPJWgZ5XNiTVaPtAnabjrL4uRNGsTVBw7FQEnUqC-izTg_YyyQobEAZU20jUQvNzcikgqK8Mq8ha13aRagGhNyPHhFVIdFrnqLdDpagdESSvgZRxLfL/s1600/hist_h_met2_pit.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQh0yNZZxG83XHcoDuMhH5uD4DYIPJWgZ5XNiTVaPtAnabjrL4uRNGsTVBw7FQEnUqC-izTg_YyyQobEAZU20jUQvNzcikgqK8Mq8ha13aRagGhNyPHhFVIdFrnqLdDpagdESSvgZRxLfL/s1600/hist_h_met2_pit.jpg" height="211" width="400" /></span></a></div>
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzr4_vutdlwGZT1vBZfud-EzaMHgu1GniOoBFlhtpH0b2MCm9cq1SXUTdKZ_j9sNzdLxYQIW0E5KUoaO9JTZwprFxqBlyhOJXfJIM3FqZv5NphwrTlxcNptT0BoCjGc_X013VCmsoxpgGR/s1600/Pitch_h_met2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzr4_vutdlwGZT1vBZfud-EzaMHgu1GniOoBFlhtpH0b2MCm9cq1SXUTdKZ_j9sNzdLxYQIW0E5KUoaO9JTZwprFxqBlyhOJXfJIM3FqZv5NphwrTlxcNptT0BoCjGc_X013VCmsoxpgGR/s1600/Pitch_h_met2.jpg" height="211" width="400" /></span></a></div>
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEigT8lY9GYb2-tW-7u2DpvBf2o0ROPS38pJGaqR4CRXOGiXD-dFLfkXFDlKQYwAF7e3ebx0UZPm143YYtIyw8kD0oLycTOlXBmEH_vQ_Oo62SChRygUS0w3ICoxuzG-2Lrj2uvqvAml51MZ/s1600/hist_h_met2_rol.jpg" height="211" style="margin-left: auto; margin-right: auto;" width="400" /></span></td></tr>
<tr><td class="tr-caption" style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif; font-size: small;">Figura 1: Dados obtidos para os ângulos com sistema horizontal e em repouso.</span></td></tr>
</tbody></table>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEigT8lY9GYb2-tW-7u2DpvBf2o0ROPS38pJGaqR4CRXOGiXD-dFLfkXFDlKQYwAF7e3ebx0UZPm143YYtIyw8kD0oLycTOlXBmEH_vQ_Oo62SChRygUS0w3ICoxuzG-2Lrj2uvqvAml51MZ/s1600/hist_h_met2_rol.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Georgia, Times New Roman, serif;"></span></a></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">Verifica-se para ambos os casos que a variação máxima de ângulo é de cerca de +- 0.5 graus.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Os resultados obtidos deste teste foram bastante bons e satisfatórios.</span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">O objetivo do teste com o robô em movimento serve de comparação entre métodos, de modo a obter o método mais aproximado das variações de ângulo real, dado pelo Fanuc.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">No entanto apenas vou apresentar a informação de um dos métodos, pelo que os valores obtidos por todos os métodos foi bastante similar.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;">Os gráficos seguintes apresentam o comportamento do Fanuc e dos sensores. O primeiro num movimento de ascendente e descendente. O segundo com variação de Pitch e depois de Roll.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white;"><br /></span></span></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiGQSQ4n613aeIt9ipLiCkhRPzGeFOHE_k-Rl5waHBe30GX6MCL3gfa3xQgNsJllSB2aIBXXOUwNe138fZyOwHXBQ6-XIpiE47NtV7BGwguUQO19dBBPT5W49cfWDwGMHkTEqT1tsvmN5L7/s1600/Oscilar.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiGQSQ4n613aeIt9ipLiCkhRPzGeFOHE_k-Rl5waHBe30GX6MCL3gfa3xQgNsJllSB2aIBXXOUwNe138fZyOwHXBQ6-XIpiE47NtV7BGwguUQO19dBBPT5W49cfWDwGMHkTEqT1tsvmN5L7/s1600/Oscilar.jpg" height="211" width="400" /></span></a></div>
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjKrBsbRrwk_mkXde1FtZBsIghCJq-7w0glL2td2SpGaFfgVQK9wzm-tUdmoqzIhQ-IOzLbZ5h6vCuUq4ElB-0pxJsspgAcpgFv539nJ8oSSn1w4ini_XgN5YIL_i946kPqvWwpFl05__yu/s1600/Oscilar2.jpg" height="211" style="margin-left: auto; margin-right: auto;" width="400" /></span></td></tr>
<tr><td class="tr-caption" style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif; font-size: small;">Figura 2: Comportamento do Fanuc e leitura efetuada pelos sensores.</span></td></tr>
</tbody></table>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjKrBsbRrwk_mkXde1FtZBsIghCJq-7w0glL2td2SpGaFfgVQK9wzm-tUdmoqzIhQ-IOzLbZ5h6vCuUq4ElB-0pxJsspgAcpgFv539nJ8oSSn1w4ini_XgN5YIL_i946kPqvWwpFl05__yu/s1600/Oscilar2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Georgia, Times New Roman, serif;"></span></a></div>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Como resultado final deste teste obteve-se os gráficos da variação do ângulo de Pitch e de Roll relativamente ao lido no Fanuc.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjt1PyQipr5kJmJyimGrYM8a0Iav_JwPz33Iyxv0jD5nSmTivcnqld3DdofNVwZqHd2MX7QKD2yNmXfq4oDPdRcaNm0Qks601HG_KZfbP3f7jxVRSztA1Zwqr2Bu7tB7_s_3rF17SBEQ5Oi/s1600/pit_met3.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjt1PyQipr5kJmJyimGrYM8a0Iav_JwPz33Iyxv0jD5nSmTivcnqld3DdofNVwZqHd2MX7QKD2yNmXfq4oDPdRcaNm0Qks601HG_KZfbP3f7jxVRSztA1Zwqr2Bu7tB7_s_3rF17SBEQ5Oi/s1600/pit_met3.jpg" height="211" width="400" /></span></a></div>
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhTWJCRaqVS5gYxEYYBI9LV6CeiDwypNHuyA5pLZ5kdwroiUMBJ2cJYVaXiVgAAFkn7XQOFg0AvtYRfR0OLDl2B8jKW_SZW3dzJT1vuXwNfQDEPxpPMOVza4kMJl5cmTrWzgj9pY0obksUl/s1600/rol_met3.jpg" height="211" style="margin-left: auto; margin-right: auto;" width="400" /></span></td></tr>
<tr><td class="tr-caption" style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif; font-size: small;">Figura 3: Resultados obtidos na medição do pitch e do roll. </span></td></tr>
</tbody></table>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhTWJCRaqVS5gYxEYYBI9LV6CeiDwypNHuyA5pLZ5kdwroiUMBJ2cJYVaXiVgAAFkn7XQOFg0AvtYRfR0OLDl2B8jKW_SZW3dzJT1vuXwNfQDEPxpPMOVza4kMJl5cmTrWzgj9pY0obksUl/s1600/rol_met3.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Georgia, Times New Roman, serif;"></span></a></div>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Conclui-se assim que todos os métodos são válidos e têm todos eles bons resultados.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">No entanto o método mais rápido e mais eficaz com o aumento do número de sensores é o método 3, pelo que este método não precisa de efetuar combinações para obter planos médios.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Por este motivo, este será o método a utilizar daqui em diante.</span></div>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white; color: #333333; line-height: 20.790000915527344px;">Todos os ficheiros relativos as medições dos sensores podem ser consultados aqui</span><span style="background-color: white; color: #333333; line-height: 20.790000915527344px;">: </span><a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh" style="background-color: white; color: #6699cc; line-height: 20.790000915527344px; text-decoration: none;">( download ).</a></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: center;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">-----</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">Eleventh and Twelfth Week :</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">Creation of a "real time" simulator for Fanuc robot in matlab.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">The video contains the simulation results. The blue axes are the axes of robot "end effector". Is also represented the measurement made by the SHARP sensors. The green plane is the ground floor plane that sensors should detect. This plane is calculated based on the methods described in the last post.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">By observing the video, we concluded that the sensors data were good and the calculation of the ground level was good too. </span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">Two tests were also conducted. One test with the robot static and the other dinamic test. </span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">The purpose of the static test is getting the measuremen error and get the horizontal plane to calibrate the system in the dinamic test. </span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">The graphs in figure 1 show the values of Pitch and Roll in the static test and the data distribution in histograms.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">It appears that in both cases the maximum angle variation is approximately + - 0.5 degrees. </span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">The results of this test were quite good and satisfactory. </span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">The purpose of the test with movement serves to compare methods and obtain the most approximate method of the orientations given by Fanuc. </span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">However I will only present the information of one of the methods, because the values obtained by all methods were very similar. </span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">The graphs in figure 2 show the behavior of Fanuc and sensors. First in a movement up and down. The second made variations on Pitch and Roll.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">The results of this test are presented in figure 3. The variation of of pitch and roll are compared with Fanuc data.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">We conclude that all methods are valid and all of them have good results. </span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">However, the faster and more efficient was the third method.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">For this reason, this will be the method to use.</span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="separator" style="clear: both; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="background-color: white; color: #666666; line-height: 25.155899047851563px;"><span style="line-height: 21px;">All files related to the data processing can be consulted here: </span></span><a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh" style="background-color: white; color: #6699cc; line-height: 21px; text-decoration: none;">(download).</a></span></div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-37281387742117699662014-05-02T00:59:00.004-07:002014-05-02T00:59:55.860-07:009th and 10th Week!<h3 class="post-title entry-title" itemprop="name" style="background-color: white; margin: 0px; position: relative;">
<span style="font-family: Georgia, 'Times New Roman', serif; font-size: small; text-align: justify;"><span style="color: #333333;"><span style="font-weight: normal; line-height: 1.4;">Nona e </span></span><span style="color: #333333;"><span style="font-weight: normal; line-height: 22.399999618530273px;">Décima</span></span><span style="color: #333333;"><span style="font-weight: normal; line-height: 1.4;"> Semana :</span></span></span></h3>
<div class="post-body entry-content" id="post-body-1030707417016602983" itemprop="description articleBody" style="background-color: white; position: relative; width: 578px;">
<div class="post-body entry-content" id="post-body-1628954899861136848" itemprop="description articleBody" style="position: relative; width: 578px;">
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Chegada do material necessário para a construção das placas de circuitos.</span><br />
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span>
<span style="font-family: Georgia, 'Times New Roman', serif;">Teste de bancada do material necessário à construção das placas de circuitos.</span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Como os resultados obtidos com ajuda do robo Fanuc não foram os melhores realizou-se um estudo de métodos de obtenção do ângulo através de planos. Para tal consideraram-se os três metodos seguintes:</span><br />
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span>
<span style="font-family: Georgia, Times New Roman, serif;">- Método que calculava ângulo final com base em combinações pontos prar gerar um plano com três pontos. Ou seja passar por todos os pontos todos os planos de três pontos possíveis. Por fim o valor do ângulo era a média dos ângulos. </span><br />
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi_u6-bXNeJcmCRw6zV1xSLZJ2qUWUrKw8CdVOuSAUCUyWJ-XDI16IjaC-JyqgZf6qAvC433vaT9qfNSo_mDEtmBCUiCAWLhyphenhyphenU_94ezayzETfcTHR0g4FfcEhJomhxU-wIC-94PQKkDyoRo/s1600/Metodo1.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi_u6-bXNeJcmCRw6zV1xSLZJ2qUWUrKw8CdVOuSAUCUyWJ-XDI16IjaC-JyqgZf6qAvC433vaT9qfNSo_mDEtmBCUiCAWLhyphenhyphenU_94ezayzETfcTHR0g4FfcEhJomhxU-wIC-94PQKkDyoRo/s1600/Metodo1.jpg" height="320" width="320" /></span></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif; font-size: small;">Figura 1: Método 1.</span></td></tr>
</tbody></table>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<span style="font-family: Georgia, Times New Roman, serif;">- Método que calcula o ângulo final com base no plano médio obtido pela media dos planos do método anterior.</span><br />
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh-o81ZmjHgFu_sL0bMjbnq-IvAERCwyo__FAa18AijW8SHQMWxtAZu45jXdKTJo_96UjJDhs8RnqKKMEXl3aMzXWk1HQiMpH0jS7y5NyixNpGl5pL8ZdPkekwiCNbA6KFXconx1GQ-6uiF/s1600/Metodo2.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh-o81ZmjHgFu_sL0bMjbnq-IvAERCwyo__FAa18AijW8SHQMWxtAZu45jXdKTJo_96UjJDhs8RnqKKMEXl3aMzXWk1HQiMpH0jS7y5NyixNpGl5pL8ZdPkekwiCNbA6KFXconx1GQ-6uiF/s1600/Metodo2.jpg" height="320" width="320" /></span></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif; font-size: small;">Figura 2: Método 2.</span></td></tr>
</tbody></table>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<span style="font-family: Georgia, Times New Roman, serif;">- Método do "Plan Fit" que se baseia num "fitting" de um plano aos pontos. Recorrendo à matriz pseudo inversa Penrose.</span><br />
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVVv646c58g7khaWcPAm08QxzMXLfoFBvRpx8xthVTQ09KQub467yzObB5ad_kMbosNeVN2Z6aMnCcN7CNEwW9-cyhtxMC6m881GYraVsdNYKctYYBZg2BsscyP8w_ZJQXwwkUDgJnzhNI/s1600/Metodo3.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><span style="font-family: Georgia, Times New Roman, serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVVv646c58g7khaWcPAm08QxzMXLfoFBvRpx8xthVTQ09KQub467yzObB5ad_kMbosNeVN2Z6aMnCcN7CNEwW9-cyhtxMC6m881GYraVsdNYKctYYBZg2BsscyP8w_ZJQXwwkUDgJnzhNI/s1600/Metodo3.jpg" height="320" width="320" /></span></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;"><span style="font-family: Georgia, Times New Roman, serif; font-size: small;">Figura 3: Método 3.</span></td></tr>
</tbody></table>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
</div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;">Foi efectuada medições com ajuda do Fanuc obtendo dados para aplicar os métodos acima descritos. No seguinte vídeo está presente a simulação do robo com o eixo origem e o eixo do "end efector". Os resultados obtidos não foram os melhores pelo que o plano obtido deveria ser sempre horizontal, (chão).</span><br />
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;"><br /></span>
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dz5tuauCFGyPISxU4MNRS6Zyu4kx_1_CMvZiSPUKO3OjjT28a1puGSp2St61Oji3wdGYQriDx5DslR0YtSxVA' class='b-hbp-video b-uploaded' frameborder='0'></iframe></span></div>
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;"><br /></span>
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;"><br /></span>
<span style="font-family: Georgia, Times New Roman, serif;"><span style="line-height: 20.790000915527344px;">Todos os ficheiros relativos as medições dos sensores podem ser consultados aqui</span><span style="line-height: 20.790000915527344px;">: </span><a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh" style="color: #6699cc; line-height: 20.790000915527344px; text-decoration: none;">( download ).</a></span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: center;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 25.155899047851563px;">-----</span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: center;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 25.155899047851563px;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Ninth and Tenth </span></span><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><span style="line-height: 21px;">Week: </span></span></div>
<div style="color: #333333; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="color: #333333; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; font-size: small;"><span style="line-height: 21px;">Arrive of the needed materials to build the circuit boards.</span></span><br />
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; font-size: small;"><span style="line-height: 21px;"><br /></span></span>
<span style="font-family: Georgia, Times New Roman, serif;"><span style="color: #666666; font-size: small;"><span style="line-height: 21px;">Testing the material needed </span></span><span style="color: #666666; line-height: 21px;">to build the circuit boards.</span></span></div>
<div style="color: #333333; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; font-size: small;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">The results obtained from Fanuc wasn't the best, so we carried out a study of plan methods to obtaining the best way to get the angle.</span></span><br />
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">To this end we considered the following three methods: </span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">- Method that calculated the angle with the combinations based on the points, generating a plan with three points. So through all the points, create all possible plans with three points. Finally the angle value was the mean of angles. (Figure 1).</span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">- Method that calculates the final angle based on the median plane obtained by the mean of the plans from last method. (Figure 2).</span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">- Method "Plan Fit" which is based on a "fitting" of the points to a plane. Using the Penrose pseudo inverse matrix. (Figure 3).</span></div>
</div>
<div style="text-align: justify;">
<div style="line-height: 25.155899047851563px;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 25.155899047851563px;">Measurements with the help of Fanuc was conducted to getting data to apply the methods described above. In the following video you see a simulation of the robot with the origin axis and the axis of the "end effector". The results obtained weren't the best because the plan should always be horizontal (ground).</span></span><br />
<div style="color: #333333; line-height: 25.155899047851563px;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
</div>
<div style="color: #333333; line-height: 25.155899047851563px; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><span style="color: #666666; font-size: small;"><span style="line-height: 21px;">All files related to the data processing can be consulted here: </span></span><a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh" style="color: #6699cc; line-height: 21px; text-decoration: none;">(download).</a></span><br />
<div style="font-size: 18px;">
<br /></div>
</div>
<div style="font-size: 18px; line-height: 1.4;">
</div>
</div>
</div>
</div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-41886185745946902152014-04-10T18:00:00.005-07:002014-05-02T00:52:52.369-07:007th and 8th Week!<h3 class="post-title entry-title" itemprop="name" style="background-color: white; color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; font-weight: normal; margin: 0px; position: relative;">
<span style="font-family: Georgia, 'Times New Roman', serif; font-size: x-small; line-height: 1.4; text-align: justify;">Sétima e Oitava Semana :</span></h3>
<div class="post-body entry-content" id="post-body-1030707417016602983" itemprop="description articleBody" style="background-color: white; position: relative; width: 578px;">
<div class="post-body entry-content" id="post-body-1628954899861136848" itemprop="description articleBody" style="position: relative; width: 578px;">
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Espera do material necessário para a construção das placas de circuitos.</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Com ajuda do robo Fanuc elaborou-se um estudo da fiabilidade dos sensores. Para tal colocou-se o robo a fazer circulos segundo os eixos OZY e com sensor ler altura ao chão desse nesse movimento, seperando obter uma curva do tipo sinusiodal.</span> </div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiKLhTjjrrPWosE20hbwww2jRMKskvFND8M_YCF9Vhyphenhyphen8caZbj42xzZq7QoFu6dcQ27treOTE3iE9rU8P-1JVDoJsLwq6eppi29bMhcRs8n91jcUZaeJLDxMzH6rTX51FvgT6WQqNfvubtQc/s1600/Seno_Parte_Graf-page-001.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiKLhTjjrrPWosE20hbwww2jRMKskvFND8M_YCF9Vhyphenhyphen8caZbj42xzZq7QoFu6dcQ27treOTE3iE9rU8P-1JVDoJsLwq6eppi29bMhcRs8n91jcUZaeJLDxMzH6rTX51FvgT6WQqNfvubtQc/s1600/Seno_Parte_Graf-page-001.jpg" height="320" width="300" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 1</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKoWFWumKhyphenhyphenYim055BSHebvHH1f0K21p6Jjf3ZWGKogYgY8e2u750_Aak_XLdBkEIRCnBk7Nj2p5QGCnDQAy3oou_lYHkuWMREGJGKPXDul6NLTCIn2hIK3pC0Xaa7wcizJYHAs7OepT7o/s1600/Seno_Parte_Part-page-001.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKoWFWumKhyphenhyphenYim055BSHebvHH1f0K21p6Jjf3ZWGKogYgY8e2u750_Aak_XLdBkEIRCnBk7Nj2p5QGCnDQAy3oou_lYHkuWMREGJGKPXDul6NLTCIn2hIK3pC0Xaa7wcizJYHAs7OepT7o/s1600/Seno_Parte_Part-page-001.jpg" height="189" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 2</td></tr>
</tbody></table>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Como se pode constantar nas imagens os valores estão afectados de ruído. Daí decidiu-se fazer um filtro passa baixo nos dados enviados pelo sensor.</span></div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEijOe5IsLS7ivv-FEn4KY5rYYCk28YQ39HINEFk1EJi26aT8VWH4_rFQzg6GDUm6XdE9eKPi0f4Jy49pQkzr5mZmUoV44y3SJpbsfodyWgzvi-MaZT6BrlynWlqF2jjFLUzvcIqTxKe8yGb/s1600/Filtrado-page-001.jpg" imageanchor="1" style="clear: left; font-size: medium; line-height: normal; margin-bottom: 1em; margin-left: auto; margin-right: auto; text-align: start;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEijOe5IsLS7ivv-FEn4KY5rYYCk28YQ39HINEFk1EJi26aT8VWH4_rFQzg6GDUm6XdE9eKPi0f4Jy49pQkzr5mZmUoV44y3SJpbsfodyWgzvi-MaZT6BrlynWlqF2jjFLUzvcIqTxKe8yGb/s1600/Filtrado-page-001.jpg" height="266" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 3</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgy0xXzDNHwp3IEKG3uml_PVqBJs-Q2S5185t9v0h4JPUDwCv5ChwMzS2enTmzFLpRiOAd15atT9sqryqLIGaKsGlgu69ardTp6YOKWZDe51j6U0UOBixD9U7jZOTKTq-EJsBOBYReIrPQV/s1600/Filtrado_Parte-page-001.jpg" imageanchor="1" style="font-size: medium; line-height: normal; margin-left: auto; margin-right: auto; text-align: center;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgy0xXzDNHwp3IEKG3uml_PVqBJs-Q2S5185t9v0h4JPUDwCv5ChwMzS2enTmzFLpRiOAd15atT9sqryqLIGaKsGlgu69ardTp6YOKWZDe51j6U0UOBixD9U7jZOTKTq-EJsBOBYReIrPQV/s1600/Filtrado_Parte-page-001.jpg" height="189" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 4</td></tr>
</tbody></table>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Os valores presentes nas imagens são bastantes melhores do que aqueles anteriormente obtidos.</span></div>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Foi ainda elaborado um teste de interferência entre os sensores. Na imagem seguinte pode-se ver os valores de dois sensores relativamente proximos. Denotar que a partir de 60 cm eles interferem mutuamente.</span></div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAiNgq8YjTd_G8UcH7luE3S_7xhEKFS6yHtExWugf3MRPS10HFbTFAxQ1k-bzy-tFHLhp-6Ar8u7PBekBUXGdtilhh-L0QdVUWDX5PpwqtIrJLoUr1CZEBUt_GnDw8kwHjwNlyG6ltLY1M/s1600/Sensor_Fanuc-page-001.jpg" imageanchor="1" style="font-size: medium; line-height: normal; margin-left: auto; margin-right: auto; text-align: center;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAiNgq8YjTd_G8UcH7luE3S_7xhEKFS6yHtExWugf3MRPS10HFbTFAxQ1k-bzy-tFHLhp-6Ar8u7PBekBUXGdtilhh-L0QdVUWDX5PpwqtIrJLoUr1CZEBUt_GnDw8kwHjwNlyG6ltLY1M/s1600/Sensor_Fanuc-page-001.jpg" height="320" width="303" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 5</td></tr>
</tbody></table>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Foi construido um novo suporte para os quatro sensores de modo a estes estarem mais longe e diminuindo as interferências.</span></div>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Posteriormente foram calibrados os quatro sensores, e obtidas as suas curvas de calibração.</span></div>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Por fim, mais uma vez com a ajuda do robo Fanuc, foi elaborado dois testes com variações dos ângulo da extremidade do robo e foram lidos e comparados os resultados lidos dos sensores.</span></div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhGqCGQIeJyLu4ydLckWApGMoiWCZTVKZqgjvMP5Zr1Z0aEdcCCxyNFgtuoUfG4B7Db-GjS_NnnMVhVl4cyZlmAmnCiJqU3Ysr_5k2dVDJvGnIAQiu2BaDymVrN84yPU0K8zihjALvDA8oA/s1600/Pitch2-page-001.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhGqCGQIeJyLu4ydLckWApGMoiWCZTVKZqgjvMP5Zr1Z0aEdcCCxyNFgtuoUfG4B7Db-GjS_NnnMVhVl4cyZlmAmnCiJqU3Ysr_5k2dVDJvGnIAQiu2BaDymVrN84yPU0K8zihjALvDA8oA/s1600/Pitch2-page-001.jpg" height="320" width="309" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 6</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgMGdWCSLY-8R5w2hSx1ajde5TXIIb5H7Ukmw_iZhNog81CO6y903s04f95tBY9BT8LjR5i2C0XDRfvhplqDUNfIydjjXOYViyaxrW_i7fkCCrUd80fRRyNHxp77ueo-u0nRvi0vt5lcaF2/s1600/Pitch-page-001.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgMGdWCSLY-8R5w2hSx1ajde5TXIIb5H7Ukmw_iZhNog81CO6y903s04f95tBY9BT8LjR5i2C0XDRfvhplqDUNfIydjjXOYViyaxrW_i7fkCCrUd80fRRyNHxp77ueo-u0nRvi0vt5lcaF2/s1600/Pitch-page-001.jpg" height="320" width="309" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 7</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgwpqzEhC7M9TD_kOQF2AhzGh1zfPhJ0vjnRixiN1la3YrcIlWIoIeDU7Jal1jw1v9nNbG8FXm_KVEC0TuJtgvmeb-7ISq47LJ6SmFvNBARmYM4RuYuFXjQd_8KDtv7NV9efG3UQ4DpumeH/s1600/Roll2-page-001.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgwpqzEhC7M9TD_kOQF2AhzGh1zfPhJ0vjnRixiN1la3YrcIlWIoIeDU7Jal1jw1v9nNbG8FXm_KVEC0TuJtgvmeb-7ISq47LJ6SmFvNBARmYM4RuYuFXjQd_8KDtv7NV9efG3UQ4DpumeH/s1600/Roll2-page-001.jpg" height="320" width="309" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 8</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjOombVxJ5IQioozFuO2mjkGWTE1gyC8szc-XCNF301nebn_Y2LmltXNPjs6jFV8F_67_gymTXfWyVDoA9_DPbMszmUN3Z_1rEL3osI2VFOKqOv0zbz70eJCREIQDfutvNbxUpexq3dORDv/s1600/Roll-page-001.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjOombVxJ5IQioozFuO2mjkGWTE1gyC8szc-XCNF301nebn_Y2LmltXNPjs6jFV8F_67_gymTXfWyVDoA9_DPbMszmUN3Z_1rEL3osI2VFOKqOv0zbz70eJCREIQDfutvNbxUpexq3dORDv/s1600/Roll-page-001.jpg" height="320" width="309" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Figura 9</td></tr>
</tbody></table>
<div style="color: #333333; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Para melhorar os resultados vai-se alterar as equações para calculo dos ângulos por um "Plan Fit" nos pontos dados e posterior calculo das suas orientações.</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;">Todos os ficheiros relativos as medições dos sensores podem ser consultados aqui</span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;">: </span><a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px; text-decoration: none;">( download ).</a></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: center;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 25.155899047851563px;">-----</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: center;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 25.155899047851563px;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;">Seventh and Eighth</span></span><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; font-size: 18px; line-height: 1.4;"><span style="line-height: 21px;">Week: </span></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; font-size: small;"><span style="line-height: 21px;">Waiting for the needed materials to build the circuit boards.</span></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; font-size: small;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">With the help of the Fanuc robot, we elaborated a study of the reliability of the sensors . To do this we put the robot making circles in the OZY axis and reading the height to the floor with the sensor we obtain a movement that represent curve a sinusoidal. (Figure 1 and 2).</span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">As you can see the results were disturbed by noise. So we implant a low pass filter to improve the accuracy of the results.(Figure 3 and 4).</span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">The values with the filter are better than those previously obtained.</span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">We also prepared a test to see the interference between sensors. In the following image you can see the relative values of two sensors close to each other</span></span><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 21px;">. You can see from 60 cm or more the sensors mutually interfere .(Figure 5).</span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Create a new support for the four sensors. This new configuration put the sensors further and reduce their interference .</span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">So with the new support I calibrated the four sensors, and obtained their calibration curves .</span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Finally , again with the help of Fanuc robot , two tests were conducted. We variate the angle of the robor end effector and read the sensors angles to compare each other .(Figure 6, 7, 8 and 9).</span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">To improve the results will be changing the equations to calculate the angles for "Plan Fit" and calculate the plan orientation instead of equations.</span></span></div>
</div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; font-size: small;"><span style="line-height: 21px;">All files related to the data processing can be consulted here: </span></span><a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 21px; text-decoration: none;">(download).</a></div>
<div style="font-size: 18px; line-height: 1.4;">
<br /></div>
</div>
</div>
</div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-28141382601796539372014-03-28T04:13:00.003-07:002014-03-28T04:13:51.754-07:006th Week!<h3 class="post-title entry-title" itemprop="name" style="background-color: white; color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-weight: normal; margin: 0px; position: relative;">
<span style="font-family: Georgia, 'Times New Roman', serif; font-size: small; line-height: 1.4; text-align: justify;">Sexta Semana :</span></h3>
<div class="post-body entry-content" id="post-body-1030707417016602983" itemprop="description articleBody" style="background-color: white; position: relative; width: 578px;">
<div class="post-body entry-content" id="post-body-1628954899861136848" itemprop="description articleBody" style="position: relative; width: 578px;">
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Espera do material necessário para a construção das placas de circuitos.</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Aplicação de filtros nas medições do último teste, visto os resultados não serem os melhore.</span><br />
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span><span style="font-family: Georgia, 'Times New Roman', serif;">Elaboração duma placa para ler quatro sensores em conjunto.</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="color: #333333; font-family: Georgia, 'Times New Roman', serif; font-size: 18px; line-height: 20.790000915527344px;">Para elaborar um teste mais rigoroso colocou-se a placa com os quatro sensores num </span><span style="color: #333333; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 20.790000915527344px;">robô Fanuc M-6iB.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="color: #333333; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 20.790000915527344px;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="color: #333333; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 20.790000915527344px;">Aquisição de dados de 1 em 1 cm com o robo.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="color: #333333; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 20.790000915527344px;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="color: #333333; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 20.790000915527344px;">Tratamento dos dados em Matlab.</span></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;">Todos os ficheiros relativos as medições dos sensores podem ser consultados aqui</span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px;">: </span><a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 20.790000915527344px; text-decoration: none;">( download ).</a></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: center;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 25.155899047851563px;">-----</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: center;">
<span style="font-family: Georgia, 'Times New Roman', serif; line-height: 25.155899047851563px;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: left;">
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif;"><span style="line-height: 21px;">Sixth</span></span><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><span style="line-height: 21px;"> Week: </span></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;">Waiting for the needed materials to build the circuit boards.</span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;">Drawing up a board to read four sensors along.</span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;">In order to develop a more strict test, we put the four sensors board in a robot Fanuc M-6iB.</span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;">Acquiring data from sensors 1 on 1 cm with the robot.</span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;">Data processing in Matlab.</span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif; font-size: medium;"><span style="line-height: 21px;">All files related to the data processing can be consulted here: </span></span><a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; font-size: 18px; line-height: 21px; text-decoration: none;">(download).</a></div>
<div style="text-align: justify;">
<br /></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhzT9vpWmYAYSLp5u0jm7Elf1wgfmZqYNNDWKJFcrh-V1I5Ex9fIEQDei4Vcip_fCC0t9R24sA-bUXwv8r0sNWEGsYK4GaC9aS8ufnH4RASnjvIzAPtNRaB_vX1TBDr-sl_TutEfM2oS2Xh/s1600/Fanuc.jpg" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhzT9vpWmYAYSLp5u0jm7Elf1wgfmZqYNNDWKJFcrh-V1I5Ex9fIEQDei4Vcip_fCC0t9R24sA-bUXwv8r0sNWEGsYK4GaC9aS8ufnH4RASnjvIzAPtNRaB_vX1TBDr-sl_TutEfM2oS2Xh/s1600/Fanuc.jpg" height="320" width="240" /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8CL8os3rSKJs8pnadW3d70QLqAF6SRlORCvjppT3E7TxIQ9TkBkcy8WIzUY1hfMcCG5brkUydtIsdeeJJFlzkPceG6PAVjZsHkyhtVxeUw2syPFfaKiXcVy_IbrNdSG0Rzawddnwqo6Ed/s1600/placa.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8CL8os3rSKJs8pnadW3d70QLqAF6SRlORCvjppT3E7TxIQ9TkBkcy8WIzUY1hfMcCG5brkUydtIsdeeJJFlzkPceG6PAVjZsHkyhtVxeUw2syPFfaKiXcVy_IbrNdSG0Rzawddnwqo6Ed/s1600/placa.jpg" height="150" width="200" /></a></div>
<br />
<div style="text-align: justify;">
<br /></div>
<div style="text-align: justify;">
<br /></div>
<div style="text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; line-height: 25.155899047851563px; text-align: justify;">
<br /></div>
</div>
</div>
</div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-91310939056655750182014-03-21T03:14:00.003-07:002014-03-21T03:18:02.799-07:005th Week!<h3 class="post-title entry-title" itemprop="name" style="background-color: white; font-weight: normal; margin: 0px; position: relative;">
<span style="font-family: Georgia, 'Times New Roman', serif; font-size: small; line-height: 1.4; text-align: justify;"><br /></span></h3>
<h3 class="post-title entry-title" itemprop="name" style="background-color: white; font-weight: normal; margin: 0px; position: relative;">
<span style="font-family: Georgia, 'Times New Roman', serif; font-size: small; line-height: 1.4; text-align: justify;">Quinta Semana :</span></h3>
<div class="post-body entry-content" id="post-body-1030707417016602983" itemprop="description articleBody" style="background-color: white; position: relative; width: 578px;">
<div class="post-body entry-content" id="post-body-1628954899861136848" itemprop="description articleBody" style="position: relative; width: 578px;">
<div style="line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Requisição do material necessário para construção das placas de circuitos.</span></div>
<div style="line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Inicio da calibração dos sensores da SHARP.</span><br />
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span><span style="font-family: Georgia, 'Times New Roman', serif;">Tratamento de dados no Matlab para obtenção da curva de calibração.</span></div>
<div style="line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif; line-height: 20.790000915527344px;"><br /></span></div>
<div style="line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif; line-height: 20.790000915527344px;">Dados relativos à calibração do sensor de 10 em 10 cm : <a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh">( download ).</a></span></div>
<div style="line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif; line-height: 20.790000915527344px;"><br /></span></div>
<div style="line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif; line-height: 20.790000915527344px;">Com os dados obtidos dos sensores podemos concluir que será necessário elaborar o teste de calibração sobre condições mais rigorosas, pelo que os resultados obtidos não foram bons.</span><br />
<span style="font-family: Georgia, Times New Roman, serif; line-height: 20.790000915527344px;"><br /></span></div>
<div style="line-height: 1.4; text-align: center;">
<span style="font-family: Georgia, 'Times New Roman', serif;">-----</span></div>
<div style="line-height: 1.4; text-align: center;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Fifth</span></span><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><span style="line-height: 21px;"> Week: </span></span></div>
<div style="line-height: 1.4; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Ordering the necessary material to construct the circuit boards.</span></span></div>
<div style="line-height: 1.4; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Processing in Matlab the data from sensors to obtain the calibration curve.</span></span><br />
<span style="color: #666666;"><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><span style="line-height: 21px;"><br /></span></span><span style="font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Data relating to sensor calibration from 10 t0 10 cm : <a href="https://www.dropbox.com/sh/gtm14xkaz7drc4c/tVrZtYASZh">(download).</a></span></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">With the data obtained from sensores, we conclude that will be necessary rebuild another test, more precise and more robust, to calibrate the sensores, because the data wasn't good.</span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhjlF9Kk6_R2I-vMPsWuhdCocAKQcmqWeIjVoFW0yHFPRv5w-NXqt41luxKWWm36KlaJtcEjkXn55UjPPWoB5jHtzpUVkPLR3qmeHG5eTIunlOizB9ZSeDXuXQCifUnM04h-r4FMJ7y2tO6/s1600/Obtido.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhjlF9Kk6_R2I-vMPsWuhdCocAKQcmqWeIjVoFW0yHFPRv5w-NXqt41luxKWWm36KlaJtcEjkXn55UjPPWoB5jHtzpUVkPLR3qmeHG5eTIunlOizB9ZSeDXuXQCifUnM04h-r4FMJ7y2tO6/s1600/Obtido.jpg" height="320" width="320" /></a></div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span></div>
</div>
</div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-10307074170166029832014-03-13T10:58:00.000-07:002014-03-13T10:58:08.354-07:004th Week!<h3 class="post-title entry-title" itemprop="name" style="background-color: white; color: #333333; font-weight: normal; margin: 0px; position: relative;">
<span style="font-family: Georgia, 'Times New Roman', serif; font-size: small; line-height: 1.4; text-align: justify;">Quarta Semana :</span></h3>
<div class="post-body entry-content" id="post-body-1628954899861136848" itemprop="description articleBody" style="background-color: white; position: relative; width: 578px;">
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Listagem de componentes necessários para a unidade de medição local.</span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Aprendizagem da ferramenta <a href="http://www.cadsoftusa.com/">EAGLE</a>.</span><br />
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span>
<span style="font-family: Georgia, 'Times New Roman', serif;">Elaboração duma placa de circuitos impressos para a unidade de medição local.</span></div>
<div style="color: #333333; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="color: #333333; line-height: 1.4; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;">-----</span></div>
<div style="color: #333333; line-height: 1.4; text-align: center;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Fourth Week: </span></span></div>
<div style="color: #333333; line-height: 1.4; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">List of components required for local measurement unit. </span></span></div>
<div style="color: #333333; line-height: 1.4; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Learning how to work with <a href="http://www.cadsoftusa.com/">EAGLE</a> tool.</span></span><br />
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;">Drawing up a printed circuit board for the local measurement unit.</span></span><br />
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi43kXEmFwqS_D2K0BUL1i4JtyyJcNLO2g_BoNfxJYjBJzClO1F8junIr06PqM_RHVt-lfnMDvT9vyM48ufFpKSHVY-i9y-Ln0y6SlOBduE_HtXXWgf7ZomtCk1p-72ZnkpBbnn_f1fge-7/s1600/placa.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi43kXEmFwqS_D2K0BUL1i4JtyyJcNLO2g_BoNfxJYjBJzClO1F8junIr06PqM_RHVt-lfnMDvT9vyM48ufFpKSHVY-i9y-Ln0y6SlOBduE_HtXXWgf7ZomtCk1p-72ZnkpBbnn_f1fge-7/s1600/placa.png" height="320" width="276" /></a></div>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="line-height: 21px;"><br /></span></span>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="font-size: 15px; line-height: 21px;"><br /></span></span>
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="font-size: 15px; line-height: 21px;"><br /></span></span></div>
</div>
<br />
<br />Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-66320584409855570932014-03-13T10:45:00.002-07:002014-03-13T10:45:55.353-07:003rd Week!<h3 class="post-title entry-title" itemprop="name" style="background-color: white; color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; font-weight: normal; margin: 0px; position: relative;">
<span style="font-family: Georgia, 'Times New Roman', serif; font-size: 15px; line-height: 1.4; text-align: justify;">Terceira Semana :</span></h3>
<div class="post-body entry-content" id="post-body-1628954899861136848" itemprop="description articleBody" style="background-color: white; position: relative; width: 578px;">
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Finalização do <o:p></o:p></span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><a href="http://lars.mec.ua.pt/activitydetails.html" style="color: #6699cc; text-decoration: none;">workshop</a> em</span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> </span><a href="http://www.cplusplus.com/" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;">C++</a><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> </span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;">e</span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> </span><a href="http://www.ros.org/" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;">ROS</a><span style="font-family: Georgia, 'Times New Roman', serif;">.</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;"><br /></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Início do estudo conceptual das unidades de medição a desenvolver nas proximas semanas.</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: center;">
-----</div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: center;">
<span style="color: #666666;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="font-size: 15px; line-height: 21px;">Third</span></span><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; font-size: 16px; line-height: 1.4;"><span style="font-size: 15px; line-height: 21px;"> Week : </span></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: justify;">
<span style="color: #666666;">Finalization of </span><a href="http://lars.mec.ua.pt/activitydetails.html" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;"><span style="color: #45818e;">workshop</span></a><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> on </span><a href="http://www.cplusplus.com/" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;">C++</a><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> and </span><a href="http://www.ros.org/" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;">ROS</a><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;">.</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: justify;">
<span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="font-size: 15px; line-height: 21px;">Beginning the conceptual study of the measuring units to be developed to the next weeks.</span></span></div>
<div style="text-align: justify;">
<br /></div>
</div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-79294532587597384702014-03-13T10:38:00.003-07:002014-03-13T10:39:36.894-07:002nd Week!<h3 class="post-title entry-title" itemprop="name" style="background-color: white; color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 18px; font-weight: normal; margin: 0px; position: relative;">
<span style="font-family: Georgia, 'Times New Roman', serif; font-size: 15px; line-height: 1.4; text-align: justify;">Segunda Semana :</span></h3>
<div class="post-body entry-content" id="post-body-1628954899861136848" itemprop="description articleBody" style="background-color: white; position: relative; width: 578px;">
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="color: #333333; font-size: 15px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, 'Times New Roman', serif;">Continuação do <o:p></o:p></span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><a href="http://lars.mec.ua.pt/activitydetails.html">workshop</a> em</span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> </span><a href="http://www.cplusplus.com/" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;">C++</a><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> </span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;">e</span><span style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> </span><a href="http://www.ros.org/" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;">ROS</a><span style="font-family: Georgia, Times New Roman, serif;">.</span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: center;">
-----</div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: center;">
<span style="color: #666666;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><span style="font-size: 15px; line-height: 21px;">Second Week : </span></span></div>
<div style="color: #333333; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: justify;">
<br /></div>
<div style="font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 15px; line-height: 1.4; text-align: justify;">
<span style="color: #666666;">Continuation of </span><a href="http://lars.mec.ua.pt/activitydetails.html" style="font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"><span style="color: #45818e;">workshop</span></a><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> on </span><a href="http://www.cplusplus.com/" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;">C++</a><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;"> and </span><a href="http://www.ros.org/" style="color: #6699cc; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4; text-decoration: none;">ROS</a><span style="color: #666666; font-family: Georgia, 'Times New Roman', serif; line-height: 1.4;">.</span></div>
</div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-16289548998611368482014-02-23T15:25:00.001-08:002014-02-24T09:00:12.292-08:001st Week!<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Primeira Semana :<o:p></o:p></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Início da pesquisa sobre mecanismos de
medição de distâncias.<o:p></o:p></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Apresentação sobre a dissertação a desenvolver aos colegas de
laboratório.<o:p></o:p></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Preparação para um workshop de <a href="http://www.cplusplus.com/">C++</a> e <a href="http://www.ros.org/">ROS</a> a
decorrer na próxima semana.</span><span style="font-size: medium;"><o:p></o:p></span></div>
<br />
<br />
<div style="text-align: center;">
-----</div>
<div style="text-align: center;">
<span style="color: #666666;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">First Week : </span></div>
<div style="text-align: justify;">
<br /></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">Begin of research on mechanisms for measuring distances. </span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">Presentation of dissertation to laboratory colleagues. </span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">Preparation for a workshop on <a href="http://www.cplusplus.com/">C++</a> and <a href="http://www.ros.org/">ROS</a> during the next week.</span></div>
<div style="text-align: left;">
<br /></div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-35090967113417258422014-02-23T15:08:00.000-08:002014-02-25T13:51:06.019-08:00Goals<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<div style="margin: 0cm 0cm 0.0001pt;">
<span style="font-family: Georgia, serif;">Principais
tarefas:</span><o:p></o:p></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="font-family: Georgia, serif;">1. <span class="apple-converted-space"> </span>Familiarização com os sistemas
presentes no<span class="apple-converted-space"> </span><a href="http://atlas.web.ua.pt/">ATLASCAR</a>.</span><o:p></o:p></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="font-family: Georgia, serif;">2. <span class="apple-converted-space"> </span>Levantamento do estado da arte nas
soluções de medição de orientação de veículos.</span><o:p></o:p></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="font-family: Georgia, serif;">3. <span class="apple-converted-space"> </span>Estudo concetual do sistema global de
medição das orientações.</span><o:p></o:p></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="font-family: Georgia, serif;">4. <span class="apple-converted-space"> </span>Desenvolvimento das unidades locais de
medição (ULM).</span></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="font-family: Georgia, serif;">5. <span class="apple-converted-space"> </span>Desenvolvimento da unidade central e
comunicações com as unidades locais.</span></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="font-family: Georgia, serif;">6. <span class="apple-converted-space"> </span>Desenvolvimento de uma aplicação de
software para instalação e calibração</span>.</div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="font-family: Georgia, serif;">7. <span class="apple-converted-space"> </span>Testes em veículos reais e estudo de
eventuais aplicações adicionais do sistema desenvolvido</span>.</div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="font-family: Georgia, serif;">8. <span class="apple-converted-space"> </span>Escrita de documentação.</span><o:p></o:p></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<br /></div>
<div align="center" style="margin-bottom: .0001pt; margin: 0cm; text-align: center; text-indent: -18.0pt;">
<span style="font-family: Georgia, serif;">-----</span><o:p></o:p></div>
<div align="center" style="margin-bottom: .0001pt; margin: 0cm; text-align: center; text-indent: -18.0pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="color: #666666; font-family: Georgia, serif;">
Main tasks</span><o:p></o:p></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="color: #666666; font-family: Georgia, serif;">1.</span><span style="font-family: Georgia, serif;"> </span><span style="color: #666666; font-family: Georgia, serif;"> </span><span lang="EN-US" style="color: #666666; font-family: Georgia, serif;">Familiarization with the present systems in<span class="apple-converted-space"> </span></span><span style="color: #666666; font-family: Georgia, serif;"><a href="http://atlas.web.ua.pt/"><span lang="EN-US">ATLASCAR</span></a></span><span lang="EN-US" style="color: #666666; font-family: Georgia, serif;">.</span><span lang="EN-US"><o:p></o:p></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span lang="EN-US" style="color: #666666; font-family: Georgia, serif;">2.</span><span lang="EN-US" style="font-family: Georgia, serif;"> </span><span lang="EN-US" style="color: #666666; font-family: Georgia, serif;"> State of the art research</span><span style="color: #666666; font-family: Georgia, serif; text-indent: -18pt;"> solutions in
measuring vehicle orientations.</span><br />
<span style="color: #666666; font-family: Georgia, serif; text-indent: -18pt;"><br /></span></div>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<u1:p></u1:p>
<br />
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span lang="EN-US" style="color: #666666; font-family: Georgia, serif;">3. Conceptual study of the overall system
for measuring orientations.</span><br />
<span lang="EN-US" style="color: #666666; font-family: Georgia, serif;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span lang="EN-US"><span style="color: #666666; font-family: Georgia, serif;">4. Development of </span></span><span style="color: #666666; font-family: Georgia, serif;">measurement</span><span style="color: #666666; font-family: Georgia, serif; text-indent: -18pt;"> local units (MLU).</span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="color: #666666; font-family: Georgia, serif; text-indent: -18pt;"><br /></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="text-indent: -18pt;"><span style="color: #666666; font-family: Georgia, serif;">5. Development of the central unit and communications with local units. </span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="text-indent: -18pt;"><span style="color: #666666; font-family: Georgia, serif;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="text-indent: -18pt;"><span style="color: #666666; font-family: Georgia, serif;">6. Development of a software application for installation and calibration. </span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="text-indent: -18pt;"><span style="color: #666666; font-family: Georgia, serif;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="text-indent: -18pt;"><span style="color: #666666; font-family: Georgia, serif;">7. Tests on real vehicles and study any additional applications for the developed system. </span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="text-indent: -18pt;"><span style="color: #666666; font-family: Georgia, serif;"><br /></span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="text-indent: -18pt;"><span style="color: #666666; font-family: Georgia, serif;">8. Written documentation.</span></span></div>
<div style="margin: 0cm 0cm 0.0001pt; text-indent: -18pt;">
<span style="color: #666666; font-family: Georgia, serif; text-indent: -18pt;"><br /></span></div>
</div>
<div class="MsoListParagraph" style="margin-right: 2.8pt; text-align: center; text-indent: -18pt;">
<span style="font-family: Georgia, Times New Roman, serif;"><br /></span></div>
<div class="MsoListParagraph" style="margin-right: 2.8pt; text-align: justify; text-indent: -18pt;">
<span style="font-family: "Century Gothic","sans-serif"; font-size: 9.0pt; mso-ansi-language: PT;"><br /></span></div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-61220124234713756142014-02-23T14:39:00.000-08:002014-02-25T13:50:58.674-08:00Guidelines<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<span style="font-family: Georgia, serif;">Os sistemas avançados de apoio ao condutor (</span><span lang="EN-GB" style="font-family: Georgia, serif;"><a href="http://cartech.about.com/od/Safety/tp/Advanced-Driver-Assistance-Systems.htm"><span lang="PT">Advanced Driver AssistanceSystems</span></a></span><span style="font-family: Georgia, serif;">), nas variantes mais sofisticadas, exigem que o sistema computacional do
veículo tenha um conhecimento o mais preciso possível de um conjunto de
variáveis de estado do veículo.</span><o:p></o:p></div>
<div align="center" class="MsoNormal" style="margin-right: 2.8pt; text-align: center;">
<span style="color: #666666;"><span lang="EN-GB" style="font-family: Georgia, serif;">------</span><span lang="EN-GB"><o:p></o:p></span></span></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<span lang="EN-GB" style="font-family: Georgia, serif;"><span style="color: #666666;">The ADAS<span class="apple-converted-space"> </span><a href="http://cartech.about.com/od/Safety/tp/Advanced-Driver-Assistance-Systems.htm">(AdvancedDriver Assistance Systems)</a><span class="apple-converted-space"> </span>in
more sophisticated variants requires that the vehicle computer system has a most accurate knowledge of a group of possible state variables of the vehicle.</span></span><span lang="EN-GB"><o:p></o:p></span></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<br /></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<br /></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg4mT-1qUAaE94pHJWQnP1JtoXDeR8nNtWCN5IFUSTEcWd3AKH_zkYpPkmHRa89HrjldqrWZNLn2R3PPwkfk8SBkeAa_Rcju-1DthL2jMMrbUMxS5LCCG9O7jbCTic7p-2BR_xkLurgUc1O/s1600/047296-continental-is-planning-new-development-site-for-advanced-driver-assistance.1-lg.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg4mT-1qUAaE94pHJWQnP1JtoXDeR8nNtWCN5IFUSTEcWd3AKH_zkYpPkmHRa89HrjldqrWZNLn2R3PPwkfk8SBkeAa_Rcju-1DthL2jMMrbUMxS5LCCG9O7jbCTic7p-2BR_xkLurgUc1O/s1600/047296-continental-is-planning-new-development-site-for-advanced-driver-assistance.1-lg.jpg" height="240" width="320" /></a></div>
<br />
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<br /></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<span style="font-family: Georgia, serif;">Exemplos determinantes dessas variáveis são as orientações do carro porque
essas influenciam, por exemplo, a definição de sistemas de coordenadas com
impactos na perceção externa e intervêm na análise de risco à estabilidade do
veículo perante determinadas condições.</span><o:p></o:p></div>
<div align="center" class="MsoNormal" style="margin-right: 2.8pt; text-align: center;">
<span style="color: #666666;"><span lang="EN-GB" style="font-family: Georgia, serif;">------</span><span lang="EN-GB"><o:p></o:p></span></span></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<span style="color: #666666;"><span lang="EN-GB" style="font-family: Georgia, serif;">Examples of these variables are the orientations of the car because these orientations influence, for example, t</span><span lang="EN-GB" style="font-family: Georgia, serif;">he definition of the coordinate systems with impacts on external perception and risk analysis </span></span><span style="color: #666666; font-family: Georgia, serif;">intervenes in the analysis of risk to the stability of the vehicle face certain conditions.</span></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<br /></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<br /></div>
<div style="margin: 0cm 0cm 0.0001pt;">
<br /></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjKQVIlSiM_OeC00JjIrxtJnfci41Yrh-hCa58Q0Gkf5576LKBGU_ompKLGJB7WX47UvL9zoAj74CANEEAfEZ-GHqESWDVPhNpTy7bBLNQvHnbnPvUlQqFtsy5lrWcPHRGZWi3-SIKE4DjE/s1600/motion_yaw_pitch_roll.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjKQVIlSiM_OeC00JjIrxtJnfci41Yrh-hCa58Q0Gkf5576LKBGU_ompKLGJB7WX47UvL9zoAj74CANEEAfEZ-GHqESWDVPhNpTy7bBLNQvHnbnPvUlQqFtsy5lrWcPHRGZWi3-SIKE4DjE/s1600/motion_yaw_pitch_roll.jpg" height="180" width="320" /></a></div>
<div align="center" class="separator" style="margin: 0cm 0cm 0.0001pt; text-align: center;">
<br /></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<br /></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<br /></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<span style="font-family: Georgia, serif;">Assim, este trabalho destina-se ao desenvolvimento de um sistema, de
instalação fácil e não invasiva, para monitorizar com boa precisão, as
orientações de um carro, em particular as relativas ao plano da estrada. A
solução que se propõe explorar é a da medição entre diversos pontos da
estrutura (rígida) do automóvel e a estrada. A filosofia expectável é a de usar
múltiplas unidades locais de medição (ULM) que comunicam com uma unidade
central de interligação (UCI) que por sua vez disponibiliza a informação global
para a unidade computacional do veículo.</span><o:p></o:p></div>
<div align="center" class="MsoNormal" style="margin-right: 2.8pt; text-align: center;">
<span lang="EN-GB" style="font-family: Georgia, serif;"><span style="color: #666666;">------</span></span><span lang="EN-GB"><o:p></o:p></span></div>
<u1:p></u1:p>
<br />
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: justify;">
<span style="color: #666666; font-family: Georgia, serif;">The goal of this work is to develop a system of easy and noninvasive installation to monitor with good accuracy, the car orientations, in particular those relating to the plane of the road. The proposed solution is to explore the measurement between different parts of the (rigid) structure of the automobile and the road. The expected philosophy is to use multiple </span><span style="color: #666666; font-family: Georgia, serif;">measurement</span><span style="color: #666666; font-family: Georgia, serif;"> local units (MLU) that communicate with a central interconnection unit (CIU) which in turn provides global information for the vehicle computational unit.</span></div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0tag:blogger.com,1999:blog-7460681079489385222.post-39913607839648841812014-02-23T14:08:00.002-08:002014-02-23T14:10:56.935-08:00Welcome!<div class="MsoNormal" style="margin: 6pt 42.25pt 0.0001pt 0cm; text-align: center;">
<span style="font-family: Georgia, Times New Roman, serif;">Seja bem vindo!<o:p></o:p></span></div>
<div class="MsoNormal" style="margin: 6pt 42.25pt 0.0001pt 0cm; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">O meu nome é
Gonçalo Carpinteiro e estou a desenvolver uma dissertação de mestrado cujo o
tema é Medição de Orientações Relativas de um Veículo em
Movimento.<o:p></o:p></span></div>
<div class="MsoNormal" style="margin-right: 2.8pt; text-align: center;">
</div>
<div class="MsoNormal" style="margin: 6pt 42.25pt 0.0001pt 0cm; text-align: justify;">
<span style="font-family: Georgia, Times New Roman, serif;">Neste blog
partilho o desenvolvimento da atividade semanal.<o:p></o:p></span></div>
<div class="MsoNormal" style="margin: 6pt 42.25pt 0.0001pt 0cm; text-align: center;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">-----</span></div>
<div class="MsoNormal" style="margin: 6pt 42.25pt 0.0001pt 0cm; text-align: center;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">Welcome!</span></div>
<div class="MsoNormal" style="margin: 6pt 42.25pt 0.0001pt 0cm; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">My name is Gonçalo Carpinteiro and I'm developing a dissertation whose theme is Relative Measuring Orientation of a Moving Vehicle.</span></div>
<div class="MsoNormal" style="margin: 6pt 42.25pt 0.0001pt 0cm; text-align: justify;">
<span style="color: #666666; font-family: Georgia, Times New Roman, serif;">In this blog I will share the development of weekly activity.</span></div>
Anonymoushttp://www.blogger.com/profile/02939865244601152268noreply@blogger.com0