Presentation

The first issue of the Symposium Series in Mechatronics includes the 82 papers presented at the Mechatronics Symposium of the 17th COBEM – International Congress of Mechanical Engineering, held on November 10-14, 2004 in São Paulo, SP, Brazil.

The scientific committee of the Mechatronics Symposium was composed by Prof. Julio C. Adamowski (Chair), Prof. Décio C. Donha, Prof. Luis O. Ferreira, Prof. Oswaldo Horikawa, Prof. Liu Hsu, Prof. Eduardo A. Misawa, Prof. Lucas A. Moscato, Prof. Diolino J. Santos Filho, Prof. Emilio C. Nelli Silva, Prof. José Reinaldo Silva, Prof. Alexander H. Slocum, Prof. Edilson H. Tamai (Co-Chair), Prof. Hans I. Weber, Prof. Walter L. Weingartner.

Papers included in this volume were submitted to a reviewing and selection process in which they were judged by at least two referees nominated by members of the scientific committee. In addition, they were further evaluated and recommended by the session chairmen during the congress.

The scope of this series symposium comprehends works in the following subjects (but not restricted to): micro systems; nano-technology; precision mechanics; robotics; digital signal processing; signal analysis; sensors, actuators; control; discrete and hybrid systems; applied computational mechanics; manufacturing automation; computer integrated manufacturing; CAD/CAE/CAM/CAPP; automatic systems and equipments; image processing. The papers of the symposium present theoretical, simulation and experimental results of research and applied work.

Papers are grouped into 6 main subjects:

Section I – Robotics

• I.01: Inspection robot for high-voltage transmission lines

  Adinan de Souza, Luscas Antônio Moscato, Melquisedec Francisco dos Santos, Walter de Britto Vidal Filho, Gustavo André Nunes Ferreira, Armindo Gustavo Ventrellapp.1-7

• I.02: RoboPET: a semi-autonomous robot for hazardous inspections

  Fabio Tozeto Ramos, Marko Ackermann, André Hideaki Saheki, Rodrigo S. Sartori, Fábio Gagliardi Cozman, Lucas Antônio Moscato pp.8-17

• I.03: A navigation and path planning system for the Nomad XR4000 mobile robot with remote web monitoring

  Alberto J. Álvares, Gabriel Fernando Andriolli, Paulo Roberto Corrêa Dutra, Márcio Moreira de Sousa, João Carlos Espíndola Ferreira pp.18-25

• I.04: Modeling autonomous mobile robot system with an object oriented approach

  Jun Okamoto Júnior, Valdir Grassi Júnior, Fabiano Rogério Corrêa pp.25-32

• I.05: Avoidance of multiple dynamic obstacles

  Areolino de Almeida Neto, Bodo Heimann, Cairo L. Nascimento Júnior, Luiz Carlos S. Goes pp.33-39

• I.06: Commanding mobile robots with chaos

  Luiz S. Martins Filho, Romuel Figueiredo Machado, Ronilson Rocha, Vander Santiago do Vale pp.40-46

• I.07:  Kinematic control of the Magellan-ISR mobile robot

  Altamiro Veríssimo da Silveira Júnior, Elder Moreira Hemerly pp.48-57

• I.08:  Development of software to simulate robotics manipulators

  Aline Souza de Paula, Victor Cesar Vargas da Silveira Cunha Cruz, Max Suell Dutra pp.58-67

• I.09: Reconfigurable architecture proposal applied to mobile robots

  Carlos Raimundo Erig Lima, João Maurício Rosário pp.68-75

• I.10: Improving the positioning accuracy of robotic manipulators subject to base oscillations

  Vivek Anand Sujan, Marco Antônio Meggiolaro pp.76-85

• I.11: An optimal design of the 3R manipulators taking into account regular workspace boundary

  Paulo Roberto Bergamaschi, Sezimária F. P. Saramago, Antônio Carlos Nogueira pp.86-94

• I.12: An object recognizing system for industrial applications

  Marcelo Kleber Felisberto, Tania Mezzadri Centeno, Lúcia Valéria Ramos de Arruda pp.95-104

• I.13: Obtaining range information with an omnidirectional vision system

  Fabiano Rogério Corrêa, Cláudia C.G. Deccó, Jun Okamoto Júnior pp.105-114

• I.14: Simultaneous localization and map building by a mobile robot using sonar sensors

  Leonardo Shiguemi Dinnouti, Alessandro Corrêa Victorino, Geraldo F. Silveira pp.115-123

• I.15: A new approach for tool path control in robotic deburring operations

  Carlos Magno O. Valente, João Fernando G. Oliveira pp.124-133

• I.16: An off-line robot programming system including workcell and robot calibration

  Jose Mauricio S. T. da Motta, Carlos Augusto Gurgel de Souza, Fabio Abdalla Afonso pp.134-143

• I.17: A milling system with robot resources

  Flavio José Lorini, Gustavo Pizarro Meneghello

Section II – Control systems

• II.01: Control and optimization of the electromagnetic suspension operation of a MAGLEV vehicle

  Jose Jaime da Cruz, Anselmo Bittar, Eduardo Alves da Costa, Roberto Moura Sales pp.150-158

• II.02:

  Active damper system design and control – Part B

  Rafael Luis Teixeira, Francisco Paulo Lepore Neto, José Francisco Ribeiro pp.159-168

• II.03:

  Variable structure control with model following applied to a quarter car model subjected to random excitation

  Leonardo Tavares Stutz, Fernando Alves Rochinha pp.169-176

• II.04:

  An evaluation of control strategies: disturbance sensitivity study with an enhanced underwater vehicle model

  Eric Conrado de Souza, Newton Maruyama pp.177-186

• II.05:

  INDIMADA: direct inference over a mass of data, tested in a simulation as a control algorithm of a vehicle transmission system

  Leonardo Malheiros Serrano de Cerqueira Leite, Paulo Fernando Ferreira Rosa, Max Suell Dutra pp.187-196

• II.06:

  Robust disturbance rejection with time domain specifications in control systems design

  Fabrizio Leonardi, José Jaime da Cruz pp.197-205

• II.07:

  Conventional and LQG controllers applied to an electromagnetic dynamometer

  Maria de Lourdes Guerra Luna, Benedito Santana de Oliveira, Simplício Arnaud da Silva, Clivaldo Silva de Araújo pp.206-212

• II.08:

  Auto-tuning of PID controllers based on the relay feedback test for multi-mode low damping systems

  Patrick Magalhães Cardoso, José Francisco Ribeiro pp.213-222

• II.09:

  Tuning equations for cascaded control systems based on the first order plus dead time approach

  Royman Jose Lopez Beltran, Marco Enrique Sanjuán Mejía pp.223-232

• II.10:

  Optimal control approach to the vibrations of a flexible one-link manipulator carrying moving sliders

  Eder Terceiro, Agenor de Toledo Fleury pp.233-242

• II.11:

  Spatial H control of a flexible beam containing piezoelectric sensors and actuators

  Gustavo Luiz Chagas Manhães de Abreu, José Francisco Ribeiro pp.243-253

• II.12:

  Evaluation of the robustness of H controllers applied to a flexible beam

  Euripedes Guilherme de Oliveira Nobrega, José Alberto Araújo, Sergio Issamu Matsumotopp.254-263

• II.13:

  A model for strain-temperature loops in shape memory alloy actuators

  Maria Marony S. F. Nascimento, José Sergio da Rocha Neto, Antônio Marcus Nogueira de Lima, Luis A. L. de Almeida, Carlos José de Araújopp.264-271

• II.14:

  Effective damping value of piezoelectric transducer determined by experimental techniques and numerical analysis

  Gilder Nader, Emilio Carlos Nelli Silva, Julio Cezar Adamowskipp.271-279

• II.15:

  Deflection of flexible beams using shape memory alloy actuators

  Carlos José de Araujo, Massahiro Seto Takeguma Filhopp.280-285

• II.16:

  Evaluation of a experimental modal synthesis method using mass-normalized modes

  Manoel Moraes Junqueira, Cleudmar Amaral Araújopp.286-294

• II.17:

  Hybrid control to mitigate excessive vibrations caused by dynamic loading with random perturbation in tall buildings

  Suzana Moreira Ávila, Paulo B. Gonçalvespp.295-303

• II.18:

  Modal control applications in intelligent truss structures

  Ricardo Carvalhal, Samuel da Silva, Vicente Lopes Júniorpp.304-310

• II.19:

  Finite element modeling and experimental characterization of beams and plates with constraining damping layers

  Antônio Marcos Gonçalves de Lima, Marcelo Henrique Stoppa, Domingos Alves Radepp.311-320

• II.20:

  Modal vibration control in periodic time-varying structures with focus on rotor-blade systems

  René Hardam Christensen, Ilmar Ferreira Santospp.321-330

• II.21:

  Stability analysis of fuzzy controllers using the modified Popov criterion

  Mauricio Gonçalves Santana Júnior, Karl Heinz Kienitzpp.331-340

• II.22:

  A fuzzy controlled electromagnetic axial bearing

  José Andrés Santisteban, Daniel Silva do Sacramento, Sergio Roberto Alves Mendespp.341-345

• II.23:

  Wind turbine controller tuning by genetic algorithm

  Decio Crisol Donha, Gerson Rissopp.346-354

• II.24:

  Automobile stop-and-go cruise control system tuned by genetic algorithms

  Sylvio Celso Tartari Filho, Decio Crisol Donhapp.355-362

• II.25:

  Robust regulation of metro lines using time-variant control law

  Wânderson de Oliveira Assis, Basílio Ernesto de Almeida Milanipp.363-372

• II.26:

  Adaptative RBF neural network control for a biped-walking machine

  João Bosco Gonçalves, Douglas Eduardo Zampieripp.373-384

• II.27:

  Optimization of power consumption in pneumatic conveying systems by active control of the flow regime

  Paulo Roberto Barbosa, Paulo Seleghim Júniorpp.385-391

• II.28:

  Nonlinear plant identification by wavelet

  Edison Righeto, Luiz Henrique M. Grassi, João Antonio Pereirapp.392-398

• II.29:

  Experimental comparison of the control solutions for pneumatic servo actuators

  Pedro Luis Andrighetto, Antonio Carlos Valdiero, César Nowaczyk Vincensipp.399-408

• II.30:

  Application of direct adaptive generalized predictive control (GPCAD) to a robotic joint

  Karla Boaventura Pimenta, João Maurício Rosário, Didier Dumurpp.409-417

• II.31:

  Adaptive fuzzy control for underwater hydraulic manipulators

  Leonardo Bittencourt Testi, Bruno Cardozo dos Santos, Max Suell Dutrapp.418-427

• II.32:

  Manipulator control on a mobile robot

  Marcio dos Santos Gomes, Armando Morado Ferreirapp.428-435

Section III – Machine design and CAD

• III.01:

  Active lubrication: feasibility and limitations on reducing vibration in rotating machinery

  Rodrigo Nicoletti, Ilmar Ferreira Santospp.434-443

• III.02:

  Design, construction and test of a two-stage planetary traction speed reducer

  Eduardo Lobo Lustosa Cabral, Fabrício Sunahara Nagahashi, Marcos Costa Hunoldpp.444-453

• III.03:

  Telerobotic trolley design for TV transmission

  Vitor Ferreira Romano, Cesar Gomes Ferreira, Claudio Violante Ferreirapp.454-463

• III.04:

  Implementation of PC-based control on a modular OD/ID grinding machine with air bearings preloaded by inclined iron core linear electric motor

  Murat Basaran, Alexander Slocumpp.464-469

• III.05:

  Development of a dynamically tuned gyroscope – DTG

  Fernando de Castro Junqueira, Ettore Apolônio de Barrospp.470-478

• III.06:

  Reversal technique applied to the measurement of straightness errors

  Benedito Di Giacomo, Rita Cássia Alves de Magalhães, Fabricio Tadeu Pazianipp.479-487

• III.07:

  Single axis controlled attraction type magnetic linear bearing

  Isaías da Silva, Oswaldo Horikawapp.488-497

• III.08:

  Representation of curves and surfaces in B-Rep solid modelers

  Wang Congli, Marcos Guerra Tsuzukipp.498-507

Section IV – Discrete event dynamic systems

• IV.01:

  Applying Petri nets to requirements validation

  José Reinaldo Silva, Eston Almança dos Santospp.508-517

• IV.02:

  Towards a unified view of Petri nets and object oriented modeling

  Pedro M. Gonzalez del Foyo, José Reinaldo Silvapp.518-524

• IV.03:

  The development of a platform to simulate productive systems in a distributed environment

  Fabrício Junqueira, Emilia Villani, Paulo Eigi Miyagipp.525-531

• IV.04:

  Application of the multiple shooting method to the optimization of a production model

  Raul Ikeda Gomes da Silva, Marco Antonio Leonel Caetano, Takashi Yoneyamapp.532-539

• IV.05:

  Automatic generation of productive system control

  Francisco Yastami Nakamoto, Paulo Eigi Miyagi, Diolino José dos Santos Filhopp.540-549

• IV.06:

  Model of mechanism behavior for verification of PLC programs

  José Mendes Machado, Bruno Denis, Jean-Jacques Lesage, Jean-Marc Faure; Jaime Ferreira da Silvapp.550-559

• IV.07:

  Towards a modeling discipline for building and residence automation

  José Reinaldo Silva, Marco A. Poli, Pedro Angel Restrepopp.560-569

• IV.08:

  Petri nets and OO for the modular analysis of an aircraft landing system

  Emilia Villani, Fabrício Junqueira, Paulo Eigi Miyagi, Robert Valettepp.570-579

• IV.09:

  Distributed object technologies in manufacturing execution systems

  Paulo M. P. A.Blanco, Marco A. Poli, Marcos R. Pereira Barrettopp.580-589

Section V – Signal analysis and estimation

• V.01:

  On the use of the equivalent source method for nearfield acoustic holography

  Marcos Eduardo Vieira Pinho, José Roberto de França Arrudapp.590-599

• V.02:

  Two-phase flows mapping by

  electrical impedance tomography: preliminary studies to improve the reconstruction techniques

  Grazieli L.C. Carosio, Vanessa P. Rolnik, Paulo Seleghim Júniorpp.600-606

   

• V.03:

  Fault diagnosis in stationary rotor systems through correlation analysis and artificial neural network

  Alexandre Carlos Eduardo, Robson Pederivapp.607-615

• V.04:

  Application of wavelet transform to detect faults in rotating machinery

  Darley Fiácrio de Arruda Santiago, Robson Pederivapp.616-624

• V.05:

  Leak detection systems using a fuzzy system

  Henrique Ventura Silva, Celso Kazuyuki Morooka, Ivan Rizzo Guilherme, Jose Ricardo Pelaquim Mendes, Tiago Cardoso da Fonsecapp.625-634

• V.06:

  Development of a high resolution underwater acoustic positioning system

  Frederico Vines Faria de Lima, Celso Massatoshi Furukawapp.635-642

Section VI – Sensors and actuators

• VI.01:

  Active damper system design and control – Part A

  Rafael Luís Teixeira, Francisco Paulo Lépore Neto, José Francisco Ribeiropp.643-652

• VI.02:

  Development and characterization of a unimorph-type piezoelectric actuator applied to a Michelson interferometer

  André Conrado Luiz Mecchi, Gilder Nader, Emilio Carlos Nelli Silva, Julio Cezar Adamowskipp.653-661

• VI.03:

  Development of a XY piezoelectric nanopositioner

  Guilherme Aires Loberto, André Conrado Luiz Mecchi, Gilder Nader, Emilio Carlos Nelli Silvapp.662-671

• VI.04:

  Design of piezoelectric actuators using the topology optimization method

  Ronny Calixto Carbonari, Emilio Carlos Nelli Silvapp.672-681

• VI.05:

  Microgrippers driven by electrostatic comb drive actuators

  Vitório Arrivabeni Longo de Almeida, Paulo Henrique de Godoy, Emilio Carlos Nelli Silva, Ricardo Cury Ibrahimpp.682-687

• VI.06:

  Application of the finite element method to model the problem of electromechanical coupling in microsystems

  Cornelis Joannnes van der Poel Filho, Renato Pavanellopp.688-696

• VI.07:

  Simulation of a linear piezoelectric motor by using finite element method

  Humberto Ferreira Vinhais, Ricardo Cury Ibrahim, Emilio Carlos Nelli Silvapp.697-706

• VI.08:

  Investigation of the dynamic behavior of a double-paddle scanner

  Khaled M. Ahmida, Luiz O. S. Ferreira, Renato Pavanellopp.707-715

• VI.09:

  Hydro-pneumatic linear position controller

  Sidney Nogueira Pereira de Jesus, Linilson R. Padovesepp.716-724

• VI.10:

  Mathematical modeling of an electropneumatic pressure regulator servo-valve

  Felipe Barreto Campelo Cruz, Victor Juliano De Negri, Raul Guentherpp.725-734

Catalog Card

ABCM Symposium Series Mechatronics, Volume 1

17th COBEM – International Congress of Mechanical Engineering Escola Politécnica da Universidade de São Paulo, São Paulo, SP 10 a 14 de novembro de 2003

Editores

Julio Cezar Adamowski Edílson Hiroshi Tamai Emilia Villani Paulo Eigi Miyagi Escola Politécnica da Universidade de São Paulo São Paulo, SP – Brasil

FICHA CATALOGRÁFICA

Elaborado pela ABCM – Associação Brasileira de Engenharia e Ciências Mecânicas

Adamowski, Julio Cezar 1954 –
Mecatrônica/ Julio Cezar Adamowski, Edílson Hiroshi Tamai
São Paulo, Universidade Estadual de São Paulo, Associação Brasileira de Engenharia e Ciências Mecânicas, 2004.
734p. : il.
Inclui bibliografia.
I. Mecatrônica. 2. Automação e Controle
II. Título.
ISBN 85-857699-20-3

Copyright 2003 – Associação Brasileira de Engenharia e Ciências Mecânicas, ABCM.

Av. Rio Branco, 124/14º Andar Rio de Janeiro, RJ Brasil

Tel.: 55 21 22210438 www.automobilesphilippecypres.com

A ABCM não autoriza a reprodução de qualquer parte desta publicação para sua distribuição em geral, para promoções, para a criação de novas publicações ou para a venda. Apenas através de prévia solicitação, por escrito, e em casos excepcionais, a ABCM poderá consentir a cópia de partes deste livro.

Documento preparado pelos editores em setembro de 2004.

Editorial Committee

• Julio Cezar Adamowski jcadamow@usp.br
• Edilson Hiroshi Tamai edilson.tamai@usp.br
• Emília Villani emilia_vilani@hotmail.com
• Paulo Eigi Miyagi pemiyagi@usp.br