Beruflich Dokumente
Kultur Dokumente
/Simulink
com as toolboxs Real Time Workshop e xPC Target. O Real Time Workshop gera e
otimiza cdigos portveis e customizveis ANSI C ou C++ de modelos do Simulink
para criar implementaes especficas de modelos que operam em tempo real. O
cdigo gerado pode rodar em Pcs, microcontroladores e DSPs e ainda rodar em
qualquer sistema operacional de tempo real (RTOS).
O xPC Target um ambiente para a prototipagem, teste e desenvolvimento de
sistemas que funcionem em tempo real para computadores padres. Ele utiliza um
computador target, separado do computador host, para rodar aplicaes em tempo
real. Um computador target pode ser praticamente qualquer computador com um Intel
386 ou 486 ou AMD K5 ou K6/Athlon, pode ser um computador de mesa ou um
computador industrial como um PC104 que ser usado neste trabalho. A partir de uma
simulao criada normalmente no Simulink, pode-se gerar um cdigo executvel a
partir do RTW, tendo como alvo o prprio xPC Target. O cdigo executvel e o xPC
Target real-time Kernel ento gravado do computador host para o target. Em
72
seguida, pode-se rodar a aplicao em tempo real, com a possibilidade de variao
"online" dos parmetros do modelo.
Assim, algumas etapas podem ser estabelecidas para o desenvolvimento do
trabalho:
1. Estudo do problema de navegao em VTAs, definio de arquitetura de
navegao e instrumentao
2. Estudo sobe acelermetros e girmetros, analisando princpios e tecnologias
apropriadas aplicao de navegao para um VTA
3. Desenvolvimento de um gerador de entradas, isto , um modelo que simule o
comportamento das variveis da VTA de interesse para a navegao
4. Desenvolvimento do modelo de instrumentao
5. Desenvolvimento do algoritmo de navegao integrado
6. Estudo de normas sobre ensaios e procedimentos prticos (no Brasil): Ensaios
principais normalmente executados e normas seguidas, fabricantes, etc...
7. Ensaios com vistas seleo do sensor e aplicao em VTA.
8. Implementao da unidade SNI integrada com GPS
9. Testes da unidade SNI integrada com GPS isolada
10. Testes da unidade SNI/GPS integrada VTA.
Viso por Computador
Atividade desenvolvida pelo Laboratrio de Viso por Computador do
Departamento de Automao e Controle da Faculdade de Engenharia Eltrica e
de Computao da Unicamp
Em geral, para sistemas de navegao autnoma e semi-autnoma, o sistema
de viso aplicado percepo do ambiente em torno do veculo. Desta forma,
inicialmente, o sistema de viso dever ser capaz de fornecer sensoriamento para
implementar as seguintes funcionalidades:
Deteco da rea de navegao;
Deteco de linhas e sinalizao de trnsito;
Deteco de trfego;
O que trivial para o sistema humano, construir cenas tridimensionais a partir
de imagens bidimensionais captadas pelo sistema de viso, e a partir destas tomar
decises precisas para a navegao, pode no ser trivial para os sistemas
computacionais.
Diferentemente do sistema humano, sistemas de processamento e anlise de
viso computacional mais complexos podem desencadear alguns prejuzos devido ao
tempo de processamento. Como exemplo, temos a alta demanda de informaes que
so submetidas ao sistema de viso, em funo da relao existente entre um sistema
de deciso em tempo real, com um sistema de leitura de imagens que opera em uma
determinada taxa de captao/leitura, isto , quantidade de imagens geradas por
segundo.
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Neste sentido, a deciso por um sistema de viso computacional mais
complexo pode levar a um sistema lento demais para uma aplicao autnoma de
tempo real. Ou ainda a escolha automtica por um processo randmico de descarte de
informaes pelo sistema, para torn-lo suficientemente rpido, pode resultar em
perda de informaes importantes.
As aplicaes mais comuns baseiam-se no processamento de duas ou mais
imagens, a partir da anlise do campo de fluxo ptico ou atravs de imagens no
monoculares. Basicamente, num primeiro caso, temos sistemas de navegao em que
mais de uma imagem adquirida por uma cmera em momentos diferentes, enquanto
que em um segundo caso, mltiplas cmeras so usadas para adquirem imagens
simultaneamente, porm, de pontos de vistas diferentes.
Ferramenta importante para atividades de navegao baseada em viso
computacional tem especial ateno o processo de segmentao, que consiste em
subdividir uma imagem em suas partes ou em objetos constituintes. Esse processo de
segmentao deve seguir at que os objetos de interesse da imagem tenham sido
isolados. Tal tarefa pode ser extremamente sofisticada, e a partir de filtros bem
elaborados, pode-se chegar a resultados muito eficientes. Porm, estes resultados
podem exigir um alto preo, isto , normalmente algoritmos de segmentao robustos
apresentam grande complexidade. Basicamente, a segmentao pode ser considerada
como partio de imagens digitais em conjuntos de pixels, considerando-se a
necessidade geral e critrios previamente definidos.
Para deteco da rea de navegao, diversos algoritmos podem ser utilizados.
Dentre estes, pretende-se dar nfase ao mtodo desenvolvido e testado pelo
Laboratrio de Sistemas Ativos e Mecatrnica do Departamento de Mecnica
Computacional da Faculdade de Engenharia Mecnica da Unicamp, denominado TH
Finder (Threshold and Horizon Finder), que por sua vez baseado no mtodo de
segmentao de Otsu.
Em laboratrio devero ser repetidas e simuladas as diferentes condies de
iluminao encontradas na natureza, tanto aquelas favorveis que reproduzem um dia
ensolarado com sol a pino, como situaes difusas tais como amanhecer e/o
entardecer. Esta linha de pesquisa tem o propsito de desenvolver algoritmos mais
robustos, que conjuntamente com sinais de outros sensores levem a uma
confiabilidade maior.
Suspenses Hidro-Pneumticas Inteligentes
Atividade desenvolvida pelo Laboratrio de Sub-Sistemas para Veculos
Inteligentes do Departamento de Mecnica Computacional da Faculdade de
Engenharia Mecnica da Unicamp
Dentre as diversas tecnologias utilizadas para realizar os sistemas de
suspenso automotivas, as suspenses pneumticas e hidropneumticas tem atrado a
ateno dos engenheiros j faz bastante tempo. Elas apresentam excelentes
propriedades com relao filtragem das perturbaes externas, proporcionando
conforto e segurana.
De uma comparao entre os dois sistemas mencionados resulta que os
sistemas pneumticos tem a vantagem de utilizar fluido barato, abundante e no
74
poluente (ar), entanto que os sistemas hidropneumticos, alm de ter ligeira
desvantagem no custo inicial, requerem mais cuidados por utilizarem leo no circuito.
Por outro lado, os sistemas hidropneumticos apresentam maior
controlabilidade por ter respostas rpidas, dispensam o uso de amortecedores
adicionais e so mais robustos e tolerantes a grandes variaes nas condies de
operao.
O maior custo, quando comparados com as suspenses mecnicas de molas
helicoidais, feixes elpticos e barras de toro, fazem com que estes sistemas de
suspenso sejam muito menos utilizados do que as suspenses mecnicas nas
aplicaes mais comuns, apesar do excelente desempenho apresentado, sendo mais
fcil encontrar aplicaes em veculos pesados, veculos ferrovirios, trens de pouso
de aeronaves, veculos fora de estrada, mquinas agrcolas e veculos militares.
Nos automveis destinados ao grande pblico e exceo o caso da marca
Citron, que vm utilizando suspenses hidropneumticas nos seus veculos, de forma
ininterrupta e com grande sucesso, desde 1955 ate o presente. Esta situao tm
apresentado sintomas de mudana nos ltimos anos, com a disponibilizao de
veiculo com suspenso pneumtica ou hidropneumtica nas marcas Mercedes Benz,
Jeep Cherokee e outros. Esta mudana pode ser atribuda crescente exigncia do
consumidor, mas tambm s mudanas de paradigmas tecnolgicos: As suspenses
convencionais no possibilitam tirar proveito dos recursos de monitorao e controle
disponibilizados pela evoluo da mecatrnica. Alm disso, atualmente a maior parte
dos veculos j tem servio hidrulico, por exemplo, o da direo assistida,
eliminando um dos "tabus" que pesavam sobre a implementao das suspenses
hidropneumticas.
No Brasil tem havido poucas ou nenhuma iniciativa da indstria no
desenvolvimento de suspenses hidropneumticas. Suspenses pneumticas so
utilizadas em alguns modelos de caminhes e principalmente na maior parte dos
nibus interurbanos, devido ao conforto que proporcionam.
necessrio que essas tecnologias sejam desenvolvidas, sob pena de alguns
setores ligados mobilidade ficarem novamente dependentes de tecnologia importada
num futuro bem prximo.
Na Universidade tem sido desenvolvidas pesquisas para compreender os
princpios bsicos e principais caractersticas das suspenses hidropneumticas. Em
particular, no Departamento de Mecnica Computacional da FEM/UNICAMP vm
sendo desenvolvidas pesquisas sobre este assunto desde 1996. Estes estudos
resultaram em diversas publicaes. Algumas delas so citadas nas referencias [22] a
[33]. A referncia [28] recebeu o premio de melhor trabalho de NVH do evento no
qual foi apresentada.
A anlise das referncias citadas mostra que existem diferentes assuntos
relacionados com o estudo e aplicao de suspenses hidropneumticas: dinmica,
vibrao e controle so alguns destes tpicos j abordados.
Considerando o aspecto interdisciplinar deste assunto e a evoluo atingida
pelas pesquisas realizadas, e chegado o momento de se criar uma infraestrutura capaz
de nuclear os trabalhos das diferentes reas, possibilitando levar mais longe os
resultados obtidos. Esta evoluo implica em montar uma infraestrutura melhor
aparelhada para a realizao de experincias realistas e testes de campo. Estes
experimentos fazem parte do processo para conseguir disponibilizar um produto de
alto desempenho e valor tecnolgico, aliado a alta confiabilidade.
Vrias linhas de pesquisa devem ser aprofundadas. A seguir sero listadas
algumas delas.
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1 - Controle de altura.
Uma das vantagens freqentemente mencionada das suspenses
hidropneumticas e a de possibilitar a mudana de altura do veculo sem nenhuma
interveno mecnica, proferindo grande adaptabilidade s condies de uso. Mas
para isso se faz necessrio contar com sensores, atuadores e estratgia de controle
adequados. A abordagem utilizada pode variar significativamente em funo da
aplicao pretendida. O controle pode ser realizado de forma totalmente mecnica, tal
como acontece atualmente com os nibus interurbanos e trens urbanos dotados de
suspenso pneumtica, ou pode ser realizada utilizando processamento computacional
e estratgias de controle sofisticadas, aliados a sensores e atuadores.
Diversas abordagens se encontram hoje prontas, em consequncia de resultados de
pesquisas anteriores, para serem testadas em condies reais de operao, com o
objetivo de validao e avaliao comparativa.
2 - Controle de amortecimento
Uma caracterstica evidenciada pelos estudos de suspenses hidropneumticas
efetuados, e a sua alta sensibilidade do fator de amortecimento a variaes de carga. A
soluo deste problema requer alguma forma de controle. Novamente existe a opo
de solues clssicas e relativamente sofisticadas, baseadas no uso de processamento
digital de sinais aliado ao uso de sensores e atuadores, ou a aplicao de opes
inovadoras mais robustas, ficando a escolha condicionada as caractersticas da
aplicao pretendida.
3 - Ajuste preciso da curva caracterstica
A curva de rigidez das suspenses hidropneumticas funo dos parmetros
geomtricos, e podem ser deduzidas utilizando as propriedades do gs. Estas curvas
devem ser ajustadas experimentalmente para levar em considerao aspectos difceis
de serem modelados, tais como atrito entre as peas. Alm disso, e possvel alterar a
curva convenientemente mediante o projeto adequado dos componentes e o uso de
outros recursos, por exemplo multi-cmeras [34]. Alguns aspectos prticos, tais como
diferentes opes de vlvulas passivas para controlar a participao de cada cmara,
devem ser verificados experimentalmente.
4 - Critrios de dimensionamento
Existem hoje informaes e experincia suficientes para orientar o projeto de
suspenses hidropneumticas para uma dada aplicao. interessante colocar esta
experincia em um procedimento sistemtico, criando ferramentas que auxiliem nesta
tarefa.
5 - Acionamento
O alto custo de implementao das suspenses hidropneumticas est
relacionado com o custo dos componentes hidrulicos. Existe a possibilidade de uso
de componentes especialmente desenhados para esta aplicao, proporcionando
economia sem prejudicar, e em alguns casos at, com aprimoramento do rendimento e
robustez.
6 - Simulador de vias
Para realizar os testes em laboratrio e imprescindvel o uso de um Simulador
de Vias. Simulador de Vias o nome genrico pelo qual e conhecido, no meio
automobilstico, um sistema de testes de laboratrio capaz de reproduzir as condies
76
de uso registradas em campo. Com pequenas variaes, sistemas com essas
caractersticas so oferecidos pelas empresas lderes em sistemas de testes.
Basicamente um sistema de simulao de vias consiste na implementao
experimental da soluo de um problema de identificao inversa de sistema no
linear. O fato do sistema (veculo) ser no linear implica na necessidade de se utilizar
processos de ajustes iterativos no domnio do tempo ou da freqncia, aliando
conceitos avanados de anlise de sinais com a tcnica "Hardware In the Loop".
Sistemas como esse so usados na indstria automobilstica para a realizao de testes
de durabilidade em laboratrio mas com condies de severidade realistas, e tambm
para simulaes de comportamento de veculos utilizando Realidade Virtual.
7 - Testes em laboratrio
Testes em laboratrio sero necessrios para a conduo dos trabalhos, durante
praticamente todo o desenvolvimento do projeto.
8 - Testes em campo
Apesar dos testes em laboratrio reduzirem significativamente a necessidade
de realizar testes em campo, estes se fazem necessarios para a completa validao das
solues desenvolvidas. Por essa razo devem ser realizados testes em campo no final
de cada grande etapa da pesquisa.
Para a execuo das pesquisas citadas se faz necessrio contar com uma
infraestrutura adequada. A UNICAMP conta com parte dos recursos necessrios, mas
eles devem ser complementados, em particular no que diz respeito bancada para
testes em escala real. Estes testes devem incluir a possibilidade de testes de veculos
completos, utilizando a tcnica conhecida no meio automobilstico como "simulao
de vias". Esta tcnica exige recursos de "hardware" e "software" adequados. O
"hardware" consiste basicamente de sistemas servo-hidrulicos de testes dinmicos
com caractersticas adequadas. A Unicamp conta com sistemas deste tipo, mas se
fazem necessrias algumas adaptaes. Com relao ao "software", os mais
conhecidos so o RPC da MTS e o RTW da IST.
A presente linha de pesquisa se insere no contexto do Instituto de Mobilidade
Terrestre por dois aspectos principais:
Permite a criao, em realidade virtual, de terrenos irregulares com diferentes
pavimentaes a partir de programas computacionais baseados na aquisio de
sinais de campo e posterior processamento. Esta ferramenta ser importante
para a validao dos prottipos veiculares em ensaios em laboratrio;
Resultar na concepo de produtos de alto valor tecnolgico agregado, tais
como novas servo-vlvulas com aplicao em suspenses automotivas de
modo geral e, em especial, para veculos militares, agrcolas e fora de estrada.
Material de Emprego Militar
Atividade desenvolvida pelo Laboratrio de Controle Remoto de Sistemas
Militares do Centro Tecnolgico do Exrcito.
O CTEx o rgo do Exercito Brasileiro responsvel pela Pesquisa Aplicada e
Desenvolvimento Experimental de Material de Emprego Militar (MEM). Como tal,
77
deve focar suas atividades nos interesses da Fora, sobretudo no que se refere
aplicao de recursos e desenvolvimento de projetos. Deste modo, como a proposta a
ser submetida deve assegurar o comprometimento do CTEx na disponibilizao de
sua infra-estrutura material e alocao de recurso humando sob sua responsabilidade,
deve ficar explcito que o interesse do CTEx em participar da proposta ao Edital
citado deve convergir para os interesses do Exrcito Brasilero.
Todo desenvolvimento de MEM feito pelo CTEx deve se basear nos
Requisitos Tcnicos Bsicos (ROB) e Requisitos Operacionais Bsicos (ROB),
documentos alinhados com as Condicionantes Doutrinrias e Operacionais
(CONDOP) expedidas pelo Estado Maior do Exrcito, as quais estabelecem os
critrios bsicos de finalidade e aplicao, faz referncia ao ambiente a ser empregado
e interface com o usurio.
Deste modo, o objeto a ser desenvolvido no CTEx, em parceria com os demais
rgos formadores do Instituto de Mobilidade Terrestre, deve ser direcionado
atender algumas funcionalidades bsicas que orientaro a confeco das CONDOP,
dos ROB e dos RTB.
Uma vez que no est disponvel qualquer referncia doutrinria ou de
elementos de definio de material para o caso do VTNT, e tendo em vista o enorme
grau de complexidade da pesquisa e do desenvolvimento envolvidos, as discusses
iniciais no mbito do CTEx conduziram para o desenvolvimento de um VTNT cujas
funcionalidades em ordem crescente de complexidade podem ser expressas
sucintamente da seguinte maneira:
Denominao Componentes Funcionalidades bsicas (*) Prazo
1a
Fase
Sistema de
reconhecimento,
vigilncia e
observao
Plataforma de
VTNT e
estao
de controle
- ser operado remotamente por estao de
controle, atravs de canais independentes
RF e infravermelho ou microondas;
- deslocar-se em terreno no-pavimentado,
com inclinao inferior 30%, livre de
obstculos do tipo degrau e trincheiras
superiores 10 cm;
- possuir dispositivo de observao com
cmera direcionvel e monitores;
- receber e transmitir sinais anlgicos e
digitais;
- possuir sensor de presena e de
movimento infravermelho;
- capacidade de carga compatvel com o
Reparo Mltiplo REMAX e munio de
dotao (250 kgf).
2 anos
2a
Fase
Sistema de
anlise de
ambientes
contaminados
Plataforma de
VTNT,
estao
de controle e
manipulador
- todas as funcionalidades previstas para a
Fase 1;
- manipulador capaz de colher e analisar
amostras em ambientes sob suspeita de
contaminao.
1 ano
- todas as funcionalidades previstas para a
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3a
Fase
Sistema de
Armas
semiautnomo
Plataforma de
VTNT,
estao
de controle e
Reparo
Mltiplo
REMAX
Fase 1 e 2;
- Reparo Mltiplo REMAX operado
remotamente pela estao de controle;
- dispositivo de pontaria que permita o tiro
do
REMAX controlado remotamente;
- sistema de processamento de imagens e
sensores que permita realizar, de forma
semiautnoma,
a identificao de alvos inimigos.
1 ano
4a
Fase
Sistema de
Armas
autnomo
Plataforma de
VTNT,
estao
de controle e
Reparo
Mltiplo
REMAX
- todas as funcionalidades previstas para a
Fase 1, 2 e 3;
- sistema de processamento de imagens e
sensores que permita realizar, de forma
autnoma, a identificao, o
acompanhamento e o tiro em alvos inimigos
atravs do REMAX;
1 ano
(*) As especificaes dos sistemas e equipamentos, assim como o detalhamento de cada
funcionalidade bsica descrita acima no alvo deste documento.
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Organizao e Misso da Rede de Pesquisa em Mobilidade Terrestre
Durante os primeiros meses do Instituto de Mobilidade Terrestre se
desenvolver mecanismos gerenciais de apoio ao trabalho e para o compartilhamento
de resultados em rede. O principal objetivo trazer transparncia e controle sobre as
diversas tarefas a serem desenvolvidas pelos projetos de pesquisa, apoiadores,
parceiros e pesquisadores, alm da disponibilizao para a comunidade. Para isso,
ser necessria a aquisio de equipamentos e softwares capazes de infra-estrutura,
conforme esquema abaixo. Outra necessidade ser a contratao de servio
especializado para desenvolvimento e manuteno, do que chamamos aqui, de Portal
do Instituto de Mobilidade Terrestre (PIMT).
Portal do Instituto de Mobilidade Terrestre (PIMT)
Desta forma, os responsveis por cada instituio envolvida, e tambm o
grupo de coordenao do projeto, se utilizaro do PIMT como principal ferramenta de
comunicao e de identificao das competncias do projeto, seja das tarefas
especficas a serem distribudas para cada elemento da equipe. Preferencialmente, a
organizao dos grupos e pacotes de trabalho ser distribuda por competncia e
especialidades. Todos os membros devero ter acesso ao PIMT, organizados por nvel
de acesso, atravs de LOG de atividades e usurio e senha.
Elaboradas as competncias, e desenvolvidas em comum acordo com os
responsveis do projeto, sero definidos os prazos e seus termos concretos, incluindo-
se no planejamento a aquisio de materiais necessrios para suporte ao
desenvolvimento. Preferencialmente, as metas devero ser segmentadas em entregas a
cada trs meses. Ao final deste prazo todo resultado dever ser compartilhado no
PIMT, incluindo toda documentao e demais informaes.
Como uma ferramenta informativa, est previsto a disponibilizao mensal
dos relatrios referentes ao acompanhamento das atividades e controle financeiro,
incluindo os indicadores de desempenho, por grupo de pesquisa. Tem-se como
objetivo principal a transparncia das atividades junto ao setor pblico, comunidade e
agncias de fomento.
Quanto divulgao dos resultados da pesquisa se dar, preferencialmente,
atravs de uma sala de imprensa disponvel no PIMT, alm de um acervo de trabalhos
(relatrios, artigos, etc), quando no confidenciais ao projeto.
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Neste sentido, entende-se por mecanismos de transferncia, a formao
pessoas nas diversas tecnologias e avanos tecnolgicos criados e sistematizados pelo
Instituto de Mobilidade Terrestre, obedecendo ao carter da informao
disponibilizada. Algumas das seguintes opes podero ser utilizadas como
ferramenta de compartilhamento e/ou transferncia de conhecimento, seja atravs de
consultoria autorizada atravs dos membros do Instituto, compartilhamento de
resultados e experimentos realizados nas salas de aula e laboratrios das
Universidades e Centros de Pesquisa envolvidos; Na organizao de Congressos ou
Conferncias; Cursos e workshops; Desenvolvimento de projetos conjuntos; Criao
de empresas de alta tecnologia em torno do Instituto de Mobilidade Terrestre;
Programas de estgios monitorados; Desenvolvimento de relatrios tcnicos,
trabalhos de concluso de curso, dissertaes de mestrado e teses de doutorado;
Disponibilizao de informaes no PIMT, etc.
importante salientar que a Rede de Pesquisa em Mobilidade Terrestre ter a
sua disposio outros mecanismos institucionais, principalmente da Unicamp e USP,
que sero utilizados nos casos em que aes centralizadas se fizerem necessrias. A
difuso de conhecimento e a elaborao dos programas de educao continuada
baseada em plataformas livres como, por exemplo Moodle e Teleduc - ser efetivada,
administrativamente, atravs da Escola de Extenso da Unicamp e da FDTE-USP,
enquanto a prospeco de competncias e os acordos de transferncia de tecnologia
sero intermediados preferencialmente pelo Escritrio do EB-CTEx e pela Agncia
Inova da Unicamp, com larga experincia em negociaes envolvendo a questo de
patentes e propriedade intelectual. A mdio e longo prazo devero ser estabelecidas
parcerias com as incubadoras sediadas em Campinas, So Paulo e Rio de Janeiro e
que tenha estreita interao com Instituies de Ensino Superior no intuito de repassar
tecnologia, bem como qualificar fornecedores. Esta poltica de uma Rede de Pesquisa
funcionar como uma espcie de cluster incentivando o spin off de empresas de
mdia e alta tecnologia um mecanismo bastante eficiente e pode ser considerado
como um dos principais fatores que explicam o sucesso da evoluo tcnica de alguns
pases. Certamente, a insero de ps graduandos e graduandos ser um dos
mecanismos mais utilizados no decorrer do projeto, mas as iniciativas devero
transcender os mecanismos normalmente utilizados para a captao de recursos
humanos, utilizando, por exemplo, as Empresas Juniores das diferentes instituies
envolvidas.
O Instituto de Mobilidade Terrestre visa ser um centro nacional de Cincia e
Tecnologia, aberto a cientistas de outras instituies brasileiras e do exterior. Atravs
das instituies envolvidas, seus dirigentes e pesquisadores encontram a infra-
estrutura necessria para realizar tais pesquisas. Dentre suas misses, quer atuar como
instituio aberta, multidisciplinar, promovendo e realizando pesquisa,
desenvolvimento e transferncia de tecnologias que contribuam para elevar o nvel
tecnolgico e cientfico do Brasil.
Por estrutura organizacional prope-se o seguinte esquema:
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INSTITUTO DE MOBILIDADE TERRESTRE
Coordenao Geral do Instituto
Responsvel pelo controle e acompanhamento das mtricas de evoluo dos
projetos. As decises estratgicas sero realizadas por este coordenador
mediante parecer do Conselho Gestor, formado pelos pesquisadores mais
experientes da rede (em um total de cinco pesquisadores). Sugere-se que seja
composto pelo Coordenador, pelos Coordenadores do Laboratrio de
Percepo de Tempo Real baseada em Sensores da EPUSP e do Laboratrio
de Navegao Inercial do IME, Vice-Coordenador da Rede de Pesquisa e
Major Geraldo Gurgel Filho do CTEx.
Jose Roberto de Frana Arruda Coordenador
Bolsista de Produtividade em Pesquisa do CNPq - Nvel 1A
possui graduao em Engenharia Mecnica pela Universidade Estadual de
Campinas (1976), DEA em Mecnica Aplicada pela Universidade de Paris VI
(Pierre et Marie Curie) (1977) e doutorado (Docteur Ingnieur) pela mesma
universidade (1979) em associao com a ENSAM Paris. Atualmente
professor MS-6 (Titular) da Faculade de Engenharia Mecnica da
Universidade Estadual de Campinas. Fez estgios de ps doutoramento no
INSA de Lyon (1986), na Virginia Tech (1991) e no Laboratrio de Acstica
de Le Mans, Frana (2004). Foi professor visitante na Universidade Catlica
de Leuven, Blgica (1996), ENSIM, Frana (2002), EGIM, Frana (2005) e
82
ECL, Frana (2007). membro de comits cientficos de diversos congressos
internacionais. Tem experincia na rea de Mecnica dos Slidos, com nfase
em Dinmica, atuando principalmente nos seguintes temas: acstica e
vibraes, anlise de sinais e controle ativo de rudo e vibrao.
Carlos Eduardo Cugnasca Vice-Coordenador
Bolsista de Produtividade em Pesquisa do CNPq - Nvel 2
possui graduao em Engenharia Eltrica pela Universidade de So Paulo
(1980) , mestrado em Engenharia Eltrica pela Universidade de So Paulo
(1987) e doutorado em Engenharia Eltrica pela Universidade de So Paulo
(1992) . Atualmente Professor Associado da Universidade de So Paulo,
Assessor do Fundao de Amparo Pesquisa do Estado de So Paulo,
Membro do Conselho Fiscal do Associao Brasileira de Agroinformtica,
Membro comisso normatizao do Associao Brasileira de Normas
Tcnicas, Membro de Comisso de Normatizao da International
Organization For Standartization, Membro de corpo editorial da Revista
Brasileira de Agroinformtica, Consultor Ad Hoc do Centro Incubador de
Empresas Tecnolgicas, Revisor de peridico da Revista IEEE Amrica
Latina, Revisor de peridico da Computers and Electronics in Agriculture,
Assessor Ad hoc do Conselho Nacional de Desenvolvimento Cientfico e
Tecnolgico, Participante da Fora-Tarefa ISOBUS Brasil, Assessor Ad hoc
da Empresa Brasileira de Pesquisa Agropecuria, Avaliador do Ministrio da
Educao e Revisor de peridico da Controle & Automao (1807-0345). Tem
experincia na rea de Engenharia Eltrica, com nfase em Eletrnica
Industrial, Sistemas e Controles Eletrnicos. Atuando principalmente nos
seguintes temas: Eletrnica Embarcada, Agricultura de Preciso, Redes Ad
Hoc.
Conselho Gestor
Composto pelo Coordenador Geral do Projeto, Prof. Dr. Jos Roberto de
Frana Arruda, pelos Coordenadores do Laboratrio de Percepo de Tempo
Real baseada em Sensores da EPUSP e do Laboratrio de Navegao Inercial
do IME, Prof. Dr. Claudio Garcia e Prof. Dr. Jorge Audrin Morgado de Gis,
respectivamente, Vice-Coordenador da Rede de Pesquisa, Prof. Dr. Carlos
Eduardo Cugnasca e Major Geraldo Gurgel Filho do CTEx.
Portal do IPMT
Responsvel pelo relacionamento com os usurios, com o sistema produtivo e
industrial em particular, e com a sociedade de modo geral. Ser implementado
de forma gradativa a partir do primeiro semestre de existncia do Instituto.
Dever ser contratado com recursos advindos do projeto atravs de processo
seletivo especfico.
Coordenador Administrativo-Financeiro
Responsvel no docente com larga experincia em negociao com
fornecedores e legislao pblica. Responsvel pela gesto dos recursos
83
financeiros e estrutura administrativa do Instituto. Dever ser contratado com
recursos advindos do projeto atravs de processo seletivo especfico.
Coordenao Tcnica
Responsvel pela evoluo tcnica do projeto atuando em comum acordo com
os Coordenadores dos diferentes Laboratrios. Deve ser um pesquisador de
larga experincia, bolsista do projeto, indicado pela Coordenao e
referendado pelo Conselho Gestor.
Coordenador de Laboratrio
Pesquisador responsvel por uma ou mais linhas de pesquisas do projeto em
questo, detalhadas no escopo do projeto apresentado. Dever estabelecer os
cronogramas de execuo proposto e real, utilizando ferramentas modernas de
gesto e acompanhamento dos projetos, como por exemplo, a plataforma de
software livre DotProject.
Claudio Garcia Laboratrio de Percepo de Tempo Real baseada em
Sensores
Bolsista de Produtividade em Pesquisa do CNPq - Nvel 2
possui graduao em Engenharia Eltrica Escola Politcnica pela Universidade
de So Paulo (1979) , mestrado em Engenharia Eltrica pela Universidade de
So Paulo (1987) e doutorado em Engenharia Eltrica pela Universidade de
So Paulo (1992) . Atualmente Professor doutor da Universidade de So
Paulo. Tem experincia na rea de Engenharia Eltrica , com nfase em
Eletrnica Industrial, Sistemas e Controles Eletrnicos. Atuando
principalmente nos seguintes temas: otimizao discreta, sistemas NP-
completos, multiprocessamento, modelamento de redes de processadores,
escalao heurstica de tarefas.
Clsio Luis Tozzi Laboratrio de Viso por Computador
possui graduao em Engenharia Eltrica pela Universidade Estadual de
Campinas (1972) , mestrado em Engenharia Eltrica pela Universidade
Estadual de Campinas (1975) e doutorado em Engenharia Eltrica pela
Universidade Estadual de Campinas (1979) . Atualmente Professor Titular
da Universidade Estadual de Campinas. Tem experincia na rea de
Engenharia Eltrica , com nfase em engenharia de computao. Atuando
principalmente nos seguintes temas: Arquitetura de Computadores, Circuitos
Digitais, Computao Grfica, Terminal Grafico.
Carlos Eduardo Cugnasca Laboratrio de Redes de Comunicao
Bolsista de Produtividade em Pesquisa do CNPq - Nvel 2
84
Jorge Audrin Morgado de Gis - Laboratrio de Navegao Inercial
Engenheiro Mecnico pelo IME e Doutor pela Universitat Duisburg-Essen,
UNIDUE, Alemanha. Capito do Quadro de Engenheiros Militares, tendo
servido no Centro Tecnolgico do Exercito e atualmente professor do IME.
especialista nas reas de mecatrnica, dinmica e fuso de dados.
Juan Francisco Camino dos Santos Laboratrio de Navegao Robtica e
Realidade Virtual
Possui graduao em Engenharia Mecnica pela Universidade Federal da
Paraba (1994), mestrado em Engenharia Mecnica pela Universidade Estadual
de Campinas (1997), doutorado em Engenharia Aeroespacial pela
Universidade da Califrnia em San Diego (2003) e ps-doutoramentos na
Universidade Estadual de Campinas (2006) e na Katholieke Universiteit
Leuven (2007). Atualmente professor doutor da Faculdade de Engenharia
Mecnica da Universidade Estadual de Campinas. Tem experincia na rea de
Engenharia Mecnica, com nfase em Controle de Sistemas Mecnicos,
atuando principalmente nos seguintes temas: otimizao convexa,
programao semidefinida, controle ativo de vibrao e rudo, controle de
sistemas lineares variantes no tempo.
Pablo Siqueira Meirelles Laboratrio de Sub-Sistemas para Veculos
Inteligentes
possui graduao em Engenharia Mecnica pela Universidade Estadual de
Campinas (1985) , mestrado em Engenharia Mecnica pela Universidade
Estadual de Campinas (1989) , doutorado em Engenharia Mecnica pela Ecole
Centrale de Lyon (1995) , pos-doutorado pela Universidade de Darmstadt
(2004) e pos-doutorado pela Universidade de Darmstadt (2006) . Atualmente
Professor MS3 da Universidade Estadual de Campinas, Revisor de peridico
da IEEE Transactions on Power Electronics, Revisor de peridico da
Structural Engineering and Mechanics e Revisor de peridico da Revista
Brasileira de Cincias Mecnicas (0100-7386). Tem experincia na rea de
Engenharia Mecnica , com nfase em Mecnica dos Slidos. Atuando
principalmente nos seguintes temas: Analise Modal, Amortecimento,
Continuos Masing Model, Identificacao, Subestruturacao, Ajuste de Modelos.,
Modelamento e Sistemas no lineares.
Victor Santoro Santiago Laboratrio de Controle Remoto de Sistemas
Militares
possui graduao pelo Instituto Militar de Engenharia (1997), atuando
principalmente nos seguintes temas: resfriador termoeltrico; tcnica da
transformada integral generalizada; termo de acmulo na condio de
contorno; tratamento de no linearidade via TTIG.
85
Alm dos pesquisadores aqui listados como Coordenador Geral, Vice-
Coordenador e sete Coordenadores de Laboratrio, participam do Instituto de
Mobilidade Terrestre os seguintes pesquisadores:
Alberto Luiz Serpa possui graduao em Engenharia Mecnica pela
Universidade Estadual de Campinas - UNICAMP (1989), mestrado em
Engenharia Mecnica pela UNICAMP (1991) e doutorado em Engenharia
Mecnica pela UNICAMP (1996). No perodo de dezembro de 1990 a
dezembro de 2001, trabalhou na indstria Equipamentos Clark Ltda.,
atualmente pertencente empresa Eaton Ltda.. Em dezembro de 2001 deixou o
setor privado e comeou a trabalhar como docente em regime de dedicao
integral a docncia e a pesquisa na UNICAMP, onde atua desde ento na
funo de professor doutor. Tem experincia na rea de Engenharia Mecnica,
com nfase em Mecnica Computacional e Estrutural, investigando
principalmente os seguintes temas: controle de sistemas mecnicos,
otimizao de sistemas, problemas no-lineares, programao no-linear,
controle robusto e controle de estruturas flexveis, mtodo dos elementos
finitos.
Alberto Gaspar Guimares Engenheiro de Telecomunicaes pelo IME,
Mestre em Processamento de Sinais pelo IME e Doutor em Sistemas de
Sistemas de Telecomunicaes pela PUC-RJ. especialista em Processamento
de Sinais e Sistemas de Telecomunicaes. Professor do IME desde 2004.
Antonio Carlos Castaon Vieira possui graduao em Engenharia Eletrnica
pelo Instituto Militar de Engenharia (1989), especializao em Engenharia de
Segurana do Trabalho pela Universidade Estcio de S (2007), mestrado em
Engenharia Eltrica pela Universidade Federal do Rio de Janeiro (1999),
doutorado em Engenharia Eltrica pela Universidade Federal do Rio de
Janeiro (2005) e curso tcnico-profissionalizante em Tcnico em Eletronica
pelo Centro Federal de Educao Tecnolgica Celso Suckow da Fonseca
(1983). Atualmente Gerente de Projeto do Centro Tecnolgico do Exrcito,
Professor da Universidade Estcio de S e Perito Judicial do Tribunal
Regional do Trabalho 1a Regio (RJ). Tem experincia na rea de Engenharia
Eltrica, com nfase em Telecomunicaes, atuando principalmente nos
seguintes temas: Aplicaes em Segurana, Circuitos Criptogrficos,
Descrio de Circuitos em Hardware.
Arthur de Miranda Neto doutorando em Engenharia Mecnica pela
Universidade Estadual de Campinas (Unicamp). Mestre em Engenharia
Mecnica em 2007 pela Unicamp: tema: Navegao de Robs Autnomos
baseada em Monoviso. Experincia em Desenvolvimento de Softwares para
Robtica, Sistemas Distribudos (Multithreading), Viso Computacional.
1Tenente R/2 Exrcito Brasileiro (reserva no remunerada). Cinco anos de
experincia como Professor Universitrio em cursos da rea de Computao
(Graduao e Ps-Graduao). ltima atividade funcional como Funcionrio
Pblico federal na funo de Analista de Tecnologia da Informao da
Dataprev/RJ - Ministrio da Previdncia Social. Atualmente ps-graduando
do Departamento de Mecnica Computacional da Unicamp e bolsista de
doutorado do CNPq.
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Danilo Habermann possui graduao em Engenharia Eltrica pelo Instituto
Militar de Engenharia, IME, Brasil. Trabalha como engenheiro eletricista no
Arsenal de Guerra de So Paulo desde dezembro de 2005. Desde junho de
2006, aluno de mestrado da Escola Politcnica da USP. reas de interesse:
Deteco de objetos com auxlio de multi-sensores.
Douglas Eduardo Zampieri possui graduao em Engenharia Mecnica pela
Unicamp (FEC, 1972), doutorado pela Universitaet Stuttgart (1981), realizou
ps-doutorado na Fachhochschule Regensburg (1992) e na Technische
Universitaet Darmstadt (2003). Professor Colaborador Voluntrio da
Faculdade de Engenharia Mecnica da Unicamp. Exerceu a funo de Direo
de Unidades da Unicamp e fez parte de comits de assessoria junto a Fapesp e
a Capes. Tem experincia na rea de Engenharia Mecnica, com nfase em
Mecnica dos Slidos, atuando principalmente nos seguintes temas:
Mecatrnica e Robtica, Vibraes e Controle, Dinmica Veicular.
Geraldo Gurgel Filho possui graduao em Engenharia Eltrica pelo Instituto
Militar de Engenharia (1983) e mestrado em Engenharia Mecnica pela
Pontifcia Universidade Catlica do Rio de Janeiro (1999). Atualmente
oficial do exrcito - engenheiro do Centro Tecnolgico do Exrcito e professor
da Universidade Estcio de S. Tem experincia na rea de Engenharia
Eltrica, com nfase em Eletrnica Industrial, Sistemas e Controles
Eletrnicos, atuando principalmente nos seguintes temas: giroscpio, inercial,
rotao, dinmica e fog.
Janito Vaqueiro Ferreira possui graduao em Engenharia Mecnica pela
Universidade Estadual de Campinas (1983), mestrado em Engenharia
Mecnica pela Universidade Estadual de Campinas (1989) e doutorado em
Dynamics pela Imperial College Of Science Tecnology Medicine (1998) .
Atualmente Professor Assistente Doutor da Universidade Estadual de
Campinas e Professor Assistente Doutor da Universidade Estadual de
Campinas. Tem experincia na rea de Engenharia Mecnica , com nfase em
Mecnica dos Slidos. Atuando principalmente nos seguintes temas:
Acoplamento de Estruturas, Harmnicas, Anlise No Linear,
Subestruturao, Receptncia e Impedncia.
Jos Maria Campos dos Santos possui graduao em Engenharia Mecnica
pela Universidade Estadual do Maranho (1977), mestrado em Engenharia
Mecnica pela Universidade de So Paulo (1983), doutorado em Engenharia
Mecnica pela Universidade Estadual de Campinas (1993), ps-doutorado pela
University of Houston (1996) e ps-doutorado pela Institute of Sound And
Vibration Research University of Southampton (2006). Atualmente
Professor Associado da Universidade Estadual de Campinas, Revisor de
peridico da Shock and Vibration e Revisor de peridico da Journal of the
Brazilian Society of Mechanical Sciences and Engineering. Tem experincia
na rea de Engenharia Mecnica , com nfase em Mecnica dos Slidos.
Atuando principalmente nos seguintes temas: Deteco de Falhas, Ajuste de
Modelos, Vibroacstica.
87
Luciano Luporini Menegaldo Engenheiro Mecnico pela Unicamp, Mestre
em Engenharia Mecnica pela Unicamp e Doutor em Engenharia Mecnica
pela USP. Atualmente professor adjunto III do IME. Tem experincia nas
reas de: biomecnica, robtica e controle de sistemas mecnicos.
Paulo Roberto Rocha Aguiar possui graduao em Engenharia Mecnica pelo
Instituto Militar de Engenharia (1993), mestrado em Engenharia Mecnica
pela Pontifcia Universidade Catlica do Rio de Janeiro (1997) e doutorado em
Engenharia Mecnica pela Pontifcia Universidade Catlica do Rio de Janeiro
(2002). Atualmente funcionrio da Universidade Cndido Mendes e
Pesquisador do Centro Tecnolgico do Exrcito. Tem experincia na rea de
Engenharia Mecnica, com nfase em Mecnica dos Slidos, atuando
principalmente nos seguintes temas: Talhas, Estrutura Suspensa, Conforto
Veicular, Controle, Dinmica.
Paulo Fernando Ferreira Rosa possui graduao em Engenharia Eltrica pela
Universidade Federal de Pernambuco (1986), mestrado em Computer Science
and Systems Engineering (M.Eng.) - Kyushu Institute of Technology - Japo
(1994) e doutorado em Information Engineering (PhD) - Niigata University -
Japo (1997). Foi bolsista recm-doutor (CNPq), junto ao Depto. de Cincia
da Computao/UFF, 1997-98 e pesquisador-visitante (Faperj), na Engenharia
de Computao IME, 1999. Foi coordenador da Ps-Graduao em Sistemas e
Computao- IME, 2004-07. Atualmente, professor adjunto IV do Instituto
Militar de Engenharia e vice-coordenador da PG. Em 2007, atuou como
coordenador geral do XXVII Congresso da Sociedade Brasileira de
Computao. Tem experincia na rea de Robtica e Automao, atuando
principalmente nos seguintes temas: robs mveis autnomos, manipuladores
flexveis, domtica/casa inteligente e veculos areos no tripulados.
Recentemente, encontra-se em estgio ps-doutoral, no Depto. de Ciberntica,
Niigata University (bolsista JASSO).
ANUNCIAS DAS INSTITUIES
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ANUNCIAS DOS PESQUISADORES
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REFERNCIAS BIBLIOGRFICAS
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Internal Sensors, M. Sc. Thesis, Florida State University, 2004.
Cremean, L.B. et all: Alice: An Information-Rich Autonomous Vehicle for High-
Speed Desert Navigation, J. of Field Robotics, 2006.
Yamauchi, B.: The Wayfarer Modular Navigation Payload for Intelligent Robot
Infrastructure, iRobot Research Group.
Murphy, K. et all: Ground Vehicle Controla t NIST: from Teleoperation to
Autonomy, 7th Annual Space Operations, Applications, and Research
Symposium, Houston, TX, 1993.
Murphy, K.; Legowik, S.: GPS Aided Retrotraverse for Unmanned Ground
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PROJECT IN ENGLISH:
RESEARCH NETWORK IN AUTONOMOUS
TERRESTRIAL MOBILITY WITH FOCUS ON
NATIONAL DEFENSE AND PUBLIC SAFETY
TERRESTRIAL MOBILITY INSTITUTE
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Rationale
Introduction
Helping people with automated systems, autonomous and semi-autonomous is
a trend that is a result of technological developments. However, to accomplish some
tasks, for example, displacements in urban area, there is a variable of great importance
and impact: the environment. Even in an environment that was previously mapped by
a global positioning system, the randomness and the constant replacements will
modify it partially or totally.
Currently, the search in the area of navigation, autonomous and semi-
autonomous has motivated many researchers from different groups because of the
challenge it represents. It is really important to notice the number of publications in
recent years, incorporating the developments in the area of telematics (MIRANDA
NETO, 2007).
From some guidelines of the U.S. government a few years ago, an agency of
research known as DARPA (Defense Advanced Research Projects Agency) has been
promoting excellent results in the area of autonomous navigation. This agency is the
main body of research of the U.S. Department of Defense and its main task is to
maintain the technological superiority of the American army preventing it from a
technology surprise that could harm the national security.
Thus, since 2002 the DARPA has been encouraging universities, colleges and
businesses in and outside the U.S. to develop autonomous vehicles, because one of the
aims of the American government is transforming one third of its fleet in autonomous
military vehicles in 2015.
As a result of this, in 2004 and 2005 they organized a challenge known as
Grand Challenge. In the first time in 2004, none of the teams managed to successfully
completing the course set out for the competition. In 2005 five teams completed the
challenge, with the winning team at Stanford University, Stanford Racing. In
connection with the Grand Challenge 2005, the challenge was the crossing of the
Mojave desert. The winning team completed the race with an average speed of 30.7
km / h.
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The last challenge occurred in November 2007. Known as DARPA Urban
Challenge, this challenge was characterized by autonomous vehicles that managed
their missions in a false urban area, operation of extreme importance for the American
army. The stages of the challenge were subdivided into a number of steps for
qualification, which led to a final event that happened in Victorville, CA. Thirty-five
teams were semi finalist, eleven were finalists and the first place was won by the
team called Tartan Racing, Pittsburgh, PA, the second place was won by the Stanford
Racing team, Stanford, CA and the third place was the Victor Tango, Blacksburg,
VA.
During the urban challenge it was possible to test the ability of vehicles to
operate safely and effectively, interacting with other vehicles in and around an urban
environment. The journey took a total distance of approximately 96 km and should be
completed within a period of up to 6 hours. Besides the duty to follow the traffic laws
of the place, the teams had more challenges: variations in the quality of the surface of
roads and paths, obstacles such as: medium-wire, barrels of trafficking, hydrants,
rocks, construction equipment, high-wire tension, in addition to other stationary
obstacles encountered in an urban environment. A further difficulty was the
possibility of blockades were erected during the course of the event, in addition to
interference with the sensor signal GPS (Global Positioning System) caused by trees
and buildings along the route.
It is possible to see how bold is the plan of the U.S Department of Defense,
but in an approximately five years time, the results obtained in the Grand Challenge
challenges and Urban Challenge can make a great progress in this direction.
Moreover, in recent years there has also been a large increase research on the
development of intelligent vehicles, but with a focus on human user. Research on
human-factors has been merged with the investigation of intelligent vehicles, aiming
to create a new generation of Driver-Assistance Systems, which go beyond the
automated control to try to work harmonically with a human operator. There are
emerging systems that can monitor the driver state, provide the intention of the driver,
alert drivers, and help in guiding vehicle. (McCALL & TRIVEDI, 2006).
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Figure 1 UTA II - Mercedes-Benz E-Class (FRANKE et al., 2000)
The main focus of the proposed project is to contribute to the National Defense
policy. However, because of the development of an Autonomous Navigation System -
SNA is based on a Navigation System Semi-Autonomous assistance of the driver -
SAC, it is proposed, in a first step, to develop such system as a sub product or
intermediate product, which contributes to the Public Policy of Transportation and
aims to provide tools that allow the reduction of the high number of accidents
involving cars.
Insertion of the Project on National Defense Policy
For the Brazilian Federal Government, science, technology and innovation are
matters of state, which go beyond governments and should be treated as commitments
that are transferred from one government to the next. Because of its own nature,
public policies are developed in various ministries, and to coordinate them and give
unity to these activities, the Government uses the preparation of plans that facilitate
the various action lines, indicating the instruments for their implementation and
showing what the guidelines should be followed.
The Brazilian Ministry of Science and Technology, in line with the Federal
Government Plan for Accelerated Growth, has made its Action Plain for 2007-2010,
which was presented to the scientific, technological and business community and the
Brazilian people. The plain has the following goals: the consolidation of Brazilian
scientific and technological research infrastructure, by the promotion of individual
and collective projects, including networks formed by universities, research centers
and technological institutes; improvement of the mechanisms and instruments for
promoting the development of C, T & I, by the expansion of resources to current
programs and the creation of new programs geared to meet the growing demand for
research and development of various areas of knowledge; the expansion of the
125
National Network of Education and Research (RNP), to link the entities of the
National System of Education, Science, Technology and Innovation; consolidation of
MCT units of research on condition of national laboratories or core coordinators of
thematic networks in strategic areas for the country autonomous development,
stimulating association with these state and municipal units of P, D & I.
Moreover, it also intends to promote research and development of technologies
focused on the priorities of the National Policy of Defense and public safety, by
supporting the infrastructure of research institutions of science and technology - the
ICT's areas, the training of human resources, and innovation in domestic companies.
It will be also supported partnerships between ICT and public agencies for the
formulation, implementation and evaluation of public policies of security and crime
combat.
The science, technology and innovation are in the contemporary world
scenario, fundamental tools for development, economic growth, employment and
democratization of opportunities . The work of technicians, scientists, researchers and
academics and the engagement of many companies are determining factors for the
consolidation of a model of sustainable development, capable of meeting the just
demands of the Brazilian social and permanent strengthening of national sovereignty.
Again, this is a matter of state, which goes beyond governments.
The document that this project is submitted to has priority themes that have
direct relationship with the strategic areas of the action plan in C, T & I, including
itself the National Defense.
In Brazil, there are guidelines to incentive scientific research in the area of
National Defense. Regarding the area of Science, Technology and Innovation, the site
of the Ministry of Defense announces that the ministry has the mission of enabling
solutions and scientific-technological innovations to meet the needs of the country
pertaining to Defense and national development. Thus, a design of National Defense
interest areas was created, and the detailing of these strategic is bounded by three axes
that are able to create vectors and coordinated, called Technology for National
Defense of Interest:
126
Defense axis incorporates military specifications and requirements of
National Defense to be met by weapons systems. It relates primarily to
the expressions of Military Policy and National Power.
Science and Technology axis - Technology Strategic Areas
incorporates necessaries to meet the specifications and requirements set
for the Systems of National Defense. It relates primarily to the
scientific and technological expression of National Power.
Industry axis - incorporates innovative capacities and industrial own
characteristics to meet the specifications and requirements for the
Systems of National Defense. It relates primarily to the Economic and
Psychosocial Expressions of National Power.
Among the technologies of national interest defined by the Ministry of
Defense are: Data Fusion, the Intelligence Machine & Robotics and Integration
System.
Other initiatives were the edicts of this ministry for the development of
research and projects within the program Pro-Defense (Support Program for
Education and Scientific Research and Technology in National Defense). In this case,
it was a partnership between the Ministry of Defense and Capes (Foundation for the
Coordination of Improvement of Higher Education Personnel). Its goal is to finance
and stimulate the production of scientific and technological research and training of
post-graduates in the area of National Defense.
Aiming to reduce the technological gap in relation to most modern armies and
the dependence of the war outside, aligned with the policy of National Defense and
with the policies and guidelines issued by the Ministry of Defense, the General
Guidelines of the Brazilian Army Commander, as an armed force, will continue acting
in line with the Brazilian Navy and the Brazilian Air Force, both in its strategic
planning and preparation in their jobs.
In these guidelines, the Brazilian Army will continue to search for effective
competence of scientific knowledge and technological innovation capacity, in order to
provide the ground force with modern systems produced, primarily by the national
Defense industry, whose recovery will continue to be as objective pursued.
Gradually, more advanced technology will be aggregated, always giving
127
priority to the applied research and projects of dual technology. Among the projects, it
should be considered as concentrators of the technological efforts the development of
the Brazilian Armored Fighting Vehicles New Family, the Anti-aircraft Defense
System and the Command and Control System in Combat.
In the same guideline, there is the continuity of the work started by previous
commands to expand the exchanges between military and civilian institutions in the
areas of education, scientific research and culture, training of human resources for the
areas of science and technology.
The last paragraph emphasized the agreements already made between the
Brazilian Army and the State University of Campinas (UNICAMP). In 2004, a
meeting with the commander of the Brazilian Army and the rector of Unicamp was
done for the preparation of a laboratory inside the university. Currently, subordinated
to the Technological Center of the Army - CTEx, an office has been implanted in
UNICAMP. In 2006, a ceremony held at the Office of the Rector for signing of an
agreement between the UNICAMP and the Command of the Brazilian Army, through
its Science and Technology Department. In 2007, signing of two agreements with the
CTEx. This partnership, provision of scientific and technological service in the area of
development of focal plane of InGaAs and silicon bolmetros, it will involve
resources of about $ 1.2 million, funded by the Ministry of Science and Technology -
ERM and Funding for Research and Projects - FINEP.
The Arsenal de Guerra de So Paulo (AGSP) is an important unit of the
Brazilian Army that Aims terrestrial mobility and assistance to the driver. Its mission
is to contribute to the operation of Brazilian Army through manufacturing and
recovery of military material. Among these activities, there is a mission to deploy and
maintain the Group of Armored and Military Vehicles with the aim of supporting the
projects of experimental development of military systems made by CTEx through the
promotion of applied research activities in the area of armored and military vehicles
and training of human resources used in projects. The AGSP intend to be a centre of
excellence in military material, particularly in the area of land mobility.
As auxiliary and reserve forces of the Brazilian Army that integrate the Public
Security and Social Protection Brazil, in the states we have the military police, which
are public security forces units that are responsible for the police ostensible primary
function and the preservation of public order - Article 144 of the Federal Constitution
128
of 1988. They are subordinated, in conjunction with the civilian police, to the
Governors of States, the Federal District and the Territories - art. 144 6 of the
Federal Constitution of 1988.
Another important aspect in the development of scientific-technological
research in Brazil, especially when there are from military, refers to the acquisition of
technologies and equipment manufactured in other countries. Centered in favor of
national industry, in September 2007, the Federal Government announced the
establishment of the Strategic Plan of National Defense. Expected to be launched in
September 2008, the plan aims to present a policy of national defense combined with
a long-term strategy to reactivate the industry of defense material in the country and
reequip the Armed Forces. In addition, earlier this year of 2008, cooperation in
military strategy mark the staff of meetings with the holders of Defense, Nelson
Jobim (Brazil), Herv Morin (France), Anatoli Serdiukov (Russia) and Nilda Garr
(Argentina). In January 2008, Brazil and France assigned a strategic alliance for the
Defense sector.
Military Vehicles in Urban Area in Brazil
In missions done by the armed forces or auxiliary forces, there may be great
hostility enemy, for example, land incursions into unknown or predominance enemy.
So the systems autonomous or semi-autonomous can contribute to the success of these
missions, including saving lives.
Especially in the context of the Armed Forces, to observe the current conflict,
there is the growing use of military vehicles in urban areas. The complexity of
military operations is also growing, because in many cases, these areas have difficult
access and are very populous. So it appears that the driver has enormous
responsibility. As an example, in Figure 2 military operations in urban areas.
Figure 2 - military operation in urban areas. Featured, the Brazilian Army operations
in Haiti and the Military Police in Brazil.
129
Apart from agreements between the Brazilian Army and UNICAMP cited
above, the press reported that efforts are being made to facilitate the development of
applied research to public security. In December 2007, a Light Tactical Armoured
Vehicle was presented to the direction of the head of FAPERJ by the commander of
CTEx, General Alssio Souto Ribeiro. The car is able to resist firing of rifle, with
design more rational, cool and more comfortable, could patrol urban areas and be used
in the displacement of detainees.
The New Family of Armored Fighting Vehicles is another project under the
direction of the Brazilian Army. The Program will be developed by the company
FIAT Automotive SA, the holding company of Fiat Group in Brazil, representing the
Division Iveco.
In the context of vehicles large, in recent challenges of DARPA, the Team
Oshkosh adapted a truck, originally designed for combat, and used by the U.S. Marine
Corps (United States Marine Corps). The vehicle known as TerraMax can be seen
in Figure 3. Besides the intelligent navigation system, among its adjustments, the
original brake system was replaced by an electronic system called Bendix EBS5
Electronic Braking System. This "brake-by-wire" was selected because it allowed the
full autonomous control and manual control for cases of human intervention or any
failure. The control of the engine and transmission has also been adapted to the
protocol J1939, which uses the specification CAN (TEAM OSHKOSH, 2007).
Figure 3 - TerraMax , truck built by Oshkosh Team for the 2007 DARPA Urban
Challenge (TEAM OSHKOSH, 2007).
For ordinary citizens, the Driver Assistance Systems - DAS, has also great
importance. For example, because the more complex traffic situations, fractions of a
second can be decisive to avoid traffic accidents, where one of the main factors is the
time for human reaction, in addition to fatigue, distractions and the ability to fall
130
asleep at the wheel. Polls indicate that about 60% of collisions back and almost a third
of frontal collisions could have been avoided if the driver had responded only half a
second before.
According to a study released by the Universidade Estadual Paulista - UNESP,
in Brazil about 40 thousand people lose their lives each year in traffic accidents. The
Brazilians statistics in this area are worst in the world. In 2007 there were 1,151
accidents during the carnival period. Over the past ten years, 327,469 people lost their
lives in traffic accidents in Brazil. According to the Brazil Ministry of Health, there
are 98 deaths per day, 35 thousand a year, what can be compared, for example, to the
annual 37 thousand deaths recorded in the war in Iraq (RENAEST, 2007).
Responsible for more than 90% of accidents recorded, the human error is often
linked to excessive speed, to the distance insufficient in relation to the vehicle front;
and to disrespect for signaling (UNESP, 2007).
The same study shows that for a driver to respond appropriately to a given
stimulus, he needs to be on "alert", otherwise it may cause an accident. This state of
"alert" is affected by many factors, so that people respond more or less quickly in case
of emergencies. The interval between the recognition of a dangerous situation and
action to respond to this situation is called reaction time, and it depends on the
condition of physical and emotional state of the person. The average time of reaction
of a young person in good health is approximately 0.75 seconds. This is the time that
the brain needs to process the information we are receiving and defines an action.
Factors that influence the reaction time:
Definitive: age, physical disability (vision, hearing, paralysis, etc.);
Temporary: short term diseases (common cold, headache, etc.),
alcohol, drugs, medicines, emotional state;
In the same study, it is shown that many people drive their vehicles to create
ideal conditions to occur the accident. This usually happens due to the complete
ignorance regarding the factors that cause them. Using the table 1, its easily
identified the factors that proliferate in great intensity on Brazilian streets and
highways.
Normal reaction + incompatible distance with the speed: impossible to
proceed an emergency stoppage when its necessary;
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Delayed reaction + non-recognition of such a incompatible situation
with speed + distance: impossible stoppage and irreversible situation;
Reaction delayed + recognition of the situation + incompatible distance
with the speed: impossible stoppage.
Table 1 - Minimum distance required to stop a vehicle based on the reaction
time and speed of the vehicle. Source: UNESP.
SPEED
NORMAL (0.75
segs.)
DELAYED
(2 segs.)
Km/h DISTANCE (m) DISTANCE (m)
50 10 28
80 16 44
90 18 37
100 20 41
110 22 45
120 25 66
The causes of the accidents are linked to mechanical faults, the environmental
conditions and human error. These are caused by shortcomings in the training of the
driver, by inattention, by fatigue or sleep, by use of drugs or by negligence and total
disregard to the rules of traffic.
In 2006 in Brazil, nineteen thousand seven hundred and fifty-two (19,752)
died and other four hundred and four thousand three hundred and eighty-five
(404,385) were injured victims of traffic accidents, according to data from
DENATRAN. That is, for every death, there are about 20 injured. Due to the fact that
many death certificates does not make reference to the deaths cause, many deaths
from traffic accidents are not catalogued.
The injuries resulting from traffic accidents bring serious damage to the
individual: financial, family, social, psychological and professional. For society the
losses are hospital costs, reduced production capacity, pension costs, among others.
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The economic cost of these accidents is estimated at 74 billion dollars a year in
the U.S. A modest estimate would exceed 10 billion U.S. dollars in the case of Brazil
(ROXO; BOIS, 2006).
According to Evans (1991), 2% of all traffic accidents reported in a survey
conducted in the UK were caused exclusively by environmental conditions of the
road, only 2% are connected with the failure of the vehicle and 65% are uniquely to
human error. Moreover, it was found that 95% of accidents have the human error
factor as a cause, either as fact alone, or combined with other factors.
The lack of attention was identified as the cause of 76.6% of accidents
involving heavy vehicles on the highway BR-153 in an epidemiological study on
traffic accidents (Santos, (1999) apud MELIONE, (2006)).
A study by the International Road Transport Union (IRU), entitled European
Truck Accident Causation, on which 624 accidents in Europe were analyzed, with at
least one victim, involving trucks, revealed that 85.2% of them were caused by human
error. However, 75% of these accidents were caused not by fault of truck drivers, but
the other users of vehicles and pedestrians. Figure 4 shows the other factors that
cause the accidents.
Other relevant information pointed in that study shows that 27% of the
accidents occurred typically in the operations of crossing intersections, 20.6% in
congestion (queues, collisions on the back), 19.5% changes of lanes and 11.3% in
maneuvers for access. The analysis of human error when the truck caused the accident
showed that failure to observe the rules of intersections, speed and inappropriate
maneuver, improper changes of the lane were the main causes of events.
Thus, it is evident in the text presented above the importance of a DAS in aid
to drivers, especially in cases of large vehicles.
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Figure 4 - Major causes of traffic accidents (IRU, 2007)
Theoretical Grounds
Methodology
In introduction, this text stressed the importance of autonomous navigation
systems offered on the challenges of DARPA. This item intended to emphasize the
importance of applied research, initially to a DAS - Navigation System Semi-
Autonomous, as an intermediate project of an autonomous vehicle.
Regarding autonomous and semi-autonomous navigation, its important to
know that in many occasions the human being can not be cast aside, especially in
military operations, which makes the autonomous and semi-autonomous systems to
have the same importance.
In this sense, in Figure 5, on the threshold of search of autonomous navigation
systems, there are the semi-autonomous systems (CAS), where, basically, the main
difference is that for an autonomous system it is necessary know the kinetic and
dynamic models of the vehicle, and for a SAC its necessary a Man-Machine Interface
(MMI) and / or a Virtual Reality System (SRV). Thus, for an autonomous system the
result of sensory analysis generates commands to the movements actuator of the
vehicle, and for a SAC alerts to the driver are generated, which in turn, interacts with
the actuators of the vehicle.
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Figure 5 - Components of the main autonomous system and semi-autonomous.
Currently, the search in the area of navigation autonomous and semi-
autonomous has motivated many researchers from different groups because of the
challenge it represents. Several proposals have been studied, based mainly on
multidisciplinarity and the development of computer systems with biological
inspiration.
In this scenario there is the role of environment in fulfillment of tasks, so the
generation of macro trajectories can be classified into two broad categories, and the
environment as a core element: deterministic and known or unknown and dynamic
(MENDELECK et al., 2005).
Common to the autonomous and semi-autonomous systems, to obtain
information on the environment, sensors and actuators are necessary, which in many
cases may be of limited scope and subject to noise. However, to incorporate various
types of sensors, we can increase its degree of autonomy and "intelligence",
particularly for navigation in unknown environments. In contrast, the type and
quantity of sensors determine the volume of data for processing and composition of
the "image" of the environment, imposing in most cases, a high-cost computing. This
cost, in many cases can cripple projects that use equipment with little capacity and / or
real-time applications.
The bio-inspired computer systems are commonly used in applications to the
decisions of non-deterministic systems. They are: Artificial Neural Networks &
Systems & Genetic Algorithms. In order to present some common features between
computer systems and biological, hereinafter we make a parallel to conduct human
biological noting the organization of the nervous system, the system of vision and
sharing of knowledge.
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Regardless of the type of environment, for the passage of people, the nervous
system together with the endocrine system play the control of body functions. This
system receives thousands of information from different sensory organs, and their role
is to integrate them to determine answers to be executed. Its composition can be
traced to the sensory experiences gained through the sensory receptors and may be
hearing from those experiences, visual and bound to touch (GUYTON, 1973).
One of the main functions of the nervous system is to achieve optimal
answers. Much of the information acquired by the sensors are neglected after passing
through the information processor of the brain, and this can be justified, based on the
fact that humans can play various activities simultaneously. As an example, while
driving a vehicle, a person may develop other activities such as talking, thinking about
other things, or even ignore the fact that their skin is in contact with their clothing.
Especially applied to human vision, at any given time, the focus of the vision of one
person can be focused on a specific area of the environment, for example, the road
from where browsing, however, other areas of the environment are not being ignored,
this is, these sub-images of the environment will be delegated the background.
To achieve the storage of information, human beings have the cerebral cortex
and spinal cord. This process of storage can be called a memory. The information to
be stored travel through the synapses, which has very different properties, such as
transmitting a signal of a neuron to another. From the moment that the memories have
been stored in the nervous system, it will become part of the mechanism of
development, or could be used for subsequent motor activities. Such memories are
compared to future new experiences, to assist in the selection of new information
(GUYTON, 1973).
According DURRANT-WHYTE (2001), where he presents a paper about the
state of the art of autonomous vehicles and technologies, this author points out that
five major components must compose an autonomous system, is Mobility, Location,
Navigation, Mission and / or Planning of the task and Communications, of which,
briefly, if describe below.
As it can be seen in Figure 6, the mobility is seen simply as the effect of the
global system, in other words, as the result of observation of the system as a whole.
The location of the site provides information, for example, attitude, speed and
acceleration of the vehicle. The location is an exclusive function of exit in relation to
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the rest of the system. This means that the increasing the capacity by Location can
often proceed independently of the other system components.
The Navigation is concerned about the acquisition and respond to information
from the external environment. The function of Navigation receives entry as the result
of observation of the sensors in the operational environment. This observation is very
importance, since it creates an internal representation of the environment, which can
be used later during the execution of a mission.
Mission and / or the Task Planning is responsible for generating the
trajectories, behavior and / or points of passage for the system. She has no direct
connection with any controller of entry or exit sensory. However, it must have a clear
understanding of them, in conjunction with the maps read before, possible mission
and objectives to be met in order to produce adequate navigation commands.
The Communication provides the link between the vehicle and all the possible
elements of the global system, including other vehicles and / or operators. There is no
reason to suppose that an autonomous system or (semi)-autonomous should not share
its information with other communication systems, unless the mission requires it
done.
Figure 6 - The relationship between the various functional components of an
autonomous navigation system (DURRANT-WHYTE, 2001).
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It is noteworthy that despite the high importance of the mission to be met by
an autonomous system, that is, because of the power to influence the details of the
mission under the global system, this fact should not affect the functional elements of
the vehicle, for example, the need for mobility, location, navigation and planning,
which are skills that must be continued regardless the mission.
Indeed, it is hoped that the structure and role of the mission, besides the task of
planning, are a critical function, which allow the insertion of a degree of flexibility.
However, the assessment of specific missions will not be discussed now.
Thus, this is the fulfillment of tasks, if the task of navigation is a known and
static environment, problems can first be reduced to modeling the environment and
search for ways following a criterion for optimization, for example, distance, energy ,
Processing, number of movements, quality of shifts, etc.. For unstructured
environments, the study the scenario is dynamic, with several elements in movements.
Thus, driving a navigation autonomous or semi-autonomous system from a starting
point to your destination, or assist a driver in this task, involving the execution of
complex operations and non-deterministic, as an example: interaction with the
environment, identifying the elements and environmental decision-making. In this
case, the generation of track requires the treatment of a number of unknown factors at
the planning software, such as the volume of desktop and mobile and fixed elements.
Without this information, the computational cost for the generation of path becomes
very high, especially considering the conventional forms of programming robots
(MENDELECK et al., 2005).
Moreover, saying that an agent is autonomous means to say that he acts by
himself, he is supposed to achieve self-regulate generating their own rules governing
their actions. Hence, the definition distinguishes autonomous from automatic, for
being automatic is to be able to operate in an environment realizing it and impacting
it, seeking the fulfillment of tasks defined. An autonomous agent is first of all
automatic, but should drive itself based on ability to learn and adapt their behaviour
(CAZANGI, 2004). But only automatic could not be the ideal classification for a
semi-autonomous system - DAS, for it can operate as it were standalone, leaving only
the final decision to move the driver of the vehicle.
With what we have until now, a DAS can be defined as a system that has the
capacity to understand the environment, administer the aid to compliance with pre-
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defined tasks and present the result of processing (status) to the driver of the vehicle.
But the existence of levels of autonomy should be considered, because it is a being
totally independent. As an example: animals, in general, and human beings, in
particular, depend on external factors to survive. So when we say that an agent is
autonomous, one should bear in mind that he has certain level of autonomy and that
he is not completely autonomous, and that the more autonomous is the agent, less
foreign aid it needs (CAZANGI, 2004).
Connected to the levels of autonomy included three definitions SHIROMA
(2004):
System Mechanic - "The physical part. The mobile platform of the
vehicle. It is immersed in a global environment or the real world and is
able to interact with a portion of it - the local environment, for
example: a room, a corridor or a road through its actuators. "
Sensors - "Give the data from which the state of the robot is
determined."
Intelligence - "The brain; responsible for the intelligence of system."
Assuming a given level of autonomy, initially, or even as a by-product, this
project proposes the construction of a Navigation System Semi-Autonomous
assistance of the driver - DAS. Through a system of Virtual Reality Simulation -
SRV, initially Non-Immersive for assistance to the driver, your goal will help a driver
during the term of pre-defined tasks are executed in unknown and dynamic
environments. In this way, including the driver, the four components: the driver,
System Mechanic, sensors and intelligence, should interact continuously targeting the
fulfillment of tasks of navigation.
The main goal of this first phase will be the fulfillment of tasks in shifts
between pre-determined points in unstructured environment, from information
provided by a global positioning system. Known the points of origin and destination,
during the shift, the system should be able to identify the area of navigation in relation
to their obstacles, alerting the driver about possible collisions, and learning from the
movements performed.
It appears that this first phase, as presented in Figure 7, the choice of
developing of a SAC made that the kinetic and dynamic models of the vehicle was not
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necessary. So the search will cover mainly on the Study of Individual sensors,
Benchmarking between sensors, fusion of sensors, Virtual Reality Non-Immersive
Architecture and Hardware & Software and Computer Networking.
Based on the outcome of sensor fusion, the DAS will provide a virtual
interface that represents the real environment. For this reason, the SRV is supposed to
create in real-time environment in the virtual environment and submit it to the driver
of the vehicle. Also, it should propose corrections of movement for fulfilling the main
task of navigation and diversion of obstacles. In practice, this type of system will
assist the instruments navigation (sensors) in environments of poor lighting or under
great effect of fog and other occasions where the system of human vision is impaired
or that the military mission prevents the use of lighting.
Figure 7 - Featured components of a Semi-Autonomous System selected for the study.
Therefore, it is possible to consider that information from sensing the real
environment must be mapped in the virtual environment, including preserving its
proportions. This feature can serve as a tool to estimate the displacement and
navigation, especially when applied in cases of temporary interruption of signals from
sensors and / or odometry and telemetry. For example, preserved the proportionality
between the environment when navigating the vehicle in the real environment, it is
possible to obtain a correlation between the value of information from local & global
positioning and displacements made in the virtual environment (if the information
remain of global positioning and odometry of the vehicle). With the failure of global
positioning equipment - GPS, from an estimated value in the virtual environment (the
case remain odometry and telemetry information from the vehicle or vice versa),
could be maintained control over the shift from positions of relative vehicle in the
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virtual environment, preserving the performance of tasks. These results also fit the
requirements of systems for reconnaissance and surveillance and observation, when
operated remotely.
In the Grand Challenge challenges and Urban Challenge, organized by
DARPA, to keep the information from positioning to the tasks was a prerequisite of
navigation systems because they were maintaining control over the implementation of
the task regardless of perfect operation of GPS sensor .
For the man-machine relationship may occur, it is essential the use of
interfaces and interactivity. Without these two reasons, it is impossible to have any
kind of man-machine relationship. A Man-Machine Interface - IMH understand the
behavior of the user, software, hardware and the environment - physical locations and
their impacts. Basically, the IMH is the connection between the external image of the
system and man. The interface allows the system to stay in touch with the user, and
the interaction of reciprocal action. The user has a mental model of how the system
works, and the system has a cognitive model of how you will behave.
The Virtual Reality (RV) or virtual environment is a technology interface
between a user and a computer system. Its goal is to recreate the fullest sense of
reality to an individual, leading him to adopt this interaction as one of its temporal
realities. As a prerequisite, it should take place in real time, using computational
techniques and equipment that help in expanding the sense of presence of the user. In
addition, RV as a tool for simulation of reality through technology also extends to a
seizure of a universe not real, a universe of icons and symbols, but in a process of
permeating significance of this false universe.
Originally, the term RV meant a completely immersive system, however, the
word has been used to describe systems that do not use digital components such as
gloves. According to literature, RV non-immersive is performed using a common
display in which the user manipulates the virtual environment through an input
device. Some devices important to RV: sensory perception; Hardware, Software, with
the user interface (simulations in real time). Besides being a good tool for
communication with the user, a simulated environment also allows the development
of simulation environments for testing the navigation system. Tests carried out in real
environment, in general, consume a considerable amount of time and resources of the
team. In addition, environmental changes increase the difficulty of specific tests.
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It is, furthermore, the use of this research for the development of simulation
systems for the detection of targets in systems of semi-automatic weapons, for
example, using the resources of the Automatic Repair of machine gun, now under
development in the Technology Center of the Army - CTEx.
To facilitate the search, there is the participation of several researchers and
specialists of different institutions. Thus, as well as in papers submitted to DARPA,
on the occasion of the Grand Challenge and Urban Challenge, has been chosen an
architecture based on logic layers (eg, TEAM OSHKOSH, 2007; STANFORD
RACING TEAM'S, 2005).
According TEAM OSHKOSH (2007), this type of architecture facilitates the
separation of functions and development, and allows the definition of the interfaces
between subsystems. This has allowed the team members develop their activities
independently, without sacrificing cohesion of the system. In Figure 6 architecture we
see the logic proposed by Team Oshkosh.
In Figure 8 an adjustment was made to the architecture logic proposed by
Team Oshkosh, excluding, initially, the layers: Control System (Control System) and
Management of the vehicle (Vehicle Management). Basically, drawing up these two
layers, describes itself the product development intermediary, either to assist the
driver, will not be developed when the kinematic and dynamic model of the vehicle,
ie not exist and the mechanisms of self-control actuators vehicle. Then, for the project
autonomous all sections will be used.
From the macro diagram of Figure 9 can be noted that the development of the
proposal should occur in matrix form with some lines of research being developed in
parallel.
Note that the work will develop in two main lines, namely: System Services
and Services Freelancers. The first of them do not need a large infrastructure
laboratory since the virtual reality and human-machine interface will be the main
targets to be achieved and will serve as a critical event for the assessment of
development of the subject.
The second phase, more or less depending on the input of resources to be
performed in a simulated or end use.
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Figure 8 - Architecture Logic for a Navigation System Semi-Autonomous assistance
of the driver. Adapted from OSHKOSH TEAM (2007).
The complexity involved in software development, as we propose herein,
where specialized teams and complex environments hamper the production, and
therefore the possibility of degradation of quality, establish a procedure for ensuring
the quality of software is not an option being studied, but part of a strategy of survival
of the project.
Various models of maturity for software development, as CMM and CMMI
are being used and improved every day. However, these models may not bring great
attention the activities related to tests of extreme importance for a navigation system
autonomous. In response to this deficiency was created some models of maturity for
the processes of tests, among them the MMR-and Testing Model Maturity -
Environment.
In response to this deficiency was created some models of maturity for the
processes of tests, among them the MMR-and Testing Maturity Model - environment.
The Testing Maturity Model-MMT was developed by the Illinois Institute of
Technology, as a guide for improvement of procedures for tests and is presented as a
supplement to the CMM model. Its structure is based on levels of maturity, which
have requirements for assessing the degree of maturity of a process. The example of
the CMM, CMMI and his successor, there are five levels and each level of maturity
were defined goals, which correspond to a set of activities and responsibilities
(associated with roles) in a particular field such as planning of tests. When these
activities are performed adequately contribute to improving the process of testing.
A process of software can be defined as a set of activities carried out to
develop, manage and maintenance systems. These activities may consist of other
activities, is held by persons who have a particular role in the process, which can use
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tools and models that automate and facilitate its work. As the process flows, artifacts
(code, documents, models and diagrams) are produced, updated and consumed in
activities.
A tool known as IEEE Standard Terminology Glossary of Software
Engineering describes the life cycle of the software. The life cycle of software
includes, typically, the stages of requirement, design, implementation, testing,
installation, operation, maintenance and deactivation. The model life-cycle V-Model
each activity associated with development of a test or validation of activity at the
same level of abstraction of proceeds generated at the stage. At the end of each phase,
testers formally evaluate the artifacts of each phase, reviewing and approving the
document requirements of the final stage of requirements, generating tests, based on
the artifacts generated, to be made later.
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Figure 9 - Macro diagram Logic of Architecture. Adapted from OSHKOSH TEAM
(2007).
In the V-Model the involvement of testers is given since the beginning of the
development enabling defects are discovered sooner than in traditional models. The
stages are presented in Figure 10.
In the last multi-conference held in the state of Texas-USA, IEEE 2008 Multi-
conference on Systems and Control (MSC) was presented a case study of the use of
the V-Model (or V-Shape - Software Development Validation) for development and
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validation of the software NGC Aerospace Ltd. The title of the presentation was
Computer-Aided Software Design for Spacecraft Guidance, Navigation an Control.
The speaker was the current president of NGC, Jean de Lafontaine.
The NGC Aerospace Ltd is a Canadian company of high-technology, which
offers analysis, simulation and control services, aeronautical and land space vehicles.
Among its various activities, NGC develops algorithms and real-time control that
enables the navigation, guidance and control of spacecraft. The NGC's main
customers the international space agencies, aerospace companies and other North
American and European. His current research activities are focused on five main
themes:
Perception, Artificial Vision;
Filtering, Great estimate, observers of State;
Guidance and Control;
Artificial Intelligence;
Identification, Modeling and Simulation;
Figure 10 - Phase V-Model - Development and Validation of Software.
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Thus, a summary report of the stages of development V-Model will be
presented below:
Phase of Verification - Analysis of requirements: at this stage, the system
requirements are proposed to be collected by examining the needs of the user. This
phase is concerned with what the system should take. However, it is not possible to
determine how the software will be designed or constructed. Generally, users are
interviewed and a document called the User Requirements is generated, where they
describe the features of the system, physics, interface, performance, data, safety
requirements, etc., as expected by the user. Users should carefully review this
document that will guide for designers at the design stage of the system. Tests for
acceptance of the user are designed at this stage.
Phase of Verification - Project System: System Engineers will analyze and
understand the business of the proposed system studying the document requirements
of User, discovering the possibilities and technical requirements. If any of the
requirements is impracticable, the user is informed of the matter. A resolution is found
and the document requirements of the User is edited accordingly. The specification of
the software is described and serve as a model for the development phase. This
document contains the overall organization of the system, its data structure and so on.
Other technical documents and diagrams of contracting, data dictionary will also be
produced at this stage. The document to test the system is prepared at this stage.
Phase of Verification - Bill of Architecture: This stage can also be called a
high level of project. The base line is a selection of the architecture required to
perform all the functions, relationships, addictions, database, diagrams of architecture,
technology and details needed for integration. The project of integration testing is
prepared at this stage.
Phase of Verification - Bill in Modules: This stage can also be called low-level
of design, where the system is designed and divided into smaller units or modules,
and each is explained that the programmer can begin coding. The document will
contain the details of this phase of the functional logic of each module, in pseudo code
- all the details of the interface, the API references, all the problems of addiction, error
messages, complete listings of entries and exits for each module. The project unit
testing is developed at this stage.
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Phase Validation - Unit Test: It involves the first stage of dynamic tests. It
involves analysis of the source code with the intention of eliminating errors, than
verification of efficient codes that adhere to the standards approved for codification.
Phase Validation - Test Integration: All modules are tested together to expose
the flaws in interactions between the components integrated. It is made using the test
of integration of project drawn up during the architecture of the project. It is the use of
software testers.
Phase Validation - Test System: Will you compare the specifications of the
system against the system itself, using documents of the system design. It is the use of
automated system at this stage.
Phase Validation - Test System: Will you compare the specifications of the
system against the system itself, using documents of the system design. It is the use of
automated system at this stage.
Phase Validation - the User Acceptance Test: To determine whether the
system meets the criteria, test the software in "real world".
Virtual Reality and Human-Machine Interface
The man-machine relationship occurs when interfaces and interactivity are
used. Without these both reasons, it is impossible to have any kind of man-machine
relationship.
A Man-Machine Interface-HMI takes into consideration the users behavior,
software, hardware and the environment - physical locations and their impacts
(TURNELL, 1998). Basically, the HMI is the connection between the external image
of the system and man. The interface allows the system to keep in contact with the
user, being the interaction of a reciprocal action. The user has a mental model of how
the system works, and the system has a cognitive model of how the user will behave.
The Virtual Reality - VR, or virtual environment, is a technology of interface
between a user and a computer system. Its goal is to recreate sense of reality to a
person, leading him to adopt this interaction as one of his temporal realities. As a
prerequisite, it should take place in real time, using computational techniques and
equipment that help in expanding the sense of presence of the user (eg, JIMING LIU
et al., 2003; GAVA. TBS, 2003; GAVA. TBS, 2003).
148
In Figure 11 to Princeton University introduced the use of the tool called
Microsoft Robotics Studio to simulate tests of its autonomous navigation system. To
this end, a simulator was developed in order to allow programmers to run tests about
the production of the vehicle in a laptop. (PRINCETON, 2007). In Figure 12 the result
of computer vision in a simulated virtual reality (GRZIG & FRANKE, 1998).
Figure 11 - Shots of Simulator: View of the Virtual Environment; Intersection
and Precedence Simulation (PRINCETON, 2007).
Figure 12 - UTA - view of the outcome of Computer Vision (GRZIG &
FRANKE, 1998).
Functional requirements for real-time systems for a system to
assist driver
To drive a car is essential that the driver has a simultaneous control of
longitudinal and lateral positions, environmental conditions, dashboard of the vehicle,
traffic signals, using the steering wheel, accelerator and brake. Moreover, high-level
cognitive skills are required, such as estimation of future situations, by analyzing the
.present conditions.
The vision provides 90% of the total information that are necessary in the task
of driving. When the environment is clearly visible, the signs of traffic are little
observed by the driver (EVANS, 1991).
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For distances from 100 to 200 meters of a vehicle to the other, when they both
have the same speed, 75% of people have the feeling that the vehicles are
approaching. For a distance of 60 meters, 99% of the people can notice when a car is
getting approach to the other when they maintain a relative speed of 5 Km/h.
(EVANS, 1991).
Time of human reaction can be understood as the time required for a person to
perceive and to react to any external stimulus. This is very to achieve success in
activities that require quick answers.
The time of reaction or reflection of the individual starts with a message sent
to the brain and ends when the body performs a physical response or reaction. For
example, when the driver sees an obstacle (the message), that is registered in the brain
and results in a reaction to the danger: a complete stop, diversion from the obstacle or
other appropriate movement.
The brain receives the message and then tells the body to perform an action. It
takes time; its the reaction time.
The two most important features of the reaction time is the number of stimulus
of possible threats and the number of responses and the expectation of the menace
(EVANS, 1991). If a person receives an instruction to touch a single button whenever
a single lamp is lit, and being mindful of the lighting of the lamp, your reaction time is
about 0.15 seconds. When the amount of stimulus (lamps) and answers (buttons)
increases, the time of reaction also increases.
The reaction time in traffic depends on identifying a variety of events in a
complex environment. Generally, the driver is not expecting a threat all the time,
therefore the reaction time increases. It is indicated to consider a response time of 2.5
seconds, at least, so that the driver is able to take the correct attitude to avoid collision
(EVANS, 1991).
The main cause of accidents is the human error. Thus, if the driver had
equipment able to detect and locate obstacles and accomplish the prediction of
possible collisions, telling the driver all this in advance, the number of accidents
would certainly be reduced significantly.
According to Cheng (2007), the three major functions of the Interactive
Intelligent Driver-Assistance and Safety Warning (I DASW) are:
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Provide appropriate information in real time about the vehicles, drivers
and traffic to improve security and improve the driving skills.
Advise the driver about the possible risks and help them in the
direction of the vehicle. The system warns the driver about possible
situations of risk. If the driver does not react in a time expected, the
system takes control of direction in order to avoid the collision.
Monitor security devices that protect the driver and passengers. The
system can protect the occupants of the vehicle, triggering the airbag in
advance, when see that the collision is certain.
The PReVENT integrated project is led by the European Automobile Industry
and it aims to contribute to the road safety by developing technologies and then
launching them.
APALACI and COMPOSE are two subprojects of PReVENT. The first one
focuses on the protection of occupants of the vehicle. The second one intends to
protect other users: pedestrians, cyclists and drivers of other vehicles.
The COMPOSE and I DASW identify obstacles, and also they take control of
the direction in situations of risk, if the driver does not adopt a stance in a considered
time by the security system.
The search expressed here represents the preliminary results of work about
Real-Time System discipline (PCS5761 - 2008) taught by Prof. Dr. Jorge de Almeida
Junior Rady, at the Polytechnic School of the University of Sao Paulo USP; the first
author of this work is Mr. Danilo Habermann. This work intends to examine only the
functionality of a system that helps the driver, but never controls the vehicle. This
system is called Driver Assistance System (DAS). It provides the driver, through a
man-machine interface (MMI), shown in Figures 13, 14 and 15, information on the
outskirts of the area of transport so that it can take decisions, thus increasing safety.
The analysis of roads requires not only information about the obstacles in a
given time, but also the need to make the prediction of that object in a future time.
Sensors are placed around the vehicle in order to obtain information which are
reviewed by programs able to recognize the potential threats.
As noted earlier, many accidents are caused by congestion (rows) and changes
of track. As the study of the IRU shows, the main causes of these collisions are:
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Major causes of collisions in congestion (figure 14);
Speed not compatible with the way: 22.1%;
Inadequate security distance: 16.2%;
Lack of attention: 12.8%;
Tiredness / Sleep: 2.3%;
Figure 13: Real picture exhibited in IMH (KIM, 2007).
Figure 14 - Sense of the flow of vehicles (IRU, 2007).
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Major causes of collisions with changes in track (Figure 15):
Maneuvering improperly: 15.7%;
Tiredness / Sleep: 8.8%;
Improper speed: 6.7%;
Inadequate security distance: 4.4%
Figure 15 - Types of maneuvers (IRU, 2007).
Another relevant piece of information, according to the Statistical Yearbook of
DENATRAN - RENAEST 2006, amongst the 19,752 killed in traffic accidents in
Brazil, 4,404 were drivers, passengers were 4,214, 4,375 were pedestrians,
motorcyclists were 3,186 and 1,214 were cyclists. These data show that a system of
assistance to the driver should be able to detect and track pedestrians, cyclists and
motorcyclists, for they together represent 44.3% of fatal victims in Brazil in 2006.
The autonomous vehicles and systems of assistance to the driver should take
special attention to objects in motion, and particularly the people. They move in
unpredictable places. Even if the system detects the presence of a human being, this
does not guarantee that it will not cross the path of the vehicle. It is necessary to
distinguish a person among objects, then, the system should continuously monitor
their movement, and predict their future actions (AUFRRE, 2003)
Based on this information, the main functions that a system of assistance to the
driver must have are presented:
1. Detection of the lane:
It is very important to identify the runway with all its lanes on which a vehicle
rides. Furthermore, it is necessary to put the vehicle in this image in the correct
position according to the lane it is. Thus it will be possible to generate an alarm
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whenever the vehicle begins to invade the other lanes or starts to leave the runway. To
identify the runway at the time of departure is necessary to identify the position and
direction of the limits of the painted lines. There are two ways of doing this; one of
them is to insert magnetic markers on lanes. However, there is a large cost involved in
this operation. The most usual way is to paint the lateral limits of the lane and then to
use computer vision to identify the place to ridden. When the image of a highway is
taken, its possible to notice that lanes boundaries are more intensive than the paved
area, facilitating the identification (CHENG, 2007).
2. Detection and Tracking of vehicles:
All vehicles that are on the outskirts of the other one that has the SAC must be
detected and tracked. It is very important to determine the relative speeds of other
vehicles and to estimate the risks of occurring a collision. In general, sensors like
LIDAR, RADAR or SONAR measure the distance and direction to the obstacle, and
cameras help to identify the kind of the obstacle. Algorithms aim to identify some
specific patterns in the image as form and symmetry.
3. Detection and tracking of pedestrians:
According to Cheng (2007), infrared sensors are crucial to achieving an
accurate detection of people. The tracking of people is one of the most difficult tasks
to be performed due to the unpredictable behavior of them.
4. Detection of fixed objects:
It is important to find the other obstacles that make the streets and highways,
as slabs of traffic, barriers and trees. In general, RADAR sensors are used combined
with the video cameras.
5. Recognition of traffic signs:
As shown above, the incompatible speed to a certain lane causes many
accidents. Thus, it is necessary to identify the signs that indicate the maximum speed
allowed. Moreover, it is important to identify other signs as "STOP" and traffic lights
to prevent distracted drivers from passing through crossings in not allowed moments.
6. Prediction and warning of collisions:
When the location of mobile and fixed objects inserted into the virtual image
of the runway, the relative speed and direction and acceleration of the vehicle are
known, with the SAC, you can calculate the time of collision of each object. They
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Two types of warning can be configured: warning notices and warnings of
emergency, depending on the degree of risk.
Currently, we have an increasing amount of applications that have defined
behaviors according to time restrictions. Some examples of these applications are in
control of industrial plants, rail or air traffic. Systems that have the characteristic of
being subjected to time restrictions, are commonly identified as Real-Time Systems.
A system of real time - SRT must satisfy restrictions of time to respond under
the risk of failure, causing serious accidents (LAPLANT, 2004).
A system for assisting the driver may be seen as a system of real time, as
wrong or outdated information in time may not meet the needs of the driver and cause
an accident. For example, suppose that the driver is traveling on long straight stretch
of a highway and for being inattentive not realize that his vehicle is approaching so
dangerous a vehicle in front, the SAC is not able to calculate the correct information
and not see the danger, or, if unable to process in sufficient time so that the driver can
reduce the speed or braking the vehicle, an accident occurs. It may bring serious
damage to the driver to other people.
The design and implementation of Real-Time Systems require attention to
several topics:
Selection of Hardware and Software.
Specification and design of STR and the correct representation of the
behavior of the system over time.
Measure and predict the response time and try to reduce it.
The figure 16 brings the steps of a project of STR. You can see that the first
module is the analysis of the technical requirements of the system. This work aims,
from this point on, to determine the requirements for an SAC.
The requirements engineering focuses on the goals, functions and limitations
of the systems and with the representation of these aspects on a form capable of
modeling and analyzing the project. The goal is to create a complete specification of
requirements, correct to developers and customers. In real time systems, this task is
very complicated because of the need to make the requirements in time (LAPLANT,
2004).
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Figure 16 - Stages of a draft system of real time (ALMEIDA JNIOR, 2008).
The IEEE 830 defines the following types of requirements:
1. Functional
2. External Interfaces
3. Performance
4. Data Base
5. Restrictions Project
6. Attributes Software:
Reliability
Availability
Security
Adaptable
The requirements for numbers two (2) to six (6) are considered non-functional.
The functional requirements include a description of all entries of the system and the
sequences of operation associated with number of entries. They describe the behavior
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of the complete system. This work will focus only on that type of requirement.
According to the work of Cheng (2007) and Kim (2007), it is proposed a new
architecture for the SAC, shown in Figure 17, in order to fulfill the functions of an
SAC.
Figure 17 - Proposal of architecture for the SAC.
The Table 2 presents the main functions of the SAC-related entries of the
system and its operations.
Table 2 - Functions and operations of the SAC.
Nr SERVICES ENTRIES OPERATIONS
1 Lane Detection video cameras
(vision)
- algorithm identifies the tracks
- Modeling of the virtual
environment
- Signal sent to IMH
2 Vehicles Detection RADAR, LIDAR
and SONAR
sensors
- Algorithm identifies the vehicle
(position, relative velocity)
- The location and speed of the
vehicle are exposed in IMH
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3 Pedestrians Detection Infrared and Vision
Sensor
- Image Processing
- Algorithm identifies and tracks
the pedestrian
Signal sent to IMH
4 Fixed Objects
Detection
RADAR, LIDAR
and SONAR
sensors
- algorithm identifies the object
- The location and speed of the
vehicle are exposed in IMH
5 Traffic Rules
Recognition
video cameras
(vision)
- algorithm identifies the signs
and interprets
- Signs are compared with the
vehicle speed
6 Prediction and
warning of collisions
- Signs processed
in blocks of
detection -
Information about
speed and
acceleration of
vehicle
- algorithm identifies the
possible risks of collision
- Alarms are sent to IMH
(audible and visual). They may
also be sent instructions to the
driver.
The most important function of the system is the prediction and warning of
collisions. It depends on other duties. The system must detect an object that is
approaching with great risk to the vehicle and submit it to IMH in order to set off the
alarm, for the driver may be not paying attention to the system. Therefore, the ringing
of the alarm is very important to avoid accidents.
The time required for the system starts ringing the alarms depends on many
factors such as: relative speed between the vehicle and object, the vehicle weight (the
impact on braking), the reaction time of the driver and scope of the sensors.
The Figure 18 helps to estimate a processing time required to implement the
identification of a vehicle in front, when it is stopped on the lane, that is, with zero
speed (V2 = 0). "V1" is the speed of the vehicle which has an SAC. The letter "D" is
the maximum range of sensors and "d" is the required distance that the vehicle needs
to get stopped safely. The time required for all processing, since the receipt of signals
from sensors to the generation of alarms is represented by "T1". The letter "T2" stands
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for the time of reaction of the driver and "T3" the time required for the vehicle to pass
V1 to V2, after being applied the brakes at the moment of time t1.
Figure 18 Security distance between vehicles
In order to achieve the best performance of SAC, its necessary to limit the
speed of the vehicle, otherwise, the system probably will not be able to process the
information in enough time and alert the driver of the vehicle.
Traffic accidents kill thousands of people each year only in Brazil and the
losses are estimated at 10 billion dollars a year to repair the damage of such accidents.
Its nearly half the budget that the country invests in health and almost what the
federal government spends on education. Many accidents are caused due to human
error, which is mostly represented by inattention. One way to increase the security in
traffic is the creation of a system of assistance to the driver, which warns him about
the collisions that are likely to happen. This driver can keep himself alive and save the
other peoples lives thereby.
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Computer Vision and LIDAR
In general, for autonomous and semi-autonomous navigation systems, the
vision system is applied to the environment perception around the vehicle. Thus,
initially, the vision system should be able to perform:
Recognition of Navigation Area;
Recognition of Traffic Lights, Traffic Signs and Pedestrian
Crossing and arrows;
Traffic Detection
It has been shown in BERTOZZI et al., 2000 that computer vision can
efficiently be used in autonomous vehicles control for outdoor and indoor
environments.
To interface between navigation system and environment, many types of
sensors were used by the participating teams of the DARPA challenges. In most of the
cases, it was used vision systems generally composed of two or more cameras (e.g.,
DAHLKAMP, 2006; THRUN, 2005). In other works are based in monocular vision
systems (MIRANDA NETO, 2007). Although the monocular vision has a low
computational cost, generally, its cannot obtain depth information.
What is trivial for the human system, that is, to construct three-dimensional
scenes from two-dimensional images captured by the vision system and to use it on
the decision process for navigation, is not necessary trivial for the computer systems.
Different from the human system, complex computational vision systems can
lead to some damages due to the processing time. Thinking about the existing relation
between a real time decision system and an image reading system that operates in a
specific acquiring/reading rate, that is, amount of images read per second, one can
question: how many images acquired must be discarded by the image processing
system to guarantee an acceptable real time navigation of an autonomous vehicle?
Therefore, the decision for a more complex machine vision system possibly
leads to an excessively slow system for an independent real time application.
Additionally, the automatic discarding choice of information (images) by the system,
for it to become fast enough, can result in loss of important information.
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Although the system could maintain a database of acquired images and
submits it, for example, to a neural network for decision, the great number of
information not necessarily would lead to better decisions and also could harm the
performance of the system, overloading it.
Due to the general applicability of it, the problem of navigation of mobile
robots is dealt with using more complex techniques. The most common ones are
based on the processing of two or more images, such as the analysis of the optical
flow field and the processing of non-monocular images.
In the first case more than one image are acquired by the same sensor in
different time instants, while in the second one multiple cameras acquire images
simultaneously, but from different points of view. Besides their intrinsic higher
computational complexity caused by a significant increment in the amount of data to
be processed, these techniques must also be robust enough to tolerate noise caused by
vehicle movements and drifts in the calibration of the multiple cameras setup.
The optical flow-based technique requires the analysis of a sequence of two or
more images: a two-dimensional vector is computed in the image domain, encoding
the horizontal and vertical components of the velocity of each pixel (HORN &
SCHUNCK, 1981). The result can be used to compute ego-motion, which in some
systems are directly extracted from odometry; obstacles can be detected by analyzing
the difference between the expected and real velocity fields.
Although extremely complex and highly demanding, thanks to the great deal
of information it can deliver, machine vision is a powerful means for sensing the
environment and has been widely employed to deal with a large number of tasks in
the automotive field. But complex computer vision systems may perform
unsatisfactorily due to its processing time. Thinking about the existing relation
between a real time decision system and an image reading system that operates in an
specific acquiring/reading rate. Therefore, the decision for a more complex machine
vision system possibly leads to an excessively slow system.
Although the system could maintain a database of acquired images and submit
it, for example, to a neural network for decision, the great amount of information
would not necessarily lead to better decisions and could also harm the performance of
the system, overloading it. However, in figure 19, FRANKE et al. (2000) presented
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the use of artificial neural networks for recognition of traffic lights, traffic signs and
pedestrian crossing and arrows.
Although extremely complex and highly demanding, thanks to the great deal
of information it can deliver (it has been estimated that humans perceive visually
about 90% of the environment information required for driving), machine vision is a
powerful means for sensing the environment and has been widely employed to deal
with a large number of tasks in the automotive field (BERTOZZI et al., 2000). But the
definition of an automatic image discharge criteria, that leads to a minimum loss of
information, may not be a trivial task for computational systems, specially real time
ones.
Figure 19 UTA II Examples for object and infrastructure recognition modules
(FRANKE et al., 2000).
Many computer vision projects need to obtain advance information about the
environment. To obtain this information we have the calibration camera. For the
calibration, for example, we found the use of "landmarks" to tracking robots
(NAGAONKAR et al., 2005).
The camera calibration allows a device to measure. However, to make the
camera calibration are necessary six or more known points in the environment, and
from these points found relationship with known points in the image, considering a
camera position (eg, GONZALEZ & WOODS, 2000; TSAI, 1987). In this context, we
have the fusion between vision systems and LIDAR Systems (Light Detection and
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Ranging) (TEAM OSHKOSH, 2007). This study is very important when the
navigation system has not prior information about of the environment.
Basically, the literature presents two types of vision systems: global vision, as
shown in figure 20 and 21, which, respectively, soccer robot (eg, SCHWARTZ et al.,
2003; GUPTA et al., 2005) and agriculture tractor control, and local vision: figure 22
the Volkswagen Touareg R5 used by Stanford in the Grand Challenge (STANFORD
RACING TEAM's, 2005).
Independent of the vision type used, the goal of computer vision is processing
images to machines perception (GONZALEZ & WOODS, 2000). Furthermore, the
algorithms of computer vision can do several operations in the images, and allow, for
example: noise reduction, highlight image, color processing, segmentation,
classification, etc.
Figure 20 Global Vision: Soccer Robot (SCHWARTZ et al., 2003).
Figure 21 Autonomous Vehicle Technology (DARPA).
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Figure 22 Volkswagen Touareg R5 (STANFORD RACING TEAMs, 2005).
Several methods can perform pattern recognition in images. These methods,
when applied to image processing, generally are known as segmentation methods.
This segmentation, according to GONZALEZ & WOODS (2000), can be considered
as the partition of digital images in sets of pixels, considering application and
previously defined criteria. The purpose of segmentation is to distinguish objects in an
image, what can be extremely sophisticated and complex. Results can be very
satisfactory with the use of well elaborated filters. However, these results (high
quality segmentation) can generate a higher price, that is, normally robust
segmentation algorithms present great complexity.
To detect the navigation area, several algorithms can be used. Among these, in
figure 23 and 24 a segmentation method called TH Finder (Threshold and Horizon
Finder) based on the Otsu segmentation method (eg, MIRANDA NETO, 2007;
MIRANDA NETO & RITTNER , 2006).
Figure 23 (a) Prototype; (b) Local Vision; (c) Original Image; (d) TH Finder Result
(MIRANDA NETO et al., 2007).
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Figure 24 TH Finder Results: (a) original image 1 (occlusion example); (b)
segmentation result; (c) original image 2 (texture example); (d) segmentation result
(MIRANDA NETO & RITTNER, 2006).
To reduce the cost computational of segmentation process is calculation of
correlation between a current image and previous image. About this, we will highlight
our results in previous work: Discarding Redundant Information (MIRANDA NETO
et al., 2007).
For autonomous navigation or to alert a driver about the distance between your
vehicle and other, and especially in cases of low visibility, we have the optical sensors
known as LIDAR (LIght Detection And Ranging). Based on detection of light and
amplitude are capable of detecting rain, fog, etc.
To avoid obstacles safely, Stanley, the vehicle of Stanford University team
had to be able to detect the navigation area (STANFORD RACING TEAM's, 2005).
Distance measurements, speed and positions of objects are essential to the
environment perception, especially in the urban environment. In the figure 25
STANFORD RACING TEAM's (2005) presents an integrated LIDAR system of 360-
Degree Field-of-View. For this, the system software has been adapted to operate
within the system architecture. All lasers operated in a field of 240-Degree Field-of-
View horizontal, thus, two lasers were positioned on the front of the vehicle and
another in the center.
The results obtained in searches involving computer vision can also be used as
solutions for the agricultural area, like the preliminary results presented by TIJMEN
BAKKER et al. (2008), in the work: "A vision based row detection system for sugar
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beet." In this case, the objective was to identify the lines (rows). The prototype and
some results can be seen in figure 26.
According to VIJAY SUBRAMANIAN et al. (2008) the current generation of
navigation systems for agricultural vehicles used GPS as the primary sensor for the
command. But in some situations, where trees often block the satellite signals to the
GPS receiver, an alternative method is necessary. For this, a tractor vehicle with a
vision system and laser was used for individual orientation. Moreover, a PID
controller was developed to minimize the error. Some results can be see in figure 27.
Figure 25 Laser Sensor: (a) Stanley has five sensors, mounted in five different
angles. (b) Each laser acquires a map three-dimensional (3D). The navigation system
analyzes these maps and indicates the area of navigation and potential obstacles
(STANFORD RACING TEAMs, 2005).
Figure 26 Prototype; (a) (b) (c): Line Identification (TIJMEN BAKKER et al.,
2008).
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Figure 27 Prototype; (a) (b) (c): Vision System and Laser: Individual Orientation
(VIJAY SUBRAMANIAN et al., 2008).
Computer Learning and Data Fusion
The learning process of the autonomous and semi-autonomous systems is
based on the idea that a system can become able to act efficiently in the face of new
situations, sustaining themselves ability to generalize knowledge, even if its
incomplete. However, the generalization is not the only property that a system with
learning must have (CAZANGI, 2004). Some basic attributes are described below:
The system must be robust the noise;
Mechanisms must converge quickly and have to allow the learning
during the system operation;
The learning should be incremental and continuous;
The learning process must be computationally treatable, that is, should
allow its implementation in real time;
The learning should depend only of information obtained through its
sensory.
Not only for autonomous navigation, is the data fusion also needed for the
driver assistance system, for example: to build the real environment image in the
virtual reality environment, to identify traffic lights and signs. Thus, the study of the
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Artificial Neural Networks, Classifier System and Genetic Algorithms, plus other
relevant techniques of learning, is important.
In this context, we have that the initial information about neurocomputation
was published by McCulloch and Pitts in 1943. Other authors have also contributed to
the evolution of this research, but from 1967 to 1982 there was a period of silent
search. In the 80, perhaps the most important factor has occurred when Iran Skurnick,
a DARPA's program manager, decided to hear the arguments of neurocomputation.
This fact opened the door for neurocomputation, and gave for the DARPA the status
of world leaders of "fashion" technology. In 1987 occurred in San Francisco the first
conference of neural networks in modern times, the IEEE International Conference on
Neural Networks, and was also formed the International Society Neural Networks
(INNS). From these events the foundation of the INNS Journal in 1989, followed by
Neural Computation and the IEEE Transactions on Neural Networks in 1990 VON
ZUBEN & ATTUX (2008).
The Artificial Neural Networks (ANN) will solve problems of artificial
intelligence, from a system that has circuits that simulate human behavior (learning
and making discoveries). However, an artificial neural network may have hundreds or
thousands of units of processing, while the brain of a mammal can have many billions
of neurons.
Basically, an ANN has input signals, which arrive through connections that
originate from external world. The outputs of the network to the outside world are
connections of network. The operation of a network cell comes down to:
Signs are displayed at the entrance;
Each signal is multiplied by a weight that indicates its influence in the
output of the unit;
It made a weighted sum of signals that produces a level of activity;
If this level exceeds a limit (threshold) to produce one unit output;
In VON ZUBEN & ATTUX (2008) stands out as a major motivation behind
this paradigm is the possibility of developing mechanisms problems not treatable, or
not yet resolved by conventional computing.
Especially for self-organizing maps in navigation systems, in NAGRATH et
al. (1997) has proposed a method of navigation for mobile robots, based on sensor,
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using self-organizing maps of Kohonen for conservation of topology for navigation in
unknown environments. The location of mobile robot was kept discreetly using a
network of two-dimensional Kohonen. The network was used for planning of paths
and kept themselves well adapted to solve the navigation problem in real time. The
authors said that since the area was in discretizado weights, and were attuned to the
guidance of mobile robot, the system was able to navigate successfully in new tasks.
For the experiments used a robot with 7 of sensors ultrason divided into three subsets:
Right, Center, Left. The tasks took place in a real environment of 4m x 6m. In figure
28 are made available to the environment and topological map created.
Figure 28 (a) Environment; (b) and Topological map (NAGRATH et al., 1997).
In HUOSHENG & DONGBING (1999) a navigation system based on
"landmarks" was presented. From the identification by a sensor laser scanner, the each
robot repositioning in the environment, its re-calibration manual was necessary,
which, according to the authors, was not something appropriate for a practical
application. For this, they used a self-organizing map of Kohonen, who had as entered
the measurements of the laser that could only measure the angles of different
references, but could not distinguish them. Thus, the network should determine the
correlation between the angles and references to provide the triangulation of
coordinates. Figure 29.
Figure 29 (a) Landmarks Identification; (b) Triangulation of Coordinates
(HUOSHENG & DONGBING, 1999).
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In DIMAKOV & GOLOVKO (2000) a common problem for mobile robots
was discussed, which the authors would normally require prior information and
detailed map of paths, requiring a detailed description of all possible ways. For this,
describe a system architecture neural network to solve the problem of lower path. This
architecture has a Kohonen network as the only level of memory storage of the main
points of the environment. As entries of the system were used: Coordinated current of
the robot; Direction of movement; Next point indicator regarding the present position
of the robot. In figure 30 presents the results of experiments in a simulated
environment.
YAMADA (2004) presents a mobile robot that uses non-supervised learning
for recognition of environments from the sequence of actions. The sequences of
actions implemented were converted into vectors and formed the entrance to self-
organizing map. According to the author, the learning allowed the robot identify
different environments. For the experiments was used a robot with proximity sensor
by infrared. Figure 31 shows the robot, an environment and the result of a sensing
array.
Figure 30 (a) Trajectory 1; (b) Trajectory 2 (DIMAKOV & GOLOVKO, 2000).
Figure 31 (a) Robot; (b) Environment; (c) Vector (YAMADA, 2004).
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Finally, ISHIKAWA et al. (2007) classifies the problem as difficult to teach
each action on a mobile robot. As an option and suggests the use of technologies that
use the brain as inspiration. Figure 32 shows the results of a path mapped in
movements on a self-organizing map.
Figure 32 (a) Environment; (b) Path mapped (ISHIKAWA, 2007).
Basically, the problem of autonomous or semi-autonomous navigation systems
involves the recognition of the environment, self-location, trajectory planning and
control of movements of the system in the space. A series of sensors can be used to
create and maintain an environment representation, through which the navigation
system (with some level of autonomy) decide by a movement. In this context, with a
self-organizing map, a phase of exploration-supervised training can store (remember)
the information about the operating environment, contributing at a later phase, called
task.
For this, the neural network of Kohonen is a tool to autonomous and semi-
autonomous navigation, because considering the navigation system autonomy; the
proposed method brings greater robustness to the system.
Network or Interconnection between Mobiles Machines
Designed for interconnection between devices and also to control in cars, we
have the communication networks and protocols to interface between various devices.
For example, the Ad Hoc Networks and the CAN Protocols (Controller Area
Network).
To minimize the weight-performance, especially for experimental projects, for
small vehicles or robots, or for cases where there are difficulties on board all the
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hardware necessary, or by a strategy of action, various types of distributed system
architecture or client-server can be used. So some tasks, as storing and processing
information may be shared (between robots or vehicles) or assigned to a remote server
machine more powerful. This type of solution also allows the sharing of the database,
in addition to operations in cooperation. With this, information acquired from the
exploitation of environments determined by agent may be sharing by other
(MIRANDA NETO, 2007).
According TANENBAUM & VAN STEEN (2002) a distributed system based
on a collection of independent computers that are presented to the user as a single
system and allows the sharing of system resources: hardware, software and data.
Thus, including resources of computer networks, a system of parallel processing
joining several processing nodes, for example: individual computers not necessarily
homogeneous that processes a great computational cost run in the node more
available, or even subdivided by various nodes. Thus, any one task can be divided into
several subtasks running in parallel. Thus, the distributed computing is to add the
computational power of several computers or in different centers of the same
computer.
Currently processors use more of a core processing. Investing in parallel
architectures, the use of programming "multi-thread" is to put more threads within a
single process. So, in parallel programming the development of programs depends on
the type of architecture (OLIVEIRA et al., 2004). Moreover, this abstraction
(multilayer systems), in addition to enabling the implementation in a client-server
architecture and distributed system, is closer to the features of the new generation of
multiprocessor computers, and of operating systems structure (MIRANDA NETO &
RITTNER, 2006). Another example is shown in the UTA project (Mercedes-Benz E-
class) where the programming is distributed applied to driver assistance (eg,
GRZIG, 2001; FRANKE et al., 2000).
Using an ad hoc network, which does not have a predetermined topology, and
neither has centralized control, its network communicate without the need for a
physical connection, where some network devices are only part of communication. In
this network, each node acts as both router and as a host. Thus, all individually node is
a router to other nodes. Without a fixed infrastructure, the responsibility for
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organizing and monitoring the network is distributed the terminals (PERKINS &
Royer (1999).
Used by the TerraMax team at Urban Challenge (TEAM OSHKOSH, 2007),
and applied to agricultural implements mainly in Brazil, the CAN Protocols has
emerged in the decade of 1980. Developed by BOSCH has become an international
standard (ISO 11898) in 1994 (CAN, 2008).
Designed for interconnection of the control devices in cars, in a few years this
technology migrated to other areas. Currently find its use in other types of vehicles
such as trucks, buses, ships, satellites, agricultural machines (figure 34), the
construction machines and military machines. In addition, the other standards CAN
have been developed for automation of industrial plants, robotic applications and
instrumentation.
Basically, we have a physical layer and data link layer in accordance with the
model of reference ISO / OSI (Sousa et al., 2000). In the agricultural area, based on
the ISO model have developed protocols for high-level according to the needs of the
area. In the agricultural sector the use this protocol has been encouraged by
international standards, such as ISO, SAE, DIN (Sousa et al., 2000). According to the
author, the growing popularity of applications with CAN in automation and control is
supported, among other factors, because it has some characteristics:
Possibility of settings to operate with communication rates: a few Kb/s
to 1 Mb/s;
Communication of data using two wires, which reduces the cost and
complexity of the physical implementation, and promotes the
protection electromagnetic interference;
Size of data optimized for each table, allowing the transmission of data
common to devices for control systems and with little time for idleness
for each device;
Use a method of arbitration for access to the means for transmitting
data that prevents collisions and enables a quick response to the need
for transmission;
Possibility of implementing communication network with point to
point (between two devices);
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Mechanisms of identification of errors and the lack of tolerance that
allow the implementation of networks rather robust and
Flexibility to add, change and removal of devices, which are conducive
to maintenance operations and changes in the system.
Figure 34 Network CAN Tractor: ISO 11783 (SOUSA et al., 2000).
Behavior and Basic Criteria for Technical Evaluation
Vehicles that participated in the DARPA Challenges used a wide range of
devices to allow navigation, for example: video cameras, LASER (LIDAR - Light
Detection and Ranging), inertial navigation systems, GPS and points of passage. The
computational platforms employed by various teams were Linux and Windows, using
C, C + +, Java, LabVIEW.
In preparing the project to define their behavior through basic Technical
Evaluation Criteria (TEC), figure 35. According to the increase in the desired degree
of vehicle autonomy, the complexity of the criteria to be assessed also increases and
the time and resources required for the project implementation. The proposal presents
will be treated the criteria for an Autonomous Navigation System and Semi-
Autonomous System.
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Figure 35 Technical Evaluation Criteria.
The technical evaluation criteria are organized in five sets with their respective
subdivisions, which increase its complexity gradually. The criteria for a vehicle with
Autonomous Navigation System are Safety, Basic Navigation, Traffic Basic,
Advanced Navigation and Advanced Traffic.
Generally, the criteria for technical evaluation of a driver assistance system are
similar to those cited above, except that for the SAC will only alerts the driver, and
there was no activity in the autonomous behavior of the vehicle. Who will operate and
manage the performance of the vehicle will be the pilot after of alerts received.
Thus, to begin the project, are offered the tasks of alerts guarantee security in
the vehicle while it realizes a straight line or curve, etc. Such alerts will be presented
in a non-immersive virtual reality system. The test environment of the navigation
system has to be prepared, particularly in relation to the marking of tracks of rolling,
position of crossing points, limits and parking, delimitation of areas, preparation of
obstacles, signaling horizontal and vertical transit.
A SAC is an autonomous system (in part), then the criteria for technical
evaluation will be presented for an Autonomous Navigation System. It must then
consider that every criterion of evaluation indicating the vehicle inference should be
converted into an alert system for the driver. In the first stage, that is, when applied to
robots, it will be possible to infer the same, which does not relieve the need for the
conversion of a system of alerting the driver.
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Basic behavior for an Autonomous Navigation System
Security
There must be an electronic device to stop emergency, called E-stop, which
must have the ability to perform emergency braking the vehicle. The vehicle must
stop completely, so smooth and controlled, at a distance, pre-determined time, after
activation of E-stop.
Basic Navigation
This criterion is composed by a basic activities set of shipping.
1. Preparing to Move
The vehicle is in autonomous mode and ready to start the shift to 5 minutes
after receiving the Archive of Information Mission (ADM).
2. Mission Begin
The vehicle must follow the crossing points of ADM.
3. Crossing Points
The bumper in the vehicle would pass on each point of passage in the ADM in
track and correct in the sequence provided by ADM. The points of passage will be
marked.
4. Stay on Track
The vehicle must remain with all the wheels rolling in its range throughout the
trajectory ride, except when conducting a legal maneuver transit, for example, turn
right or maneuvering to avoid an obstacle.
5. Speed Limits
The vehicle must follow the speed limits, maximum and minimum. When the
vehicle has to stop because of an obstacle, it will not be seen as violation of that
criterion.
6. Delay in Excess
The vehicle must meet the criteria for excessive delay in route, subject to that
responsibility for safe driving (down the occurrence of accidents and collisions).
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7. Collisions
The vehicle must avoid collisions and near-collisions during the entire journey.
This is the main criterion to be observed. The vehicle must continuously monitor the
way forward looking for vehicles and identifying obstacles to avoid collisions. The
vehicle should not assume that the behavior of another vehicle is completely
predictable.
8. Pedestrian Range / Line Retention
The vehicle must stop before the Range so that the bumper in the vehicle
should be at a safe distance from the middle of the Range. The vehicle must not stop
on the track or block the crossing.
9. Separation of Vehicles
The vehicle must maintain a minimum space on the sides and back of all the
others vehicles and obstacles in all areas of the route. In areas of security, the vehicle
must maintain a minimum distance of the vehicle in front. In the other areas route, the
vehicle must maintain a separation of a vehicle-length. The security areas include
crosses and pedestrian range, a parking area and fields of obstacles.
Begin of passing
The vehicle must keep a safety distance from another vehicle or an obstacle
fixed in front of it before starting passing another vechile.
1. Returning after passsing
The vehicle must return to a determined lane keeping a distance from 1 to 4
times the size of the vehicle that was passed before completing the maneuver.
12. Return
The vehicle must have ability to perform a U-turn.
Traffic Base
This criterion is composed of traffic basic activities set defined in:
1. Basic Navigation
The vehicle must meet all criteria for basic navigation.
2. Precedence of Intersection
The vehicle must comply with the order of precedence at the intersections. The
basic rule of precedence in an intersection that is the first vehicle to stop on the range
is the first vehicle to leave. The vehicle entering the intersection, he must
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continuously monitor the other vehicles and the path ahead to eliminate the possibility
of collision.
3. Minimum distance to Follow
The vehicle must maintain a distance from the vehicle in front when moving
traffic. Criterion is consistent when applied to the traffic moving, with different
distances of separation in traffic and security areas.
4. Behavior in Row
The vehicle must display appropriate behavior when in a row of stopped cars,
always keeping the distance to the vehicle ahead. This distance should range from one
to two lengths of the vehicle.
Advanced Navigation
This criterion is composed of a advanced navigation activities set, as defined
in:
1. Traffic Base
The vehicle must meet all criteria for traffic base.
2. Field of Obstacles
The vehicle must be able to handle field of obstacles efficiently and safely.
The vehicle must be able to operate in an uneven area where there is no appropriated
signalizing devices. Such areas may or may not be paved or have marks on the
ground. The vehicle must be able to determine whether the slope upstream or
downstream is different from a similar configuration like a stairway, avoiding
confusion, for example, with some entries of buildings that have this feature. The
vehicle must avoid collisions and keep safe distance from the vehicle / obstacle ahead.
It is possible to have static obstacles (trees, rocks) and dynamic (vehicles). To avoid
collisions, once detected displacement of another vehicle in the opposite direction, the
vehicle must adopt the general rule of shifting to the right and then proceed forward,
if that possibility before consulting offers no additional risk.
3. Parking
The vehicle must display appropriate behavior to achieve parking. For this
purpose, the vehicle should move via a point of entry, go through a second point of
control, both marked on the pavement, park and respecting the limits of vague. To
exit, must observe the same set of rules backyard. The parking space is bounded by
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tracks on the pavement. Special care should be given to those areas where there is a
gap in front of the parking space, like empty slots located in buildings-parking.
4. Re-planning Dynamic
The vehicle must be able to reach the crossing points provided even when the
roads are blocked. The blocking of roads will not be provided for Archive Definition
of Route (ADR). The route may be blocked by parked vehicles, etc. There will always
be an alternative route to allow the continuation of the mission. The vehicle must
remain on track and make a U-turn, planning an alternate route. The use of back
command is limited to the distance of 3 lengths of the vehicle.
5. Follow the path
The vehicle must have ability to navigate in the process of crossing points with
sparse and remain in the range of rolling following the limits of the track, the track
itself or use another technique for sensing for this purpose. The vehicle should still be
able curve of 90 without need of a dense set of crossing points.
6. GPS
The vehicle must not show excessive delay or abandon the track of rolling due
to loss of signals from the GPS navigation. A unit of inertial navigation or another
technique should be used to allow the vehicle to continue with track safety on the
route, possibly at reduced speed, until the signal of GPS is restored.
Advanced Traffic
This criterion is composed of a advanced traffic activities set, as defined in:
1. Advanced Navigation
The vehicle must meet all criteria for advanced navigation.
2. Traffic Fusion
The vehicle must always enter the movement of traffic when there is time
before the safe arrival of the next vehicle. The vehicle can travel at a safe period of
time when conditions so permit. The vehicle that enters the traffic must accelerate so
that the vehicle that will distance ago maintains security and constant speed.
3. Separation of vehicles during the Traffic Fusion
The vehicle must be able to come into range of rolling between two vehicles in
traffic moving. The vehicle must maintain a safe distance in front of the vehicle and
the vehicle that comes ago should not need to reduce or stop their displacement.
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4. Turn Left
The vehicle must allow turn left, crossing a track that has bearing traffic in the
opposite direction to their displacement when a safe time to another vehicle that
comes in the opposite direction. If conditions permit, the vehicle can complete the
curve in an indefinite period, according to previous rules.
5. Separation of Vehicles During Turn Left
After making a turn left and cross a strip of rolling, the vehicle must maintain
a safe distance from at least 2 vehicles to avoid collisions in length, without causing
reduced or stopped in traffic.
6. Zones
The vehicle must be able to navigate in areas in an effective and safe in the
presence of moving traffic or other obstacles. Traffic moving into areas creates a
challenge for the lack of lanes of traffic.
7. Emergency Stop
The vehicle must stop completely and safely to avoid collision when an
obstacle suddenly moves in the range of bearing. The time of anticipation should have
a safe margin of time. Thus, for a moving vehicle, the system must be able to stop
safely when the obstacle ahead.
8. Defensive Direction
The vehicle must perform defensive direction to avoid collisions imminent and
to maintain the distance between vehicles. The vehicle must deal with traffic at speeds
of approximation secure. The vehicle must be able to detect vehicle approximation,
recognize the threat and perform evasive maneuver to avoid collision.
9. Blocking Traffic
The vehicle must be able to perform maneuvers to continue and avoid collision
with a partially blocked intersection. In an intersection in which such a blockage
occurs in part, the vehicle must wait a safe time to establish order of precedence
before continuing on the crossing and redefine the new route to reach the next point of
passage.
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Hardware and Systems Architecture
For a vehicle or robot as a platform for development, particular attention to the
following:
Item A - Hardware Project (computers, sensors): real vehicle;
Item B System Architecture: applies to two stages of the proposal;
For the first stage of research, it is the use robots of smaller scale, as example
of robotic platforms. Besides the reduced size, the robot can be accompanied by
several additional equipment, such as transmitter / receiver for radio communication,
camcorder, for studies of vision loaded, and so on. Also, can be controlled through
LabView software and Matlab, or directly through words of control sent to the port of
a computer, without the need of acquiring any additional software.
Hardware Project
Computers
To support the Vision Systems should be used personal computers PC Quad-
Core Intel, structured with synchronized and hierarchical, and suitable to the
environment of the vehicle. The experience of teams that participated in other editions
of the DARPA Challenge showed that normally is used a computer for each system /
sensor. Thus, the initial estimate is at least one and no more than 4 (four) for the PC
Vision System (trinocular, close range stereo, rear view, side view). The exact amount
of machinery will be determined after the tests and the integration of systems / sensors
and defining the scope of the project.
Sensors
Sensors are very important components for navigation. Initially, there are
estimates of a Vision and Laser System.
Vision System
The Vision System (SV) is to enable the system "see" the outside environment.
It is intended to be composed of selection of video-cameras and Laser System.
LIDAR System
The LIDAR system is to achieve precise measures of distance, speed and
detection of objects. His purchase / use will be subject to review during the project.
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Architecture System
The system architecture is composed of Architecture Logic and
Implementation of Architecture, discussed below.
Architecture Logic
The system architecture is adhering to the diagram of architecture in layers. In
the diagram of architecture in layers, addiction always flow down, that is, each layer
depends only on the bottom layer. This architecture facilitates a clear separation of
functionality and development of well-defined interfaces between subsystems. This
will develop the subsystems independently without impact on the cohesion of the
system (Figure 36).
The Control System and User Interface is the block of higher hierarchy in
architecture. It is here that will be carried out monitoring of the situation of the
vehicle, the management of the service and view the route.
The Autonomous Navigation is the structure responsible for conducting the
performance of tasks and planning routes.
The Management of the vehicle and perception for Navigation is the third
level of the hierarchy of architecture logic. The first block is related activities such as
the following points of passage, monitoring and control of stability. The second
section deals with issues concerning the detection of obstacles, detection of routes,
identification of areas on the roughness, traffic, detecting signs of horizontal (range of
pedestrians, direction of traffic, etc.).
Architecture for Implementation
The implementation architecture is divided into two main blocs: Services
System and Autonomous Services. The first includes diagnosis vehicular systemic,
service and control setup and display. The second block covers services sensing
services, autonomous behavior, perception of services and services for managing
vehicle.
1. Autonomous Services
Autonomous Services is part of the system responsible for obtaining
information from the environment and the vehicle. It is composed of Autonomous
Vehicle Manager, Navigation System, server state, Perception Server, Server
Navigation, and several sensors.
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Figure 36 - Architecture Logic.
2. Manager Autonomous Vehicle
The Manager Autonomous Vehicle (GVA) manages the high level of
operation of the system. It is responsible for conducting the planned route, planning
and management trajectory of behavior. The GVA receive updates of perception of
the server's perception Navigation (SPN) and uses this information to track the current
status of the vehicle and determine their behavior. The GVA monitor on a continuous
perceived obstacles, the limits of range of information-bearing and distributes plans
trajectory reviewed.
3. Server of State
The Server of State (SE) monitors, manages and records all the conditions of
modes of the system in control of low level. The SE detects any mistakes, tries to
make the recovery and make the transition to the mode of security, if necessary,
receiving signals from GPS and the vehicle.
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4. Perception Server of Navigation
The perception server of navigation (SPN) publishes the updates of perception
containing information of the vehicle telemetry, obstacles and limit range of bearing.
The SPN receives the data coming from systems Vision and LIDAR. The SPN
combines the data from the sensors with data telemetry from the vehicle received
from System Navigation (NAV). Obstacles identified by the Vision and LIDAR
systems are merged to improve the accuracy of the description of the perceived
environment. The GVA uses the perception of updates published by SPN to determine
the next action of the vehicle.
5. Services System
Services System is responsible for processing the information obtained
determining the implementation of pre-programmed tasks. It is composed of Viewer's
Way, Manager Services, Diagnostic Systems Vehicles, Manager of the Mission and
its archives, and area for storage of logs.
5.a preview of the pathway
Pathway viewers / Virtual Reality Simulators (VRSRV) is the component of
the System Services responsible for allowing that the motion of the car can be seen
(by the system and by agents outside the vehicle) and generate the virtual
environment, integrating all information obtained from the sensors.
5.b Services Manager
The Services Manager (GS) is responsible for managing the startup and
shutdown of all autonomous services. During the startup of the system, the GS
coordinates the process of using information service that is ready in a configuration
file. The GS starts or break the Autonomous Service in response to reports of the
Mission Manager (GM). At a time when a service no longer respond or indicate an
error, the GS will be able to take the appropriate actions, such as trying to restart the
service or restore the original configuration.
5.c Mission Manager
The Mission Manager (GM) is responsible for providing the user interface to
configure and start the autonomous services in preparation for the autonomous mode.
The application allows the user to load the Archive of Definition of Route (ADR) and
the Archives of Information Mission (ADM), validating these files before entering the
system.
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5.d Archive of Information Mission
The file that contains data from the mission to be executed by car. Interacts
with the GM, allows the inclusion of new tasks to each mission and addresses the
issues of navigation and target acquisition.
5.e Archive Definition of Route
The file containing the data of the route being followed by the vehicle, with
the crossing points and GPS coordinates. Interacts with the GM and with the VRSRV.
5.f Log of Events
It is the record of events related to actions being implemented by GS from
information from state service of DVS. In addition to facilitating the control of
implementation services, can be used to identify causes of problems in the car.
Planning and Behaviors
For the car that can navigate in an unstructured environment there must be a
plan of actions and behaviors desired.
Vehicle Behaviors: Overview
The main objective for the mission and generation of behavior is to navigate,
sequentially, through a series of crossing points according to the Archive of
Information Mission (ADM). For the implementation of tasks relating to the conduct
of autonomous car, have the following components of Manager Autonomous Vehicle
(GVA), figure 37:
Mission Manager / Supervisor of behavior (GMSC), which manages get of the
goals and sub-goals of the mission, and selects and oversees the way of proper
behavior for implementation;
The pathway manager (PR), which generates high-level routes based on
segments of the road and in areas defined in the Archive of Definition of Route
(ADR);
Behavior Modes & Logic, which contains the modes of behavior, the
relationship of transition between them and logic of implementation with each mode
of behavior;
Events generator of the Environment (GEA), which monitors the estimates of
state of the vehicle and the environment from the server's perception Navigation
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(SPN) and generates the appropriate events for the modes of behavior occurs when
certain circumstances (for example: a obstacle in the track ahead, etc.);
Functions of Utilities (FU), running common services (eg generation of
trajectory, etc.) for different modes of behaviour;
Manager Points of Direction (ADG), which manages the set of crossing points
to imminent direction.
Figure 37 Block diagram of the Aunotnomous Vehicle manager (GVA)
Modes of behavior and Oversight
As initial approach to generate and implement the autonomous behavior of the
car it will be suggested a control scheme for discrete events based on Finite State
machine (MEF). The scheme based on MEF allows a simpler to effectively shape the
rules and restrictions of the displacement/tactic.
Figure 38 illustrates the most significant components to this approach, in
which autonomous behaviors are modeled as different modes of behavior. These
modes of behavior categorize potential situations that could find the car during a
mission / displacement. There must be ways of behavior such as:
Alignment of Range, where the vehicle must follow a track of rolling
based on the detection limits of the road or track;
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Intersection of routes where the vehicle must observe the protocol of
intersection and rules of precedence in crossings of roads, considering
the traffic of vehicles on site;
Change of Range, where the vehicle must move the range to a track
bearing current nominees;
Multiple Maneuver, where the vehicle must be re-oriented to a
particular track, or making a series of maneuvers multi-points, trip-and-
turn;
Zone of direction, where the vehicle must go through a series of
crossing points in a given area.
For each mode of behavior, a set of custom logic should be modeled as a finite
state machine, which describes the behavior of potential steps, conditions and actions
to be taken. The logic of behavior may employ different functions of utility during
implementation. The various modes of behavior can share similar logic of behavior.
The logic of behavior for the method of passing can be seen as a "bundling" the logic
of behavior for Change Band, directed by Range and then another Change of Range.
Thus, the implementation of the overtaking maneuver as a separate mode of behavior
can specify conditions for verification of specific sequence of operation and can
improve the performance of the selection of modes of behavior during the execution.
The machinery of finite states may have some potential defects, including poor
reliability to deal with unexpected situations and lack of solutions / creative behavior.
Thus, it is necessary to consider the inclusion of an unexpected mode of behavior and
logic to deal with exception to try to bring the vehicle to a state known.
Route Planning
The route planning component have objective to generate a ranked list of parts
of the route between those who have been identified in the Archive of Definition of
Route (ADR). The main goal is to visit a given number of points, in sequence, noting
the perceived lower cost to the environment sensoriado. Cites the algorithm is well
known Dijkstra as a possible basis for that activity.
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Figure 38 Components for the generation and implementation of behaviors.
The use of the elapsed time travel as an estimated cost for each segment of the
route rather than the physical length of the segment of route permits to take into
account the speed limit of the segment of the route and traffic conditions that the
vehicle may encounter during the same segment of the route.
Trajectory Planning
The planning of the trajectory should generate a sequence of dense
crossing points where the vehicle should move, using a pair of start and
end points, and possibly a number of points intermediaries. Path
generators are related to the logic of the different type of behavioral
modes dependents of the situation of the car and its mission. There are
three types of planners, namely:
Trajectory Track Planner: This planner must use lane estimates and
limits of the highway to generate points, which follow the progression
of the track / road. It should try to generate the passing points near the
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center lane of the track. Initially, the planner should generate the points
estimating the center lane using the limits of the range detected on
either side of the track and incorporate in this information the limits of
the highway and the standard width of the track near the passing point.
Aftewrad, the planner must verify and remove potential points of
passing out of order and apply an algorithm, possibly based on cubic
splines, to generate more smother points.
Modeled Trajectory Planner: This set of planners must be able to
generate points of the trajectory based on reference models with
estimates of the current state of the environment and the car to be used
for joint maneuvers such as changing lanes, overtaking and look at
intersections.
Open Space Trajectory Planner: This planner must provide generation
of trajectory and avoid obstacles in a predetermined area where
obstacles may be present.
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Themes and Research Areas
In accordance with the basic research areas of interest described in the
invention report MCT N429, the current proposal mainly addresses:
Science, technology and innovation for homeland security and public safety.
The institute, gathered as a network with main research focus in Terrestrial
Mobility, will mainly develop research in the following area:
Autonomous Navigation
This activity will be pursued by the laboratory of Robotic Navigation an
Virtual Reality located at the department of computational mechanics of the
school of mechanical engineering of UNICAMP
As exposed by Francisco Bonin-Font e his co-works in a recent article
published in the Journal of Intelligent and Robotic Systems, robotic navigation is
related to the process of determining one feasible trajectory between two points, using
signal measured from distinct sensors. For the autonomous air or land navigation, the
most used sensor is the vision, on the other hand, water navigation systems uses
acoustical signals as data.
In general, navigation system can be subdivided into two classes:
Previously known environment;
Unknown environment.
The later class is generally denominated as navigation systems without maps
and has been of great interest to the military community.
The Department of Computational Mechanics has a tradition in the field of robotic
navigation for autonomous systems that must be able to maneuver on hazardous
environments, providing promising theoretical results (and more recently practical
ones) using mainly neural networks and image processing. Preliminary results were
based on the morphology of the hippocampus, the organ responsible for the sense of
orientation in human been, and on the conexionist learning approach of Gagnet. The
theoretical results and the simulated results were satisfactory for different
configurations of the environment, were the neural network performed well for most
of the cases. Results using (mono) vision with sensor to identify the environment
were also obtained. These results were presented in a master thesis in which a
preliminary prototype, quite simple, was developed. The system consisted of two
servomotors in open-loop, with an acquisition system that uses a cellular camera.
Although the experiment was simple, the proposed robust and fast image processing
system provided results close to the one obtained on real applications. The acquisition
process based on Otsu, was denominated TH Finder.
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This research line can be characterized by ongoing development obtained until now.
Basically, there are two lines:
In the first level, theoretical and simulated results are seek, were the idea is to
develop a methodology for autonomous navigation using a platform that can emulate
signals from different sensors used in practice. Some of these platforms are the
Microsoft Robotics Studio, that was used by the Pittsburgh team at the DARPA Grand
Challenge.
The second phase consists on implementing an off-road vehicle with a
minimal level of automation (electrically assisted orientation, active breaking and
altitude control, etc). This topic will be executed in close cooperation with the other
groups of the project.
As identified by many authors and research groups in the area, the system
motions are functions of the measurements (with or without noise) of the
environmental conditions, which are usually performed using optical flow and
navigation based on the appearance. Since, the aim is also to maneuver in hostile
environments, two situations can occur: a random navigation that happens frequently
in aerospace missions and navigation with a specific target, which is the main goal of
this proposal. One promising technique that has been recently used is the mapping
performed simultaneously with the localization. The classical approach is the
generation of 3D maps using stereo vision. As can be observed, these proposed
research lines will be the cornerstone for the development that will emerge in the
others laboratories, in particular, at the vision and inertial navigation laboratory.
Summarizing, from the previous developments using neural networks and image
processing, the goal is to construct a virtual prototype that will be able to navigate in
different types of unknown terrains in the presence of obstacles. The prototype will
be tested on uneven grounds only after the validation of the control and identification
methodologies used in the system. It will also depend on the active suspension system
to be developed for the vehicle.
Perception and Communication Networks
Activities undertaken by the Real-Time Perception Based on Sensors and
Communications Network Laboratories of the Telecommunications Engineering
and Control Department of the Polytechnic School of USP
The aid to the people, by automated systems is trend resulting of technological
developments. Its application to the Public Security and National Defence, for
example, helping vehicles drivers on roads and public roads, and in cases of war or
hostility of major enemy, its value has increased considerably as a treat to save lives.
In Brazil, research indicates that around 40 thousand people lose their lives each year
in accidents in transit.
Many search teams of the United States has achieved excellent results in
autonomous vehicles. An example is the team at Stanford University, led by Sebastian
Thrun. In 2005, this group won the DARPA Grand Challenge with the autonomous
vehicle, nicknamed Stanley. The architecture of the robot Stanley was divided into six
large blocks: sensor interface, perception, planning and control, user interface, vehicle
interface and global services, as shown in figure below.
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Figure 39 - Architecture of Robot Stanley (THRUN et al., 2006)
The group aims to develop research about sensor interface and perception.
However, this study does not extend to the blocks of pose estimation. The goal is to
develop a Driver-Assistance, allowing at the driver realize missions without having
access to information from the external environment. All information necessary to
guide the vehicle will be captured by various sensors installed on the vehicle. All
these data will be processed and sent to a HMI inside the vehicle. A major challenge
will be to develop algorithms that can detect all obstacles on the track, mobile and
fixed, warning the driver about the location and speed of obstacles. The knowledge
obtained in this study may be applied to vehicles autonomous.
To achieve the above goals, seeks to create two laboratories, which will be
developed two lines of research, with support from teachers and students of the
department.
The intermediaries objectives of this work are described below:
know the main sensors used in autonomous vehicles;
know the main algorithms used to detect obstacles with multi-sensors;
know the main techniques for identifying obstacles;
do simulations using sensors on robots in tests in laboratories, detecting
obstacles;
develop a HMI in a vehicle with embedded sensors;
In the first line of research, known as Sensor Interface and Perception will be
necessary to study the main sensors used in autonomous vehicles and check which are
the best sensors to be used, combining the best technical and lowest price. In several
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studies, are employed various types of sensors such as laser, radar, sonar and stereo
vision. There is a need to know each type of sensor, identifying its main
characteristics, operations, limitations, costs, communication protocol and external
conditions that may be submitted. A major challenge will be to develop a block that
recognize signals from various types of sensors and make the integration of them.
Important aspects to be verified:
Correcting inaccurate measures of sensors;
Compensation of unwanted influences in the measurement;
Making of patterns and characteristics of the signal;
Removal or reduction of noise;
Sensor fusion
The main task of the Perception is to integrate the signals from various sensors to
confirm whether there is an obstacle and to determine exactly how distance and speed
information from the vehicle. Important aspects to be verified:
Kalmans Filters
Filtering
Image Processing
Recognition of Standards
Optical Flow;
Mapping; Algorithms Measurement;
Prediction of collision.
The second line of research, involving networks of communication, a more
thorough detail was presented in the introduction to this project and will not be
repeated here.
Inertial Navigation
This activity will be developed by the Inertial Navigation Laboratory of
Mechanical Engineering from Military Engineering Institute.
Inertial navigation is defined as the determination of the position, velocity and
angular orientation (attitude) of a vehicle regarding a system of coordinates. A ISN
(Inertial Navigation System) is a system wich uses a computer and motion sensors, to
calculate continuously the position, direction and speed of a vehicle without the need
for external references such as the Global Positioning System (GPS), for example,
what makes it self-contained (SAVAGE, 1998a). This advantage makes the SNI
unique and very attractive for applications in navigation (SAVAGE, 1998b), (BEKIR,
2007).
Inertial navigation systems have a huge range of applications, and can be used in
different kinds of vehicles, such as aircraft, missiles, submarines, torpedoes, ships,
floating platforms, cars, etc. Like any method, the inertial navigation has advantages
and disadvantages. Uncertainties on track as a result of errors accumulated over time,
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is its main drawback. These errors are originated, mainly, from errors inherent to the
measurement and the integration processes of signs of acceleration and speed. This
disadvantage can be minimized by the integrated use of the INS integrated to other
non-inertial sensors, such as GPS, baroaltimeter, the magnetometer, etc. If it is chosen
to integrate the GPS to the INS, for example, we have an Integrated Inertial
Navigation System / GPS (INS / GPS). Since the GPS also has its own error
components in the provided information, it is necessary to use a method of sensor
fusion to make this integration and thus provide the highest possible accuracy with the
desired parameters (LITMANOVICH et al., 2000).
Among the methods of data fusion, the Kalman filter is the one with the best
results. It states, according to a optimization criterion, the navigation data from
inertial sensors measures, by means of a deterministic model wich describes the
dynamics of the ISN errors, and a model that describes the behavior of stochastic
measurement errors of inertial sensors (SHIN, 2001), (BEKIR, 2007). Therefore, the
quality of the estimation obtained by Kalman filter depends on the accuracy of the
measures provided by the IMU (Inertial Measurement Unit) and the performance of
the adopted models. Therefore, the performance of INS, is directly related to the
quality of accelerometers and gyroscopes (PINTO DE SOUZA, 2007) and (ROCHA,
2006).
In the context of simulation and hardware implementation, advances in this area
may be attributed not just to the computational power achieved in recent years, but
also to new mathematical formulations, which have an important role in the
improvement of the speed of prototype implementation. An example is the Real Time
Workshop of the software Matlab of the Mathworks. Until then, the development of
real-time applications require a good knowledge of programming languages for real
time and sometimes even a deep knowledge of numerical methods.
An interesting way to overcome that is offered by the Matlab / Simulink / Real
Time Workshop, or simply RTW. The RTW (Real Time Workshop) is an automatic C
code generator with directives of real time for the Simulink. With the Simulink is
possible to create, simulate and analyze complex dynamic systems with simple
connections between functional blocks, most of which are already available in many
pre-configured libraries with a friendly graphical interface. The main advantage lies
on the use of a simple mathematical notation to express the problem as well as
visualization and analysis of any signal of the model. With such a tool, one can focus
strictly on the problems of modeling and control rather than spend considerable time
in programming problems. It is the RTW then, which controls the translation of the
model created in simulink for a number of functions in C which also is compiled and
linked to obtain an executable file.
The development of inertial navigation started up around 1900 in Germany
and in the United States seeking military applications. With the mastery of techniques,
its use was expanded to civilian applications. Of the many applications of inertial
systems can be highlighted:
Navigation, Guidance and control of ships, submarines and aircraft;
Guidance of torpedoes and missiles of short, medium and long range;
Geodesy and Cartography;
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Robotics, UAV (Unmanned Aerial Vehicle), ASV (Autonomous
Submarine Vehicle) and AGV (Autonomous Ground Vehicle);
Platforms Stabilization (for shooting, oil extraction, filming
equipment);
Space missions (launching satellites);
Satellites Stabilization;
Tracking trajectory of oil drilling;
Guidance, navigation and control of vehicles when it is employed in
agressive regions or in tactics situations;
Georeferencing system of Pipelines using inertial PIG (Pipeline
Inspection Gauge);
Autonomous ground vehicles;
Entertainment Industry;
Topographic Mapping;
Structural Failure Detection through vibration analysis.
The objective of this work is the simulation and implementation of an inertial
navigation system with real-time algorithm, integrated to GPS in order to assist in the
navigation of an AGV (Autonomous Ground Vehicle).
With the start of the Program of Graduate Courses on Defense Engineering
(PGED) in February 2007, the Institute seeks effectively aim its courses and research
to the field of Defense and to the needs of the Brazilian Army (EB). This goal is in
line with directives of the Department of Science and Technology (DCT) of the EB
and the National Defense Policy, launched in June 2005 by the Ministry of Defense,
regarding the training of scientific and technological forces Armed.
The PGED aims to meet the national demand for highly skilled staff and
specialized, investing in a solid formation in basic research, quality and international
integration. The courses of PGED have as main purpose to enable the graduate
students to perform activities of research and teaching, training military and civilian
students to extend and to get deeper in their knowledge in different areas of
engineering and sciences linked to the problems of interest for Defense National.
The Research Lines (LP) of PGED seek to consolidate the various researches in
Defense dispersed by the Institute as well as promote the development of critical areas
for the EB, such as the LP Mechatronics and Weapons Systems, where at the moment
is grounded a solid basis for research in the field of Navigation and Inertial Systems.
Through the project Georeferencing Pipeline System, CT-DUT/FINEP (2007-
2008), was established a research group on inertial systems at IME, basically
involving professional specialization. Since then, it were already presented two master
dissertations in the area, with two more in progress. Besides, IME was the host
institution of the Brazilian Symposium on Inertial Engineering 2007, and its members
presented several works during the symposium. Moreover, the IME participated in the
creation of the Brazilian Society of Inertial Engineering, in wich is represented by two
members of the staff of this proposal.
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Through this project it is intended to consolidate the group of research in inertial
systems, and to promote the training specialization in this area through the graduate
course programs in Mechanical, Electrical and Defense Engineering. In addition, it is
intend to install the Inertial Sensors and Navigation Laboratory, to provide physical
structure to strengthen the area.
To achieve the primary objective of the project, many options should be
considered, such as the use of an discrete algorithm, which is more appropriated for
hardware implementation and also for real time programming. The biggest advantage
of using discrete algorithms is the ability to use smaller sample rates, allowing the use
of more modest and cheaper processors, and still get results very close to reality. In
spite of processing speed not to be a so critical problem as the decades of 60 to 90, in
navigation applications it is still important.
As a platform for simulation and implementation of real-time algorithm for
navigation, can be used a software package as the MATLAB/Simulink with the
toolboxs Real Time Workshop and xPC Target. The Real Time Workshop generates
and optimizes codes portable and customizable ANSI C or C++ models of Simulink
to create specific implementations of models that operate in real time. The generated
code can run on PCs, microcontrollers and DSPs and still run on any operational real-
time system (RTOS).
The xPC Target is an environment for prototyping, testing and development of
systems that operate in real time to computer standards. He uses a computer target,
separated from the host computer, to run applications in real time. A computer target
can be virtually any computer with an Intel 386 or 486 or AMD K5 or K6/Athlon, can
be a desktop computer or a computer industry as a PC104 which will be used in this
work. From a simulation normally created in Simulink, you can generate an
executable code from the RTW, towards the very xPC Target. The executable code
and xPC Target real-time kernel is then recorded on the computer host to the target.
Then you can run the application in real time, with the possibility of change "online"
the parameters of the model.
Thus, some steps can be established for the development of work:
1. Study of the navigation problem in AGVs, definition of navigation and
instrumentation architecture.
2. Study about accelerometers and gyrometers, analyzing principles and the
application of appropriate technologies for a navigation AGV.
3. Development of a signal generator that simulates the behavior of the AGV
variables of interest to navigation.
4. Development of instrumentation model.
5. Development of the algorithm of integrated navigation.
6. Study of standards for testing and practical procedures (in Brazil): Essays
main normally executed and standards followed, manufacturers, etc.
7. Tests to select the sensor to be applied to an AGV.
8. Implementation of the integrated unit INS / GPS.
9. Test of the integrated unit INS / GPS alone.
10. Test of the integrated unit INS / GPS assembled to an AGV.
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Computer Vision
This activity will be developed by the Computer Vision Laboratory of
Department of Computer Engineering and Industrial Automation (DCA) at the
School of Electrical and Computer Engineering (FEEC), State University of
Campinas (Unicamp).
In general, for autonomous and semi-autonomous navigation systems, the
vision system senses the environment in the surroundings of the vehicle. Therefore,
the vision system must provide sensing for the following functionalities:
Detection of the navigation area;
Line detection and traffic signals;
Traffic detection;
What is trivial for humans, such as constructing three-dimensional scenes from
bi dimensional images sensed by the vision system and take precise decisions
concerning navigation, are far from trivial for computer systems.
Differently form the human system, processing and analysis in computer
vision are more complex and can demand high computational tasks thus
compromising the autonomous mobility. As an example one can cite the high amount
of information which is supplied to the computer vision system with respect to the
necessity to take real time decisions, with an image capturing which works at a given
data acquisition rate, i.e., quantity of images generated per second.
In this sense, the option for a more complex computer vision system will lead
to a slower real time application. Otherwise stated, the automatic option for a system
with random data dumping to be sufficiently fast can result in the loss of important
information.
The most common applications are base on the processing of two or mode
images, starting from the optical Field flux or through non monocular images.
Basically, on one case we have navigation systems where more than one image is
acquired by a camera at different time samples while, in a second case, multiple
cameras are used to acquire images simultaneously, but with different view points.
The segmentation process is a very important tool for navigation based on
computer vision. It consists in subdividing the image in its constituent parts and
objects. This segmentation process must proceed until the objects of interest of the
image have been isolated. This task can be extremely sophisticated, but using
elaborate filters efficient results can be achieved. However, these results can have a
high cost, i.e., robust segmentation algorithms are very complex and time consuming.
Basically, segmentation can be considered as a partition of a set of pixels considering
predefined rules.
For the detection of the navigation area many algorithms can be used. Among
them, emphasis will be put in this project on a method developed and tested in the
Department of the Faculty of Mechanical Engineering of Unicamp, named Threshold
and Horizon Finder, which is based on the Otsu segmentation method.
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In the laboratory, different illumination conditions encountered in nature will
be simulated both those more favorable such as a sunny Day, as diffuse situations
such as dawn and dusk. This research task aims at developing robust algorithms
which, together with signals from other sensors, will provide a better reliability.
Intelligent Hydro-Pneumatic suspensions
Activity developed by the Laboratory of Subsystems for Intelligent
Vehicles of the Computational Mechanics Department of the Faculty of
Mechanical Engineering of the UNICAMP.
Amongst the diverse used technologies to develop the automotives suspension
systems, the pneumatic and hydro pneumatic suspensions have attracted the attention
of the engineers from a long time ago. They present excellent properties with regard
to the filtering of the external disturbances, providing comfort and security.
Of a comparison between the two mentioned systems it results that the
pneumatic systems have the advantage to use cheap, abundant and non-polluting
fluid(air), meanwhile the hydro pneumatic systems, not only have some disadvantage
in the initial cost, but also requires well-taken care for using oil in the circuit.
On the other hand, the hydro pneumatic systems present greater controllability
for having fast answers, dispense the use of additional shock absorbers and are more
robust and tolerant to the variations in the operational conditions.
The biggest cost, when compared with the mechanical suspensions of helical
springs, elliptical beams and torsional bars, make these systems of suspension much
less used than the mechanical suspensions in the most common applications, even
though the excellent presented performance. It is easier to find applications in heavy
vehicles, railroad vehicles, landing gears of aircraft, off road vehicles, agricultural
machines and military vehicles, than in automobiles vehicles.
In the automobiles destined to the great public an exception is the case of the
Citron brand, which uses hydro pneumatic suspensions in its vehicles with great
success since 1955. This situation has presented some change in recent years, with the
availability of vehicles with pneumatic or hydro pneumatic suspension such as
Mercedes Benz, Jeep Cherokee and others. This change can be attributed not only to
the increasing requirement of the consumer, but also to the changes of technological
paradigms: The conventional suspensions do not make possible to take advantage of
the monitoring resources and control availability by the evolution of the mecatronics.
Moreover, currently most of the vehicles already have hydraulic systems, for example
to attend the stering system, eliminating one of the taboos that was considered on
the implementation of the hydro pneumatic suspensions.
In Brazil it has had quite a few or none initiative of the industry in the
development of hydro pneumatic suspensions. Pneumatic suspensions are used in
some trucks and mainly most of the interurban buses, due to the comfort that they
provide.
It is necessary that these technologies be developed, otherwise in a near future
some sectors of mobility will be again dependents of foreing technology.
In the University it has been developed research to understand the basic
principles and main characteristics of the hydro pneumatic suspensions. In particular,
in the Department of Computational Mechanics of the FEM/UNICAMP, it has being
198
developed research on this subject since 1996. These studies had resulted in many
publications. Some of them are cited in references from [22] to[33]. The reference
[28] received the prize of the best work of NVH of the event in which it was
presented.
The analysis of the cited references shows that there are different subjects
related with the study and application of hydro pneumatic suspensions: dynamics,
vibration and control are some of these topics already discussed.
Considering the aspect of interdisciplinarity of this subject and the evolution
reached for the developed research, it is time of creating a infrastructure capable of
sum the works from different areas, allowing to take the results further. This evolution
implies in mounting an infrastructure better equipped for the accomplishment of
realistic experiences and tests of field. These experiments are part of the process to
offer a product of high performance and high technological value together with the
high reliability.
Some lines of research must be evolving. Some of them will be listed as
follow.
1 - Height Control.
One of the advantages frequently mentioned of the hydro pneumatic
suspensions is the possibility of changing the height of the vehicle without any
mechanic intervention, showing great adaptability to the use conditions. But for this it
is necessary to use sensors, actuators and adequate strategy of control. The strategy to
be used can vary significantly in function of the intended application. The control can
be done with mechanic system only, as it is currently applied in the interurban buses
and urban trains with pneumatic suspension, or can be carried out using computational
processing and sophisticated control strategies, together with the sensors and
actuators. Many possibilitys are available today, due to the results of previous
research, that were be tested in real conditions of operation, with the objective of
validation and comparative evaluation.
2 Damping Control
A characteristic evidenced for the previous studies of hydro pneumatic
suspensions is its high sensitivity of the damping factor to the load variations. The
solution of this problem requires some form of control. Again there is the option of
classic and relatively sophisticated solutions, based in the use of digital processing of
signals together to the use of sensors and actuators, or the application of more robust
innovative options, where the choice will be conditioned to the characteristics of the
intended application.
3 - Refine adjustment of the characteristic curve
The curve of rigidity of the hydro pneumatic suspensions is function of the
geometric parameters, and can be deduced using the properties of the gas. These
curves must be adjusted experimentally to take into account aspects hard to model,
such as friction between the parts. Moreover, it is possible to modify the curve by
means of the adequate project of the components and the use of other resources, such
as the multi-chambers [34]. Some practical aspects, such as different options of
passive valves to control the participation of each chamber, must be verified
experimentally.
4 - Criteria of design
There is enough information and experience to guide a project of hydro
pneumatic suspensions for a given application, today. It is interesting to document this
experience in a systematic procedure, creating tools that assist in this task.
5 - Project
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The high cost of implementation of the hydro pneumatic suspensions is related
with the cost of the hydraulic components. The possibility of using components
especially drawn for this application exists, providing economy without
compromising, and in some cases even improve, the income and robustness.
6 - Road Simulator
To carry out the tests in laboratory it is necessary the use of the Road
Simulator. Road Simulator is the generic name for which is known, in the
automobile field, a system of tests in laboratory capable to reproduce the registered
conditions in field. With small variations, systems with these characteristics are
offered by the companies leaders in tests systems. Basically a system of Road
Simulation consists in the experimental implementation of the solution of a problem
of inverse identification of nonlinear system. The fact of the system (vehicle) to be
nonlinear implies in the necessity of using iterative processes of adjustments in the
time or the frequency domain, together with advanced concepts of signal analysis and
the Hardware in the Loop technique. A system such these one is used in the
automobile industry for the accomplishment of durability tests in the laboratory but
with realistic conditions of severity, and also for simulation of the behavior of
vehicles using Virtual Reality.
7 - Tests in laboratory
Tests in laboratory will be necessary for the conduction of the works, during all
the development of the project.
8 - Tests in field
Despite the tests in laboratory reducing significantly the necessity to carry out
tests in field, these are necessary for the complete validation of the developed
solutions. Therefore tests in the field must be carried out in the end of each great stage
of the research.
For the execution of the cited research it makes necessary to count on an
adequate infrastructure. The UNICAMP disposes of part of the necessary resources,
but they must be complemented, in particular in respect to the benches for tests in real
scale. These tests must include the possibility of tests of complete vehicles, using the
technique known in the automobile way as Road Simulator". This technique
demands adequate resources of hardware and software. The hardware basically
consists of hydro mechanical servo systems of dynamic tests with adequate
characteristics. The UNICAMP counts on systems of this type, but it is necessary
some adaptations. With regard to software, the most known are the RPC of the
MTS and the RTW of the IST.
The present line of research is inserted in the context of the Institute of
Terrestrial Mobility for two main aspects:
allows the creation, in virtual reality, of irregular lands with different
pavements from computational programs based in the acquisition of signals of
field and future processing. This tool will be important for the validation of the
prototype vehicles in tests on laboratory;
it will result in the conception of products of high technological value
aggregate, such as new servo-valves with application in automotives
suspensions in general and, in special, for military, agricultural and off road
vehicles.
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Military Applications
Activity developed by the Remote Control of Military Systems
Laboratory of CTEx.
The CTEx is a Center of the Brazilian Army responsible for applied research
and development of military application materials (MEM). As such, it must focus its
activities in topics of interest to the armed forces, mainly in what refers to the
resources to the development of projects. Therefore, the submitted proposal must
ensure the commitment of CTEx in making its infra-structure and human and material
resources available to the project by making sure that the gols are affine with the
interests of the Brazilian Army.
All MEM development made by CTEx must be based upon the Basic technical
Requirements (ROB) and Basic Operational Requirements (ROB), documents which
contain the Operational and Doctrine Constraints (CONDOP) stated by the Army
instances, which establish the basic criteria of application and objectives and make
reference to the environment where it will be employed and the user interface.
Therefore, the tasks of the CTEx in its partnership with the other institutions
participating in the Terrestrial Mobility Institute, must be directed to the basic
directions given by the CONDOP, the ROB and the RTB.
Since there are no references to doctrine in the definition of the VTNT, and
given the high degree of complexity of the research work in this project, the initial
discussions within the CTEx conducted to the development of a VTNT of which the
functionalities can be shortly summarized as follows:
Denomination Components Basic funcionalities (*) Deadline
1st
phase
Vililance,
observation and
recognition
system
Plataforma de
VTNT e
estao
de controle
- remotely operated through independent
channels of RF and infrared or
microwaves;
- move on non paved terrain with
inclination inferior to 30%, free of
obstacles such as steps and trenches
superior to 10 cm;
- have observation devices with directional
cameras and monitors;
- receive and transmitanalog and digital
signals
- be equipped with presence and movement
sensors based on infrared;
- load capacity compatible with the
Multiple Repair REMAX and ammunition
(250 kgf).
2 years
2nd
phase
System for the
analysis of
contaminated
environments
Platform of
VTNT, control
station and
mannipulator
- all the functionalities of phase 1;
- manipulator capable of acquiring and
analyzing samples in environments
suspected of contamination
1 year
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3rd
phase
Weapon
semiautonomous
system
Platform of
VTNT, control
station and
Multiple
Repair
REMAX
- all the functionalities of phases 1 and 2;
- Multiple Repair REMAX operated
remotely through the control station;
- aiming device which allows the REMAX
shot to be remotely controlled;
- image processing system and
sensors that allow to identify enemy targets
in a semiautonomous fashion.
1 year
4th
phase
Autonomous
weapon system
Platform of
VTNT, control
station and
Multiple
Repair
REMAX
- all the functionalities of phases 1, 2 and 3;
- image processing system and sensors que
that allow to identify enemy targets in an
autonomous fashion, shot follow up and
shots to enemy targets through REMAX;
1 year
(*) The specifications of the systems and equipment, as well as the details of each basic functionality
described above are not part of this document.
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Organization and Mission of the Terrestrial Mobility Research
Network
In the first months of the project the Terrestrial Mobility Institute Will develop
management mechanisms for the support of the research work and for the sharing of
the tasks and results among the network. The main goal is to bring transparency and
control over the many tasks involved in the Project and its supporters, partners, and
researchers, besides the diffusion to the community. For that purpose, the purchase of
hardware and software for the infrastructure, as shown in the scheme below, will be
necessary. Specialized development and technical assistance will also be needed for
what will be called here the Portal of the Terrestrial Mobility Institute (PIMT).
Portal of the Terrestrial Mobility Institute (PIMT)
The persons in charge of the Project at each participating institution as well as
the coordination group will use the PIMT as the main communication tool and for the
identification of the competences to perform each task of the Project. The
organization of the groups and the Project tasks will be distributed according to the
competence and availability of each research group or partner and individual
capability. All the project team members will have access to the PIMT, organized by
Access level through the activity LOG user and password.
Given the competences, agreed by the coordination group, the deadlines Will
be defined, as well as the planning and the purchase of the necessary materials for the
tasks at hand. Preferably, the targets will be segmented and distributed every three
months. At the end of this period all the results will be shared through the PIMT,
including all the documentation and relevant information.
As another information medium, monthly reports of the ongoing activities and
financial control, including performance indicators for each research group, will be
issued aiming at the transparency to the public sector, the community and the funding
agencies.
The diffusion of the research results will be done preferably through the press
room of the PIMT, as well as through the repertoire of publication (reports, papers,
etc.), except when they are considered confidential information by the coordination of
the project.
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The mechanisms for the transfer of the technologies and knowledge generated
by the Institute will include the human resources specialized in the many technologies
involved. The sharing and/or transfer of the knowledge and technology generated in
the Project Will be shared through mechaninsm such as:
Authorized consulting of the Institute members
Use in courses in Universities and research centers involved
Through conferences and other scientific events
Generation of other projects
Creation of spin off companies
Internships in the Institute
Technical reports, graduaation projetcs, thesis, and dissertations
Diffusion through the PIMT
It is important to point out that the Terrestrial Mobility Institute will have
other institutional mechanisms, mainly at Unicamp and USP, which will be utilized
whenever centralized actions are necessary. The knowledge diffusion and continuing
education programs based upon free platforms such as Moodle and Teleduc will
be made effective, administratively, through the School of Continuing Studies (Escola
de Extenso) of Unicamp and FDTE from USP, while the prospection of competences
and technology transfer protocols will be made preferentially through the EB-CTEx
Office from USP and Agncia Inova from Unicamp, both of which have large
experience in issues relative to patents. In the long run partnerships Will be
established also with incubators in Campinas, So Paulo, and Rio de Janeiro that have
close interaction with universities aiming at the transfer of technology, as well as at
qualifying suppliers. Research networks and clusters have proved to be an efficient
mechanism to generate spin off technology basis companies in developed countries.
Besides incorporating undergraduate and graduate students in the research team, other
forms of student participation, such as junior companies, will be encouraged.
The Terrestrial Mobility Institute aims at being a reference Center for science
and technology open to scientists from other Brazilian and foreign institutions. These
researchers will find in the Institute the necessary infra-structure to develop their
research work. One of the missions of the Institute will be to operate as an open,
multidisciplinary research center and technology transfer pole, in order to contribute
to the scientific and technological development of the country.
For its organizational structure the scheme shown below is proposed.
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TERRESTRIAL MOBILITY INSTITUTE
General Coordination
The General Coordination will be responsible for the control and follow up of
the evolution metrics of the projects. The strategic decisions will be taken by
the General Coordinator after advice from the Management Council composed
by the more experienced researchers of the network (total of five researchers).
It is suggested that the Council is composed by the General Coordinator, three
Coordinators of the Laboratories involved in the three institutions - IME, USP
and CTEx and by the Vice-Coordinator.
Jose Roberto de Franca Arruda General Coordinator
CNPq scholarship for research productivity - level 1A
Graduated in Mechanical Engineering from the University of Campinas
(Brazil) and Doctor in Applied Mechanics from the University of Paris VI
(Pierre et Marie Curie) in 1979. He spent sabbatical leaves with the INSA of
Lyon (France) in 1987, with Virginia Tech (USA) in 1991, with the
Katholieke Universiteit Leuven (Belgium) in 1996, with the Acoustics
Laboratory of the University of Maine (France) in 2004, with the Laboratory
of Mechanics and Acoustics of the CNRS in Marseille (France) in 2005, and
with the Ecole Centrale de Lyon (2006). He is presently Full Professor of the
Department of Computational Mechanics of the University of Campinas
(Brazil). Prof. Arruda is a member of the scientific committees of international
conferences such as ISMA (Belgium), NOVEM (France), Laser Measurements
(Italy), and ICED (Portugal). Over the years, Prof. Arruda has taught and done
research in the fields of analytical and experimental structural dynamics,
rotordynamics, identification and control of vibration and noise,
vibroacoustics, and musical acoustics. More information can be found on
scientific data bases such as ISI and Compendex.
Carlos Eduardo Cunasca Vice-Coordinator
Bolsista de Produtividade em Pesquisa do CNPq - Nvel 2
Graduated in Electrical Engineering from the University of So Paulo (Brazil)
and Doctor in Electrical Engineering from the University of So Paulo (Brazil)
in 1993. He is presently Associate Professor of the Department of Computing
Engennering of the University of So Paulo (Brazil). Prof. Cugnasca is editor
of Revista Brasileira de Agroinformtica. Over the years, Prof. Cugnasca has
taught and done research in the fields of intelligent instrumentation, control
networks, wireless network sensors and pervasive computing. He is member of
a standardization committee in ABNT, and member of the ISOBUS Brazil
Task Force.
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IPMT Portal
The Portal will be responsible for the relationship with the users, with the
industry, and with society at large. It will be implemented in a gradual way,
starting in the first semester of existence of the Institute. Its development will
be funded with funds obtained with this project.
Administrative and Financial Coordinator
He/she will be responsible for the negotiation with suppliers and publis
legislation concerning the use of public funds. He/she will be someone with a
large experience in management and business administration and will be
responsible for the management of the project money and the administrative
structure of the Institute. He/she will be hired with project money.
Technical Coordination
The Technical Coordinator will be responsible for the technical aspects of the
Project, acting in agreement with the Coordinators of the different
Laboratories involved. He/she should be a researcher with a large experience
in research, and will benefit from a scholarship paid with project money.
He/she will be appointed by the General Coordinator and approved by the
Management Council.
Laboratory Coordinators
He/she is the researcher responsible for one or more research topics which are
detailed in the proposal. He/she will establish execution timetables using
research management tools such as the DotProject platform.
Claudio Garcia Real Time Perception Based Upon Sensors
Bolsista de Produtividade em Pesquisa do CNPq - Nvel 2
Claudio Garcia is an electric engineer by Polytechnic School of the University
of So Paulo - EPUSP, Brazil, 1979. His MSc and PhD degrees were both in
Electronic Engineering granted by EPUSP in 1987 and 1992, respectively. He
has experience in the areas of process modeling, identification and control. He
worked for Foxboro, Taylor, the Brazilian Navy and nowadays he is a
professor at EPUSP. His research interests include industrial process control
and system modeling and identification. He has a published book in Brazil
called Modeling and simulation of electromechanical systems and industrial
processes and many papers in international congresses and journals.
Clsio Luis Tozzi Computer Vision
Graduated in Electrical Engineering from Unicamp (1972), Master of Sciences
in Electrical Engineering from Unicamp (1975) and Doctor in Electrical
Engineering from Unicamp (1979) . Presently Full Professor at Unicamp, he is
experienced in in Electrical Engineering with emphasis in computational
206
engineering mainly in the fields of Computer Architectures, Digital Circuits
and Computer Graphics.
Carlos Eduardo Cunasca Communication Networks
Bolsista de Produtividade em Pesquisa do CNPq - Nvel 2
Jorge Audrin Morgado de Gis Inertial Navigation
Graduated in Mechanical Engineering from IME and Doctor from the
Universitat Duisburg-Essen, UNIDUE, Germany. Captain of the Military
Engineers Corps, having served with the Centro Tecnolgico do Exercito.
Presently he is a Professor with IME and a specialist in the fields of
mechatronics, dinamics and data fusion.
Juan Francisco Camino dos Santos Robotic Navigation and Virtual
Reality
Graduated in Mechanical Engineering from Universidade Federal da Paraba
(1994), M.Sc. Mechanical Engineering from Unicamp (1997), Ph.D. in
Aeroespace Engineering from the University of Califrnia at San Diego (2003)
and post-doctor with Universidade Estadual de Campinas (2006) and
Katholieke Universiteit Leuven (2007). Currently he is Assistant Professor at
Universidade Estadual de Campinas. He is experienced in Mechanical
Engineering with emphasis in Mechanical System Control, mainly in the fields
of convex optimization, semidefinite optimization, active noise and vibration
control, control of time0varying systems .
Pablo Siqueira Meirelles Subsystems for Intelligent Vehicles
Graduated in Mechanical Engineering from the University of Campinas
(Brazil) in 1985, Master in Mechanical Engineering at Unicamp in 1988 and
Doctor in Mechanical Engineering from the Ecole Centrale de Lyon (France)
in 1995. He spent sabbatical leaves with the TU Darmstadt (Germany) in
2004 and 2006. Currently Professor of the Department of Computational
Mechanics of the University of Campinas (Brazil). Consultant "Ad Hoc" of
the IEEE Transactions on Power Electronics, Structural Engineering and
Mechanics magazine and the Brazilian magazine of Mechanical
Sciences. Prof. Pablo done research in the fields of analytical and
experimental structural dynamics, system identification and control,
vibrations and Vehicle Dynamics.
Victor Santoro Santiago Remote Control of Military Systems
Graduated in Mechanical Engineering from Military Engineering Institute
(Brazil) in 1997 and Master in Mechanical Engineering from Military
Engineering Institute (Brazil) in 2003. He has been Program Manager in Army
Research Center and has been a PhD student in Rio de Janeiro Federal
University, where he is working with Vortex Methods in Computatitonal Fluid
Mechanics.
207
Besides the researchers previously cited, the following researchers also participate in
the Terrestrial Mobility Institute:
Alberto Luiz Serpa received the Mechanical Engineering degree from the
University of Campinas - UNICAMP (1989), received the Master degree in
Mechanical Engineering by UNICAMP (1991) and the Ph.D. in Mechanical
Engineering by UNICAMP (1996). In the period of December 1990 to
December 2001, he worked for Clark Equipments Ltd, which currently
belongs to Eaton Corporation. In December 2001, he left private sector and
began working as a full time professor in UNICAMP. He has experience in
Mechanical Engineering, with emphasis on computational and structural
mechanics, investigating mainly the following topics: control of mechanical
systems, system optimization, non-linear modeling, non-linear programming,
robust control and control of flexible structures and finite element method.
Alberto Gaspar Guimares is a Telecomunications Engineer graduated from
IME, Mster of Sciences in Signal Processing from IME and Doctor in
Tecommunication Systems by PUC-RJ. He is a specialist in Signal Processing
and Telecommunication Systems. He is a Professor at IME since 2004.
Antonio Carlos Castaon Vieira graduated in Electronic Engineering from the
Instituto Militar de Engenharia (1989), M.Sc. in Electrical Engineeering from
the Universidade Federal do Rio de Janeiro (1999), Doctor in Electrical
Engineeering from the Universidade Federal do Rio de Janeiro (2005).
Presently He is Project Manager of the Centro Tecnolgico do Exrcito,
Professor of the Universidade Estcio de S and Judicial expert of the
Tribunal Regional do Trabalho 1a Regio (RJ). He is experienced in Electrical
Engineeering with emphasis on Telecommunications, mainly in safety
applications, Criptography, Hardware circuit description.
Arthur de Miranda Neto is a Doctor in Mechanical Engineering from the
University of Campinas (Unicamp). M. SC. 2007 in Mechanical Engineering
from Unicamp in Robot Navigation Based On monovision. He is experienced
in the development of software for robotics, distributed systems
(Multithreading), Computational Vision. 1st Lieutenant R/2 Brazilian Army.
Five years experience as University Professor in the field of Computer
Sciences. Last activity in the public sector was Technology Annalist at
Dataprev-RJ. He is currently a graduate student with the Department of
Computational Mechanics at Unicamp and has a CNPq PhD scholarship.
Danilo Habermann is an electric engineer by Military Engineering Institute -
IME, Brazil, 2005. He is a Brazilian Army official and master student of
Polytechnic School of the University of So Paulo EPUSP.
Douglas Eduardo Zampieri, graduated in Mechanical Engineering from the
University of Campinas - Unicamp, Brazil (1972) and Doktor-Ingenieur from
the University of Stuttgart, Germany (1981). Spent sabbatical leaves with the
Applied Sciences University Regensburg, Germany (1992), with the
University of Darmstadt, Germany (2003). Dean of the Mechanical
208
Engineering Faculty of Unicamp (1994-1998), Executive Director of the
Transfer Technology Office of Unicamp (1998-2003). Retired in 2004,
presently is Visitor Professor of the Computational Mechanics of Unicamp.
Major research areas: control and vibration; mechatronics and robotics.
Geraldo Gurgel Filho graduated in Electrical Engineering form the Instituto
Militar de Engenharia (1983) and hs a Mster degree in Mechanical
Egineering from the Pontifcia Universidade Catlica of Rio de Janeiro (1999).
Currently he is an army official engineer of the Centro Tecnolgico do
Exrcito and teaches at the Universidade Estcio de S. He is experienced in
Electrical Engineering with emphasis in Industrial Electronics, Electronic
Systems and Controls, mainly in gyroscopic, inertial sensors, rotor dynamics
and fog.
Janito Vaqueiro Ferreira graduated in Mechanical Engineering from
Unicamp (1983), Mster of Sciences in Mechanical Engineering from
Unicamp (1989) and Ph.D. in Dynamics from the Imperial College Of
Science, Technology, and Medicine (1998) . He is currently Assistant
Professor of Unicamp. He is experienced in Mechanical Engineering with
emphasis in Solid Mechanics, mainly in the fields of: Coupling of structures
and Nonlinear analysis.
Jos Maria Campos dos Santos: graduated in Mechanical Engineer at
Universidade Estadual do Maranho (1977), M. Sc. degree in Mechanical
Engineer at Universidade de So Paulo (1983), PhD in Mechanical Engineer at
Universidade Estadual de Campinas (1993), post-doctorate at University of
Houston (1996) and post-doctorate at Institute of Sound and Vibration
Research - University of Southampton (2006). Today is Associated Professor
at Universidade Estadual de Campinas, reviewer of Shock and Vibration e and
Journal of the Brazilian Society of Mechanical Sciences and Engineering.
Experienced in the area of Solid Mechanics in Mechanical Engineer.Luciano
Luporini Menegaldo is a Mechanical Engineer from Unicamp, Master of
Sciences in Mechanical Engineering form Unicamp and Doctor in Mechanical
Engineering from USP. He is presently Associate Professor at IME. He is
experienced in the fields of mechanics, robotics and control of mechanical
systems.
Paulo Roberto Rocha Aguiar graduated in Mechanical Engineering from the
Instituto Militar de Engenharia (1993), Master graduated in Mechanical
Engineering from the Pontifcia Universidade Catlica do Rio de Janeiro
(1997) and Doctor graduated in Mechanical Engineering from the Pontifcia
Universidade Catlica do Rio de Janeiro (2002). Currently teaches at the
Universidade Cndido Mendes and is a researcher of the Centro Tecnolgico
do Exrcito. He is experienced in Mechanical Engineering with emphasis on
Solid Mechanics, mainly with Suspended structures, Vehicular comfort,
Control and Dynamics.
Paulo Fernando Ferreira Rosa graduated in Electrical Engineering form the
Universidade Federal de Pernambuco (1986), Master in Computer Sciences
and Systems Engineering (M.Eng.) from Kyushu Institute of Technology -
209
Japan (1994) and Doctor in Information Engineering (PhD) from Niigata
University - Japan (1997). Was a post-doc scholar (CNPq) with the Depto. de
Cincia da Computao of UFF, 1997-98 and visiting researcher with IME,
1999. He was the coordinator of the graduate school of Computation and
Systems of IME, 2004-07. Currently he is an Associate Professor of the
Instituto Militar de Engenharia and vice-coordinator of the graduate school. In
2007 he chaired the XXVII Congresso da Sociedade Brasileira de
Computao. He is experienced in Robotics and Automation, acting mainly in
autonomous robots, flexible manipulators, domotics intelligent houses and
flying unmanned vehicles. He is currently post-doc at the Dept. ofe
Cybernetics at Niigata University (scholarship JASSO).
ANEXOS
CRONOGRAMAS E PLANILHAS
ORAMENTRIAS
CRONOGRAMAS
FASE
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
P P P P E E E E E E E E E E E P
E E E E E E E E E E E E E E E
P P P P P P P P P P P P
E E E E E
E E E E E E E E E E
P P P P P
P P P P P P P
E E E E E
P P P P
P P P
P P P
P P
P P
P P
P P P
P P P P
P P P
P P P
ANO II ANO III ANO I
2
a
FASE
Implemntao da transmisso RF de dados relativos
anlise de amostras contaminadas
Desenvolvimento e integrao de manipulador para
coleta de amostras contaminadas
ATIVIDADE
Desenvolvimento e integrao de estao de comando e
console de observao da viatura
3
a
FASE
4
a
FASE
Desenvolvimento de cdigo computacional para
apontamento do sistema de armas do REMAX
Adaptao do REMAX na estrutura da viatura
Aquisio e integrao de hardware para avaliao dos
elementos de pontaria aos alvos selecionados
Pesquisa e desenvolvimento de software de fuso e
processamento de imagens para identificao e
acompanhamento de alvos
Desenvolvimento do controle e acionamento do REMAX
via RF
Aquisio e integrao de hardware para implementao
de sistema de aquisio e processamento de imagens
Desnvolvimento e integrao de analisador para
amostras contaminadas
Aquisio e integrao de sensor de presena e
movimento infravermelho
CTEX - LABORATORIO DE CONTROLE REMOTO DE SISTEMAS MILITARES
Aquisio e implementao de atuadores para controle
de ignio, direo, frenageme alimentao
ANO IV ANO V
1
a
FASE
Aquissio e integrao de sistema RF de transmio de
dados para controle da viatura e da cmera de
observao
Adaptao e preparao dos sistemas de freio, direo,
alimentao e direo da viatura, para permitir o
controle RF e instalao dos atuadores
FASE
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
P P P P P P P P P P P P P P P P P P P P
E E E E E E E E E E E E E E E
P P P P P P P P P P P P P P P P
E E E E E
E E E E E E E E E E
P P P P P P P P
P P P P P P P P P P P P
E E E E E
P P P P P P P P
P P P P P P P P P P P P
P P P P P P P
P P P P P P P P P P
P P P P P P P P P P P P
P P P P P P P P P P P
P P P P P P P P P P P
ANO II ANO III ANO I
Desenvolvimento de Plataforma Robtica Semi-
Autnoma
Estratgias de Controle para Navegao Autnoma
ATIVIDADE
Desenvolvimento de SAC baseado na Fuso de Sensores
Desenvolvimento de Plataforma Robtica Autnoma
Testes e Validao
Relatrios
Navegao Inercial
Realizao de Tarefas emAmbientes Controlados
UNICAMP - FEM - LABORATRIO DE NAVEGAO ROBTICA E REALIDADE VIRTUAL
Aquisio de Rob, Sensores e Equipamentos para
laboratrios
ANO IV ANO V
Estudo Terico de Navegao
Reviso Bibliogrfica
FASE
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
P P P P P P P E E E E E E E E E P
E E E E E E E E E E E E E E E
P P P P P P P P P P P P P P
E E E E E
E E E E E E E E E E
P P P P P P P P
P P P P P P P P P P P P P P
E E E E E
P P P P P P P P P P
P P P P P P P
P P P P P P P P P P
P P P P P P P P P P P P
P P P P P P
ANO II ANO III ANO I
Testes emlaboratrio e bancada
Simulador de vias
ATIVIDADE
Acionamento
Testes de campo e otimizao
Criar bancada de testes para simulao de vias
Critrios de dimensionamento
UNICAMP - FEM - LABORATRIO DE SUB-SISTEMAS PARA VECULOS INTELIGENTES
Controle de amortecimento
ANO IV ANO V
Ajuste preciso da curva caracterstica
Controle de altura
FASE
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
P P
E E E E E E E E E E E E E E E
P P P P P P
E E E E E
E E E E E E E E E E
P P P P P P P P
P P P P P P P P P P
E E E E E
P P P P P P P P
UNICAMP - FEEC - LABORATRIO DE VISO POR COMPUTADOR
Implementao e avaliao de mtodos de segmentao
sob diferentes condies de iluminao.
ANO IV ANO V
Implementao e avaliao de mtodos de
reconhecimento e localizao emambientes externos
naturais
Implantao da Infraestrutura do Laboratrio
Implementao e avaliao de tcnicas de rastreamento
emambientes externos naturais.
ANO II ANO III ANO I ATIVIDADE
Prospeco do uso de tcnicas de Realidade Aumentada
no apoio ao condutor
FASE
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
P P P P P P P P P P P P P P P P P P P P
E E E E E E E E E E E E E E E
P P P P P P P P P P P P P P P P
E E E E E
E E E E E E E E E E
P P P P P P P P
P P P P P P P P P
E E E E E
P P P P P P P P
P P P P P P P P
P P P P P P P
P P P P P P P P P P
P P P P P P P P
P P P P P P P
P P P P P P P P P P P
USP - LABORATRIO DE PERCEPO DE TEMPO REAL BASEADA EM SENSORES E DE REDES DE COMUNICAO
Aquisio de Sensores e Equipamentos para laboratrios
ANO IV ANO V
Estudo sobre sensores empregados emveculos
autnomos
Reviso Bibliogrfica
Estudo Terico de Deteco de Obstculos por
Multisensores
Relatrios
Identificao de obstculos comauxilio de viso e radar
Desenvolvimento de Interface & Protocolos entre
sensores
Montagemdo Prottipo
ANO II ANO III ANO I
Identificao e localizao de onstculos por
multisensores
Identificao de obstculos comauxilio de viso e sensor
laser
ATIVIDADE
Estudo terico de Fuso de Sensores
FASE
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
P P P E E E E E E E E E E E P
E E E E E E E E E E E E E E E
P P P P P P P P P P P
E E E E E
E E E E E E E E E E
P P P P P
P P P P P P
E E E E E
P P P P
P P P
P P P P P
P P P
P P P P
P P P
IME - LABORATORIO DE NAVEGAO INERCIAL
Estudo sobre acelermetros e girmetros, analisando
princpios e tecnologias apropriadas aplicao de
navegao para umVTA
ANO IV ANO V
Desenvolvimento de umgerador de entradas, isto , um
modelo que simule o comportamento das variveis da
VTA de interesse para a navegao.
Estudo do problema de navegao emVTAs, definio
de arquitetura de navegao e instrumentao.
Desenvolvimento do modelo de instrumentao
Ensaios comvista seleo do sensor e aplicao em
VTA
Testes da unidade SNI integrada comGPS isolada
Testes da unidade SNI/GPS integrada VTA
ANO II ANO III ANO I
Implemntao da unidade SNI integrada comGPS
Estudo de normas sobre ensaios e procedimentos
prticos (no Brasil): Ensaios principais normalmente
executados e normas seguidas, fabricantes, etc.
ATIVIDADE
Desenvolvimento do algoritmo de navegao integrado
PLANILHAS ORAMENTRIAS
Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total
Conjunto servo motor, redutor e encoder (Preparao da Viatura) 6 R$ 26.500,00 R$ 159.000,00
Jjoystick e console de comando com cabo (Preparao da Viatura) 2 R$ 19.620,00 R$ 39.240,00
Aquisio de sensores e atuadores (GPS e IMU) 1 R$ 15.000,00 R$ 15.000,00 1 R$ 15.000,00 R$ 15.000,00
Notebook, tela 15,4", processador core2duo, HD de 120 Gb, placa de vdeo 512 Mb de mem e 2 Gb RAM 3 R$ 7.000,00 R$ 21.000,00
Enlace de TC/TM com alcance em linha de visada de 60 km 2 R$ 6.000,00 R$ 12.000,00
Enlace de vdeo com alcance em linha de visada de 60 km 2 R$ 6.000,00 R$ 12.000,00
Computador de bordo tipo PC-104 com perifricos 2 R$ 10.000,00 R$ 20.000,00
Computador Servidor Xeon Quad-core intel (Compartilhado com todos os Laboratrios) 2 R$ 20.000,00 R$ 40.000,00
Cmera de vdeo sobre IP embarcada com controle de PAN/TILT/ZOOM 2 R$ 5.000,00 R$ 10.000,00
Posicionador de antenas 2 R$ 3.000,00 R$ 6.000,00
Impressora multifuncional laser colorida 2 R$ 3.500,00 R$ 7.000,00
Datashow marca SONY, mod. VPL ES-4 ou similar 1 R$ 3.500,00 R$ 3.500,00
Mobilirio (cadeiras, mesas, armrios, estantes) 1 R$ 12.000,00 R$ 12.000,00
Ar condicionado split 2 R$ 4.000,00 R$ 8.000,00
Dispositivos de segurana (alarme, travas eletrnicas, controle de acesso) 1 R$ 2.500,00 R$ 2.500,00
Aquisio de sensores inerciais, atuadores eltricos e acionadores eletrnicos 1 R$ 250.000,00 R$ 250.000,00
Cmera colorida resoluo 1024x768 com diagrama Bayer (Sistema de Viso) 9 R$ 6.500,00 R$ 58.500,00
Cmera colorida resoluo 1920x1080 com diagrama Bayer (Sistema de Viso) 2 R$ 9.000,00 R$ 18.000,00
Lente 4,2mm fl wideview (Sistema de Viso) 5 R$ 3.500,00 R$ 17.500,00
Lente 1,8mm fl fisheye (Sistema de Viso) 2 R$ 2.000,00 R$ 4.000,00
Lente 2,8mm fl wideview (Sistema de Viso) 1 R$ 3.000,00 R$ 3.000,00
Computador Desktop Quad-core intel (Sistema de Viso) 2 R$ 8.000,00 R$ 16.000,00
Notebook Dell Precision M 6300 (Sistema de Viso) 1 R$ 8.000,00 R$ 8.000,00
Scaner Laser Alasca XT ou semelhante (Sistema LIDAR) 3 R$ 4.500,00 R$ 13.500,00
Cmera colorida resoluo 1024x768 com diagrama Bayer (Sistema de Aquisio de Alvos) 9 R$ 6.500,00 R$ 58.500,00
Cmera colorida resoluo 1920x1080 com diagrama Bayer (Sistema de Aquisio de Alvos) 2 R$ 9.000,00 R$ 18.000,00
Lente 4,2mm fl wideview (Sistema de Aquisio de Alvos) 5 R$ 3.500,00 R$ 17.500,00
Lente 1,8mm fl fisheye (Sistema de Aquisio de Alvos) 2 R$ 2.000,00 R$ 4.000,00
Lente 2,8mm fl wideview (Sistema de Aquisio de Alvos) 1 R$ 3.000,00 R$ 3.000,00
Cmera de viso termal (Sistema de Aquisio de Alvos) 2 R$ 45.000,00 R$ 90.000,00
Telmetro Laser (Sistema de Aquisio de Alvos) 1 R$ 25.000,00 R$ 25.000,00
Computador desktop Quad-core intel (Sistema de Aquisio de Alvos) 2 R$ 8.000,00 R$ 16.000,00
Notebook Dell Precision M 6300 (Sistema de Aquisio de Alvos) 1 R$ 8.000,00 R$ 8.000,00
TOTAL R$ 617.240,00 R$ 153.500,00 R$ 240.000,00 R$ 0,00 R$ 0,00
R$ 617.240,00 R$ 153.500,00 R$ 240.000,00 R$ 0,00 R$ 0,00
R$ 1.010.740,00
1 R$ 25.000,00 R$ 25.000,00 1 R$ 25.000,00 R$ 25.000,00 1 R$ 25.000,00 R$ 25.000,00
2 R$ 5.000,00 R$ 10.000,00 2 R$ 5.000,00 R$ 10.000,00 2 R$ 5.000,00 R$ 10.000,00
Material eltrico de consumo 1 R$ 5.000,00 R$ 5.000,00 1 R$ 5.000,00 R$ 5.000,00 1 R$ 5.000,00 R$ 5.000,00
Consumveis mecnicos 1 R$ 5.000,00 R$ 5.000,00 1 R$ 5.000,00 R$ 5.000,00 1 R$ 5.000,00 R$ 5.000,00
Material eletrnico de consumo 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00
Dimensionamento e especificao de conjunto servo-motor, redutor e encoder 1 R$ 6.000,00 R$ 6.000,00 R$ 0,00 R$ 0,00
Dimensionamento e especificao de conjunto de atuadores eltricos 1 R$ 5.500,00 R$ 5.500,00 R$ 0,00 R$ 0,00
Integrao dos equipamentos plataforma veicular 1 R$ 25.000,00 R$ 25.000,00 1 R$ 25.000,00 R$ 25.000,00
Adaptaes mecnicas 1 R$ 25.000,00 R$ 25.000,00 1 R$ 25.000,00 R$ 25.000,00 1 R$ 25.000,00 R$ 25.000,00
Dimensionamento e especificao de atuadores hidro-pneumticos e eltricos 1 R$ 6.000,00 R$ 6.000,00 R$ 0,00 R$ 0,00
Montagens experimentais, testes, ajustes, confeco de prottipo 1 R$ 10.000,00 R$ 10.000,00 1 R$ 10.000,00 R$ 10.000,00
Projeto do console de comando com joystick e acionadores secundrios 1 R$ 60.000,00 R$ 60.000,00 R$ 0,00
Testes de susceptibilidade a rudos eltricos 1 R$ 5.000,00 R$ 5.000,00 1 R$ 5.000,00 R$ 5.000,00 1 R$ 5.000,00 R$ 5.000,00
Dimensionamento e especificao de conjunto de atuadores eltricos 1 R$ 5.500,00 R$ 5.500,00 R$ 0,00 R$ 0,00
Montagem de prottipos e testes de funcionamento 1 R$ 14.000,00 R$ 14.000,00 1 R$ 14.000,00 R$ 14.000,00
Desenvolvimento de software de controle 1 R$ 48.000,00 R$ 48.000,00 1 R$ 48.000,00 R$ 48.000,00
Projeto da estrutura mecnica, acionadores eltricos e sistemas de controle 1 R$ 38.000,00 R$ 38.000,00 R$ 0,00 R$ 0,00
Servio de montagem do prototipo 1 R$ 25.000,00 R$ 25.000,00 1 R$ 25.000,00 R$ 25.000,00
Testes esttico e dinmico do sistema de parada por R.F 1 R$ 5.000,00 R$ 5.000,00 R$ 0,00
Contratao de servios de contabilidade 1 R$ 36.000,00 R$ 36.000,00 1 R$ 36.000,00 R$ 36.000,00 1 R$ 36.000,00 R$ 36.000,00 1 R$ 36.000,00 R$ 36.000,00 1 R$ 36.000,00 R$ 36.000,00
Contratao de pessoal (tcnico de laboratrio) 1 R$ 36.000,00 R$ 36.000,00 1 R$ 36.000,00 R$ 36.000,00 1 R$ 36.000,00 R$ 36.000,00 1 R$ 36.000,00 R$ 36.000,00 1 R$ 36.000,00 R$ 36.000,00
Contrtatao de assistente administrativo 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00
TOTAL R$ 271.000,00 R$ 277.000,00 R$ 272.000,00 R$ 102.000,00 R$ 102.000,00
R$ 1.024.000,00
R$ 2.034.740,00
Ano IV Ano III
CAPITAL
Ano V
CTEx
Laboratrio de Controle Remoto de Sistemas Militares (LRM)
TOTAL DE CAPITAL
CUSTEIO
Ano I Ano II
EQUIPAMENTO E MAT PERMANENTE: CTEx
CUSTEIO: CTEx
TOTAL GERAL: CTEx
Aquisio de licena e atualizao de software de controle e automao
Participao em cursos nacionais
Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total
Computador Servidor Xeon Quad-core intel (Compartilhado com todos os Laboratrios) 2 R$ 20.000,00 R$ 40.000,00
Computador Desktop Quad-core intel (Compartilhado com FEM-LSVI) 20 R$ 8.000,00 R$ 160.000,00
Notebook Dell Precision M 6300 2 R$ 8.000,00 R$ 16.000,00
Mobilirio (cadeiras, mesas, armrios, estantes) - (Compartilhado com FEM-LSVI) 2 R$ 12.000,00 R$ 24.000,00
Ar condicionado split (Compartilhado com LSVI) 2 R$ 4.000,00 R$ 8.000,00
Dispositivos de segurana (alarme, travas eletrnicas, controle de acesso) - (Compartilhado com FEM-LSVI) 1 R$ 2.500,00 R$ 2.500,00
Impressora multifuncional laser colorida 2 R$ 3.500,00 R$ 7.000,00
Datashow marca SONY, mod. VPL ES-4 ou similar 1 R$ 3.500,00 R$ 3.500,00
Mobile Robot Pioneer 3 AT & Componentes-Sensores (Compartilhado com a FEEC-LVC) 2 R$ 55.000,00 R$ 110.000,00
Mdulo de comunicao e simulao sensor Laser sick Matlab 1 R$ 15.000,00 R$ 15.000,00
Sensor Laser SICK LMS200 1 R$ 18.000,00 R$ 18.000,00 1 R$ 18.000,00 R$ 18.000,00 2 R$ 18.000,00 R$ 36.000,00
Sensor Laser LLD-150-RS232 1 R$ 3.500,00 R$ 3.500,00 1 R$ 3.500,00 R$ 3.500,00
Mdulo de Fuso Radar e Cmera Delphi 1 R$ 25.000,00 R$ 25.000,00 1 R$ 25.000,00 R$ 25.000,00
Sensor Sonar Sense MIC130DTC 1 R$ 2.500,00 R$ 2.500,00 1 R$ 2.500,00 R$ 2.500,00 2 R$ 2.500,00 R$ 5.000,00
Sensor Sonar MIC600DTC 1 R$ 9.000,00 R$ 9.000,00 1 R$ 9.000,00 R$ 9.000,00
Sensor Laser Omnidirecional Velodyne com software 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00
GPS System 1 R$ 20.000,00 R$ 20.000,00 1 R$ 20.000,00 R$ 20.000,00
Sensor Navtech 77GHz FMCW Radar 1 R$ 18.000,00 R$ 18.000,00 1 R$ 18.000,00 R$ 18.000,00
Cmera colorida resoluo 1024x768 com diagrama Bayer (Sistema Embarcado no Veculo) 1 R$ 6.500,00 R$ 6.500,00 1 R$ 6.500,00 R$ 6.500,00 2 R$ 6.500,00 R$ 13.000,00
Cmera colorida resoluo 1920x1080 com diagrama Bayer (Sistema Embarcado no Veculo) 1 R$ 9.000,00 R$ 9.000,00 1 R$ 9.000,00 R$ 9.000,00 2 R$ 9.000,00 R$ 18.000,00
Computador Servidor Xeon Quad-core intel (Grid Embarcado no Veculo) 2 R$ 20.000,00 R$ 40.000,00 3 R$ 20.000,00 R$ 60.000,00 2 R$ 20.000,00 R$ 40.000,00
Notebook Dell Precision M 6300 (Simulaes Embarcadas no Veculo) 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00
Conjunto de atuadores eltricos e acionadores eletrnicos (Preparao da Veculo) 1 R$ 18.920,00 R$ 18.920,00 1 R$ 18.920,00 R$ 18.920,00
Viatura tipo Fora de Estrada 1 R$ 75.000,00 R$ 75.000,00 1 R$ 75.000,00 R$ 75.000,00
TOTAL R$ 505.500,00 R$ 197.920,00 R$ 297.420,00 R$ 0,00 R$ 0,00
Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) Qtde valor unit (R$) Qtde valor unit (R$) valor total
Atuadores Hidrulicos & Placas Controladoras 4 R$ 30.000,00 R$ 120.000,00
Sistemas para montar o Veculo no Simulador 4 R$ 10.000,00 R$ 40.000,00
Bomba Hidrulica com fluxo de aproximadamente 350L/Minuto 1 R$ 50.000,00 R$ 50.000,00
Programa de Simulador de Vias 1 R$ 20.000,00 R$ 20.000,00
Instrumentao para Monitorar Testes: Extensometria 1 R$ 60.000,00 1 R$ 8.000,00 R$ 8.000,00
Instrumentao para Monitorar Testes: Acelerao/Fora/Presso (ICP) 1 R$ 90.000,00 R$ 90.000,00
Sensores e Acessrios 1 R$ 60.000,00 R$ 60.000,00
Material para confeco de componentes das suspenses 1 R$ 37.500,00 R$ 37.500,00 1 R$ 75.000,00 R$ 75.000,00 1 R$ 90.000,00 R$ 90.000,00
TOTAL R$ 267.500,00 R$ 225.000,00 R$ 98.000,00 R$ 0,00 R$ 0,00
R$ 773.000,00 R$ 422.920,00 R$ 395.420,00 R$ 0,00 R$ 0,00
R$ 1.591.340,00
Contratao de pessoal (tcnico de laboratrio) 2 R$ 42.000,00 R$ 84.000,00 2 R$ 42.000,00 R$ 84.000,00 2 R$ 42.000,00 R$ 84.000,00 2 R$ 42.000,00 R$ 84.000,00 2 R$ 42.000,00 R$ 84.000,00
Contratao de servios de contabilidade 1 R$ 3.200,00 R$ 3.200,00 1 R$ 3.200,00 R$ 3.200,00 1 R$ 3.200,00 R$ 3.200,00 1 R$ 3.200,00 R$ 3.200,00 1 R$ 6.000,00 R$ 6.000,00
Contrtatao de assistente administrativo 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00
Consumveis mecncicos 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00
Material eltrico 1 R$ 10.000,00 R$ 10.000,00 1 R$ 10.000,00 R$ 10.000,00 1 R$ 10.000,00 R$ 10.000,00
Material eletrnico e consumo 1 R$ 5.000,00 R$ 5.000,00 1 R$ 5.000,00 R$ 5.000,00 1 R$ 5.000,00 R$ 5.000,00
Adaptaes mecnicas (Servios) 1 R$ 15.000,00 R$ 15.000,00 1 R$ 15.000,00 R$ 15.000,00 1 R$ 15.000,00 R$ 15.000,00
Instalao e acoplamento dos equipamentos (Servios) 1 R$ 15.000,00 R$ 15.000,00 1 R$ 15.000,00 R$ 15.000,00 1 R$ 15.000,00 R$ 15.000,00
TOTAL R$ 192.200,00 R$ 504.006,00 R$ 192.200,00 R$ 117.200,00 R$ 120.000,00
R$ 1.125.606,00
R$ 2.716.946,00
CUSTEIO
Ano I Ano II
TOTAL DE CAPITAL
EQUIPAMENTO E MAT PERMANENTE: UNICAMP - FEM
Ano III Ano V
UNICAMP - FEM
Laboratrio de Navegao Robtica e Realidade Virtual (LNV)
Laboratrio de Sub-sistemas para Veculos Inteligentes (LSVI)
Ano IV
CUSTEIO: UNICAMP - FEM
TOTAL GERAL: UNICAMP - FEM
Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total
Computador Desktop Quad-core intel 6 R$ 8.000,00 R$ 48.000,00
Mobilirio (cadeiras, mesas, armrios, estantes) 1 R$ 12.000,00 R$ 12.000,00
Ar condicionado split 2 R$ 4.000,00 R$ 8.000,00
Dispositivos de segurana (alarme, travas eletrnicas, controle de acesso) 1 R$ 2.500,00 R$ 2.500,00
Dispositivos de Iluminao Inteligentes 1 R$ 20.000,00 R$ 20.000,00
Dispositivos para armazenamento de imagens (memria) 1 R$ 50.000,00 R$ 50.000,00
Notebook Dell Precision M 6300 1 R$ 8.000,00 R$ 8.000,00
Cmera colorida resoluo 1024x768 com diagrama Bayer 4 R$ 6.500,00 R$ 26.000,00
Cmera colorida resoluo 1920x1080 com diagrama Bayer 4 R$ 9.000,00 R$ 36.000,00
TOTAL R$ 210.500,00
R$ 210.500,00
R$ 210.500,00
Material eletrnico e consumo 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00
TOTAL R$ 8.000,00 R$ 8.000,00 R$ 8.000,00 R$ 0,00 R$ 0,00
R$ 24.000,00
R$ 234.500,00
Ano I Ano II Ano III
UNICAMP - FEEC
Laboratrio de Viso por Computador (LVC)
TOTAL DE CAPITAL
EQUIPAMENTO E MAT PERMANENTE: UNICAMP - FEEC
CUSTEIO
Ano V
CUSTEIO: UNICAMP - FEEC
TOTAL GERAL: UNICAMP - FEEC
Ano IV
Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total
Computador Desktop Quad-core intel 3 R$ 8.000,00 R$ 24.000,00 2 R$ 8.000,00 R$ 16.000,00
Mobilirio (cadeiras, mesas, armrios, estantes) 1 R$ 12.000,00 R$ 12.000,00
Ar condicionado split 2 R$ 4.000,00 R$ 8.000,00
Dispositivos de segurana (alarme, travas eletrnicas, controle de acesso) 1 R$ 2.500,00
Sensor Laser SICK LMS200 1 R$ 18.000,00 R$ 18.000,00
Cmera CCD Grasshoper GRAS-14S5M-C 2 R$ 4.500,00 R$ 9.000,00 2 R$ 4.500,00 R$ 9.000,00
Sensor Laser LLD-150-RS232 1 R$ 3.500,00 R$ 3.500,00
Mdulo de Fuso Radar e Cmera Delphi 1 R$ 25.000,00 R$ 25.000,00
Sensor Sonar Sense MIC130DTC 2 R$ 2.500,00 R$ 5.000,00 2 R$ 2.500,00 R$ 5.000,00
Sensor Sonar MIC600DTC 1 R$ 9.000,00 R$ 9.000,00
Notebook Dell Precision M 6300 3 R$ 8.000,00 R$ 24.000,00
Sensor Laser Omnidirecional Velodyne com software 1 R$ 90.000,00 R$ 90.000,00
Viatura tipo Fora de Estrada 1 R$ 75.000,00 R$ 75.000,00
Mobile Robot Pioneer 3 AT & Componentes-Sensores 1 R$ 55.000,00 R$ 55.000,00
Mdulo de comunicao e simulao sensor Laser sick Matlab 1 R$ 15.000,00 R$ 15.000,00
Sensor Navtech 77GHz FMCW Radar 1 R$ 18.000,00 R$ 18.000,00
TOTAL R$ 71.000,00 R$ 94.000,00 R$ 255.500,00 R$ 0,00 R$ 0,00
Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) Qtde valor unit (R$) Qtde valor unit (R$) valor total
Computador Desktop Quad-core intel 4 R$ 8.000,00 R$ 32.000,00 1 R$ 8.000,00 R$ 8.000,00
Mobilirio (cadeiras, mesas, armrios, estantes) 1 R$ 6.000,00 R$ 6.000,00
Ar condicionado split 1 R$ 4.000,00 R$ 4.000,00
Notebook Dell Precision M 6300 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00
Equipamentos CAN 1 R$ 35.000,00 R$ 35.000,00
Equipamentos para Redes AD HOC e outros 1 R$ 30.000,00 R$ 30.000,00
TOTAL R$ 115.000,00 R$ 0,00 R$ 16.000,00 R$ 0,00 R$ 0,00
R$ 186.000,00 R$ 94.000,00 R$ 271.500,00 R$ 0,00 R$ 0,00
R$ 551.500,00
Reforma em salas e laboratrios (eltrica e civil) 1 R$ 35.000,00 R$ 35.000,00 1 R$ 12.000,00 R$ 12.000,00
Contratao de pessoal (tcnico de laboratrio) 1 R$ 42.000,00 R$ 42.000,00 1 R$ 42.000,00 R$ 42.000,00 1 R$ 42.000,00 R$ 42.000,00 1 R$ 42.000,00 R$ 42.000,00 1 R$ 42.000,00 R$ 42.000,00
Contratao de servios de usinagem e adaptao 1 R$ 8.000,00 R$ 8.000,00
Material eletrnico e consumo 1 R$ 5.000,00 R$ 5.000,00 1 R$ 7.000,00 R$ 7.000,00 1 R$ 10.000,00 R$ 10.000,00
Contratao de servios de contabilidade 1 R$ 3.200,00 R$ 3.200,00 2 R$ 3.200,00 R$ 6.400,00 2 R$ 3.200,00 R$ 6.400,00
Contrtatao de assistente administrativo 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00 1 R$ 30.000,00 R$ 30.000,00
Consumveis mecncicos 1 R$ 10.000,00 R$ 10.000,00
TOTAL R$ 115.200,00 R$ 85.400,00 R$ 118.400,00 R$ 72.000,00 R$ 72.000,00
R$ 463.000,00
R$ 1.014.500,00
CAPITAL
Ano II Ano III Ano IV Ano V Ano I
Laboratrio de Redes de Comunicao (LRC)
TOTAL DE CAPITAL
Laboratrio de Percepo de Tempo Real baseada em Sensores (LPS)
USP
CUSTEIO
EQUIPAMENTO E MAT PERMANENTE: USP
CUSTEIO: USP
TOTAL GERAL: USP
Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total Qtde valor unit (R$) valor total
Mobilirio (cadeiras, mesas, armrios, estantes) 1 R$ 12.000,00 R$ 12.000,00
Ar condicionado split 2 R$ 4.000,00 R$ 8.000,00
Dispositivos de segurana (alarme, travas eletrnicas, controle de acesso) 1 R$ 2.500,00 R$ 2.500,00
Computador Desktop Quad-core intel 4 R$ 8.000,00 R$ 32.000,00 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00
Girmetro FOG 1 R$ 20.000,00 R$ 20.000,00
Girmetro DTG 2 R$ 15.000,00 R$ 30.000,00
IMU tipo MEMS 2 R$ 15.000,00 R$ 30.000,00
Sensor tipo sonar 2 R$ 2.500,00 R$ 5.000,00
Sensor Tipo radar 2 R$ 2.500,00 R$ 5.000,00
Meios auxiliares de ensino 1 R$ 10.000,00 R$ 10.000,00 1 R$ 10.000,00 R$ 10.000,00 1 R$ 10.000,00 R$ 10.000,00
Sensor Laser 1 R$ 10.000,00 R$ 10.000,00
Sensor GPS 4 R$ 2.500,00 R$ 10.000,00
Antena GPS para mediode atitude 2 R$ 3.000,00 R$ 6.000,00
Vibrmetro Laser de translao 2 R$ 120.000,00 R$ 240.000,00
Multi-analisador de sinais em tempo real 1 R$ 70.000,00 R$ 70.000,00
Vibrmetro Laser de Rotao 1 R$ 130.000,00 R$ 130.000,00
Condicionador de sinais multicanal 2 R$ 20.000,00 R$ 40.000,00
Conjunto de Acelermetros 2 R$ 20.000,00 R$ 40.000,00
Girmetro Vertical 2 R$ 20.000,00 R$ 40.000,00
Bssula Giroscpica 2 R$ 20.000,00 R$ 40.000,00
Magnetmetro 2 R$ 5.000,00 R$ 10.000,00
Sistema de aquisio de dados 2 R$ 8.000,00 R$ 16.000,00 2 R$ 8.000,00 R$ 16.000,00
Computador de bordo PC104 2 R$ 10.000,00 R$ 20.000,00
Controlador de Temperatura para IMU 2 R$ 50.000,00 R$ 100.000,00
Notebook Dell Precision M 6300 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00 1 R$ 8.000,00 R$ 8.000,00
TOTAL R$ 338.500,00 R$ 352.000,00 R$ 312.000,00
R$ 338.500,00 R$ 352.000,00 R$ 312.000,00
R$ 9.000,00
R$ 1.002.500,00
Reforma em salas e laboratrios (eltrica e civil) 1 R$ 35.000,00 R$ 35.000,00 1 R$ 12.000,00 R$ 12.000,00
Contratao de pessoal (tcnico de laboratrio) 1 R$ 42.000,00 R$ 42.000,00 1 R$ 42.000,00 R$ 42.000,00 1 R$ 42.000,00 R$ 42.000,00 1 R$ 42.000,00 R$ 42.000,00 1 R$ 42.000,00 R$ 42.000,00
Contratao de servios de usinagem e adaptao 1 R$ 8.000,00 R$ 8.000,00
Material eletrnico e consumo 1 R$ 15.000,00 R$ 15.000,00 1 R$ 4.000,00 R$ 4.000,00 1 R$ 10.000,00 R$ 10.000,00
Contratao de servios de contabilidade 1 R$ 3.200,00 R$ 3.200,00 2 R$ 3.200,00 R$ 6.400,00 2 R$ 3.200,00 R$ 6.400,00
Contratao de Servios de Testes e Ensaios 1 R$ 50.000,00 R$ 50.000,00 1 R$ 50.000,00 R$ 50.000,00 1 R$ 50.000,00 R$ 50.000,00 1 R$ 50.000,00 R$ 50.000,00 1 R$ 50.000,00 R$ 50.000,00
Contrtatao de assistente administrativo 1 R$ 6.000,00 R$ 6.000,00 1 R$ 6.000,00 R$ 6.000,00 1 R$ 6.000,00 R$ 6.000,00 1 R$ 6.000,00 R$ 6.000,00 1 R$ 6.000,00 R$ 6.000,00
Consumveis mecncicos 1 R$ 10.000,00 R$ 10.000,00
TOTAL R$ 151.200,00 R$ 108.400,00 R$ 144.400,00 R$ 98.000,00 R$ 98.000,00
R$ 600.000,00
R$ 1.602.500,00
CUSTEIO: IME
TOTAL GERAL: IME
Ano V
IME
Laboratrio de Navegao Inercial (LNI)
TOTAL DE CAPITAL
EQUIPAMENTO E MAT PERMANENTE: IME
CUSTEIO
Ano IV
CAPITAL
Ano I Ano II Ano III
MATERIAL BIBLIOGRFICO: IME
Outros Itens de Custeio (Todos):
1 Seminrios/Workshops/Conferncia (100 Participantes) 3 R$ 20.000,00 R$ 60.000,00
2 Cursos Tcnicos Rpidos (20 Participantes) 10 R$ 7.000,00 R$ 70.000,00
3 Construo do Portal na Internet 1 R$ 50.000,00 R$ 50.000,00
4 Passagens e Dirias no Pas e Exterior 1 R$ 214.904,70 R$ 214.904,70
Total R$ 394.904,70
BOLSAS - TODOS
Bolsa de Especialista Visitante (BEV) 0 R$ 4.120,18 R$ 0,00
Desenvolvimento Tecnolgico Industrial (DTI-1) 4 R$ 3.169,37 R$ 456.389,28
Desenvolvimento Tecnolgico Industrial (DTI-2) 4 R$ 2.186,87 R$ 209.939,52
Desenvolvimento Tecnolgico Industrial (DTI-3) 10 R$ 1.045,89 R$ 251.013,60
Iniciao Cientfica (IC) 20 R$ 300,00 R$ 72.000,00
TOTAL R$ 989.342,40
R$ 4.366.580,00 R$ 3.416.606,00
R$ 8.007.090,70
BOLSAS R$ 989.342,40
TOTAL GERAL R$ 8.996.433,10
EQUIPAMENTO E MAT PERMANENTE + CUSTEIO:
EQUIP. E MAT PERMANENTE + CUSTEIO + Diarias e Passagens+ Mat. Blbliogrfico:
Equipes Valor Unt (R$) Valor Unt (R$) Valor Unt (R$) Valor Unt (R$) Valor Unt (R$)
Passagens 12 300 12 300 12 300 12 300 12 300
Misses (Docncia e Pesquisa) 3 - 3 - 3 - 3 - 3 -
Misses (Estudo) 3 - 3 - 3 - 3 - 3 -
Dirias * 18 187,83 18 187,83 18 187,83 18 187,83 18 187,83
Perodo de cada misso (dias) 3 - 3 - 3 - 3 - 3 -
Passagens 12 ~2.000,00 12 ~2.000,00 12 ~2.000,00 12 ~2.000,00 12 ~2.000,00
Misses (Docncia e Pesquisa) 3 - 3 3 - 3 3 -
Misses (Estudo) 3 - 3 - 3 - 3 - 3 -
Dirias * 30 ~400,00 30 ~400,00 30 ~400,00 30 ~400,00 30 ~400,00
Perodo de cada misso (dias) 5 - 5 - 5 - 5 - 5 -
Total por ano: R$42.980,94 R$42.980,94 R$42.980,94 R$42.980,94 R$42.980,94
Total Geral de dirias e passagens: R$214.904,70
IV V
No Pas
No Exterior
PASSAGENS E DIRIAS
ANO
I II III