Mestrado em Engenharia Elétrica
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- ItemFusão de dados para a localização e navegação de robôs móveis em espaços inteligentes programáveis baseados em visão computacional(Universidade Federal do Espírito Santo, 2025-08-20) Oliveira, Matheus Dutra de; Mello, Ricardo Carminati de; https://orcid.org/0000-0003-0420-4273; http://lattes.cnpq.br/1569638571582691; Vassallo, Raquel Frizera; https://orcid.org/0000-0002-4762-3219; http://lattes.cnpq.br/9572903915280374; https://orcid.org/0009-0002-4548-8065; http://lattes.cnpq.br/5802812159654028; Cordeiro, Rafael de Angelis; https://orcid.org/0000-0002-9094-3365; http://lattes.cnpq.br/1957732976527194; Fernandes, Mariana Rampinelli; https://orcid.org/0000-0001-8483-5838; http://lattes.cnpq.br/6481644695559950The estimation of mobile robot localization in indoor environments is one of the central challenges of autonomous navigation. Among the main techniques used to address this problem are Multi-View Visual Odometry, obtained through a multi-camera network, and Monte Carlo Localization. Both approaches have limitations: areas without camera coverage render navigation unfeasible when relying solely on visual odometry, while symmetric environments hinder convergence in the Monte Carlo method. Aiming to overcome these issues and achieve a more robust and reliable localization estimate, this work proposes the combination of these two global localization techniques through a data fusion approach based on Kalman Filter methods (Extended Kalman Filter and Unscented Kalman Filter). Additionally, the integration of the smart space architecture with the Robot Operating System (ROS) is adopted to implement this fusion. As a result, the fused localization can be integrated into the ROS navigation stack, leading to a complete localization and navigation system, and allowing the system to be triggered by other components of the smart environment. The system was evaluated in critical scenarios and case studies conducted in real environments. The results indicate that the information fusion effectively addresses the inherent limitations of each localization source, while increasing the robot’s global orientation accuracy by up to 12% and improving localization estimates by more than 5.2% when both sources are available.
- ItemAnálise de aplicações em ambientes reais de IoT utilizando tecnologias de radiofrequência Wi-SUN e LoRaWAN(Universidade Federal do Espírito Santo, 2025-06-28) Cerri, Hudson Mereles; Segatto, Marcelo Eduardo Vieira; https://orcid.org/0000-0003-4083-992X; http://lattes.cnpq.br/2379169013108798; https://orcid.org/0009-0005-3713-594X; http://lattes.cnpq.br/7902825869094261; Munaro, Celso Jose; https://orcid.org/0000-0002-2297-7395; http://lattes.cnpq.br/5929530967371970; Santos, Jessé Gomes dos ; https://orcid.org/0000-0001-8984-0599; http://lattes.cnpq.br/6857610972823488This dissertation describes some applications in practical cases using two RF technologies, combining available literature with real tests carried out with IoT devices from the company Zaruc, as well as evaluating the behavior of sub-GigaHertz frequency protocols applied to electronic energy meters telecommunications by Zaruc Tecnologia and, in some cases, comparing, when pertinent, to theoretical results obtained through Radio Mobile. Among the technologies currently present in the Internet of things market for utilities, it is intended to work with Wi-SUN and LoRaWAN, seeking a model of analysis of both data collection systems for energy measurement linked to observation in real experiments, with qualitative and quantitative reflections through relevant performance indexes described in this work. At the end of this research, the goal is to provide a critical view on the empirical applications of each of the technologies, serving as an aid to decision-making in determining the ideal protocol to meet specific objectives within the field of electric energy data telemetry
- ItemEffects of human-robot interaction in smart walker-assisted locomotion using mixed reality scenarios(Universidade Federal do Espírito Santo, 2025-01-01) Loureiro, Matheus Penido; Frizera Neto, Anselmo; https://orcid.org/0000-0002-0687-3967; http://lattes.cnpq.br/8928890008799265; http://lattes.cnpq.br/5058609108829074 ; Lima, Eduardo Rocon de; https://orcid.org/0000-0001-9618-2176; http://lattes.cnpq.br/6623746131086816 ; Alsina, Pablo Javier; https://orcid.org/0000-0002-2882-5237; http://lattes.cnpq.br/3653597363789712The decline in neuromusculoskeletal function in older adults can significantly affect their motor control, independence, and walking ability, ultimately reducing their quality of life. With the global aging population on the rise, supporting independent mobility and enhancing rehabilitation techniques have become critical goals. The use of augmentative devices, such as smart walkers (SW) can help providing mobility assistance and enhancing residual movement capacity. SWs stand out among these devices by offering active physical support, fall prevention, as well as cognitive and navigation assistance. Despite these improvements, people may still experience frustration due to repetitive tasks and discomfort during recovery, which can lead to higher dropout rates in rehabilitation programs. In this context, integrating rehabilitation devices with mixed reality (MR) tools offers a promising approach for gait training and rehabilitation, potentially improving clinical outcomes, motivation, and adherence to therapy. However, concerns about MR-induced cybersickness and potential changes in gait patterns remain. This master's dissertation investigates the gait parameters of fourteen elderly participants under three conditions: free walking (FW), SW assisted gait (AG), and SW assisted gait combined with MR assistance (AGMR). Kinematic data from both lower limbs were captured using a 3D wearable motion capture system to evaluate the kinematic changes associated with SW use and how MR integration may influence these adaptations. Additionally, cybersickness symptoms were assessed using a questionnaire after the AGMR condition. The results reveal significant kinematic differences between FW and both AG and AGMR,with reductions in sagittal plane motion of 16%, 25%, and 38% at the hip, knee, and ankle, respectively, in both AG and AGMR compared to FW. However, no significant differences were observed between AG and AGMR gait parameters, and no MR-related adverse effects were reported. These findings suggest that MR can be effectively incorporated into walker-assisted gait rehabilitation without negatively impacting kinematic performance, while offering potential benefits for motivation and therapy adherence.
- ItemMetodologia para desenvolvimento de sistemas robóticos: estudo de caso em dispositivos de reabilitação de marcha(Universidade Federal do Espírito Santo, 2025-06-03) Bezerra, Marcio Loureiro; Lima, Eduardo Rocon de; https://orcid.org/0000-0001-9618-2176; http://lattes.cnpq.br/6623746131086816 ; Mello, Ricardo Carminati de; https://orcid.org/0000-0003-0420-4273; http://lattes.cnpq.br/1569638571582691; Frizera Neto, Anselmo; https://orcid.org/0000-0002-0687-3967; http://lattes.cnpq.br/8928890008799265; http://lattes.cnpq.br/9701318914501137 ; Rodríguez Díaz, Camilo Arturo; https://orcid.org/0000-0001-9657-5076; http://lattes.cnpq.br/2410092083336272; Alsina, Pablo Javier; https://orcid.org/0000-0002-2882-5237; http://lattes.cnpq.br/3653597363789712Robotics has advanced with innovations in mechanics, computing, and electronics, expanding its applications. However, software development for robots still faces challenges due to the complexity of tasks and the diversity of hardware and environments. Although tools like ROS facilitate research, it is essential to structure software and hardware architectures systematically. This work proposes a methodology to standardize the development of robotic systems for gait rehabilitation and assistance. The methodology was validated in two case studies. In the first case study, the proposed methodology was applied to two robotic walkers (UFES vWalker and UFES WalkerXR), using ROS and ROS2, for validation and evaluation based on technical analyses and user experience. Positive results were obtained for the technical analysis, with a maximum standard deviation in ROS publishing frequency of 13.24% for the vWalker and 7.43% for the WalkerXR within the specified frequency. Additionally, the device acceptability level was satisfactory according to the System Usability Scale (SUS) , with scores of 77 for the vWalker and 86 for the WalkerXR. In the second case study, a telepresence system was developed by integrating a mobile robot, a 360° camera, and the Discover2Walk device. Mapping tests confirmed the system’s accuracy, with an average error of 0.52% in measured distances. Furthermore, it was possible to synchronize the movement of the mobile robot with the Discover2Walk treadmill, ensuring an immersive experience for the remote user. The proposed methodology demonstrated effectiveness by providing a more organized and predictable development process. The results confirm that the approach favors the creation of robust and adaptable solutions. However, the need for testing in new scenarios should still be explored. Future work suggests applying the methodology to other areas of robotics, conducting long-term studies with real users, and incorporating artificial intelligence to personalize assistive systems.
- ItemEstudo de estágio CC-CC bidirecional com processamento parcial de energia de um SST aplicado em carregamento Extrem Fast Charging de veículos elétricos(Universidade Federal do Espírito Santo, 2025-06-06) Raposo, Duarte Manuel do Sacramento; Santos, Walbermark Marques dos ; https://orcid.org/0000-0002-9871-6028; http://lattes.cnpq.br/5558697161842579; https://orcid.org/0009-0005-1330-4833; http://lattes.cnpq.br/7456400337895616; Simonetti, Domingos Sávio Lyrio ; https://orcid.org/0000-0001-5920-2932; http://lattes.cnpq.br/1107005171102255; Camargo, Renner Sartório ; https://orcid.org/0000-0002-6604-7544; http://lattes.cnpq.br/3539297708118726This dissertation addressed the development of a solution for ultra-fast charging of electric vehicles (XFC), through a structure based on Partial Power Processing (PPP), which integrates two converters: the bidirectional resonant CLLLC and the three-phase interleaver. Model-Based Predictive Control (MPC), combined with the application of the Back-EMF theory, was implemented as a central control strategy in both topologies. The proposed system demonstrated high efficiency, good dynamic performance. The modular and bidirectional architecture, operating at high frequency, proved to be adequate to the demands of the XFC, contributing to the reduction of losses and improvement of the reliability of the system. The proposal is thus configured as a promising and scalable alternative for future electric vehicle charging stations with high power and performance requirements