Electrical and Electronic Engineering, Control and Systems Engineering, Multidisciplinary
8
Scopus Publications
Scopus Publications
Development of a Printed Circuit Board for Electromyographic Signal Acquisition Tawan Victor Batista de Oliveira, Exuperry Barros Costa, Pedro Santos Almeida, Leonardo Rocha Olivi, Wolmar Araújo Neto Proceedings 2025 1st Conference on Robotics Cros 2025, 2025 This study presents the development of a custom Printed Circuit Board (PCB) for the acquisition and processing of surface electromyographic (sEMG) signals, which are pivotal in assistive robotics and human-machine interfaces for their ability to accurately capture muscle activity with high signal-to-noise ratios. The project encompasses the design, simulation, and fabrication of a two-stage system consisting of initial signal amplification and subsequent analog filtering. The circuit incorporates instrumentation amplifiers with high common-mode rejection ratios and cascaded second-order Butterworth filters (high-pass and low-pass) to isolate the target frequency range (40–500 Hz). Experimental validation of the simulation results confirmed the system’s efficacy in signal conditioning and noise reduction. Although the integration of electrodes and microcontroller-based signal processing was beyond the scope of this work, the developed PCB demonstrated strong potential for integration into more advanced systems. Prospective applications include gesture recognition, robotic prosthesis control, and other areas of biomedical signal processing.
Comparison of Bio-Inspired Algorithms in a Case Study for Optimizing Capacitor Bank Allocation in Electrical Power Distribution Wolmar Araújo Neto, Murillo Ferreira Dos Santos, Leonardo Rocha Olivi, Exuperry Barros Costa, Paolo Mercorelli Proceedings of the 2024 25th International Carpathian Control Conference Iccc 2024, 2024 This paper investigates the Fish School Search (FSS) algorithm's effectiveness for optimizing capacitor placement in electrical distribution networks, focusing on the challenges of increasing demand and aging infrastructures. The study assesses FSS's unique capability to evade local optima, contrasting its performance with established methods like Ant Colony (AC), Constructive Heuristic Algorithm (CHA), and Genetic Algorithm (GA) in various systems, including IEEE-14, IEEE-33, and IEEE-69 buses. Results highlight FSS's superior performance in reducing active losses, using fewer resources and iterations. This research underscores the potential of bio-inspired algorithms in complex power distribution challenges and suggests new directions for algorithmic efficiency and broader application.
Vector Fields Autonomous Control for Assistive Mobile Robots Leonardo Rocha Olivi, Wolmar Araújo Neto, Exuperry Barros Costa, Murillo Ferreira Dos Santos, Paolo Mercorelli, Eleri Cardozo Proceedings of the 2024 25th International Carpathian Control Conference Iccc 2024, 2024 This study introduces an innovative autonomous control system for assistive mobile robots, focusing on users with significant physical disabilities. Leveraging vector fields and a modified A* algorithm, the system enhances the traditional approach to robotic wheelchair navigation. The methodology emphasizes autonomous navigation in familiar environments, integrating advanced Human-Machine Interfaces (HMIs) for user interaction and control. Experimental analysis demonstrates the system's superiority over conventional Proportional, Integral and Derivative (PID) controllers in terms of safety, adaptability, and user comfort. The solution effectively addresses the challenges of map maintenance, route planning, and dynamic obstacle avoidance, marking a significant advancement in assistive robotics.
Detection time analysis of propulsion system fault effects in a hexacopter M. F. Santos, L. M. Honorio, E. B. Costa, M. F. Silva, V. F. Vidal, A. F. Santos Neto, H. B. Rezende, P. Mercorelli, A. A. N. Pancoti Proceedings of the 2019 20th International Carpathian Control Conference Iccc 2019, 2019 The hexacopter propulsion system is composed of electronic speed controllers, motors and propellers. When severe damage happens in one of these components, critical impacts over the system's dynamics are witnessed. Changing the controller parameters or even adopting a different control strategy is useless once the system loses its controllability. To prevent significant damages, this work presents a case study about the detection time effects that total faults interfere with the aircraft dynamics, which is extremely necessary to be identified and perceived by the aircraft control board. The case study was built using nonintrusive indices, based on an error from angular dynamics responses. Once identified a failure situation, a future control device can provide some performance actions due to critical issues, without losing the aircraft controllability or leaving it to crash. The results were impressive, showing that it is possible to develop fault detection and identification technique in 0.1 seconds tops, keeping the aircraft safe in these scenarios. Longer detection time may lead to insert non-controllable cases.
Active Fault-Tolerant Control applied to a hexacopter under propulsion system failures Murillo F. Santos, Leonardo M. Honorio, Exuperry B. Costa, Edimar J. Oliveira, Joao Pedro Portella Guedes Visconti 2015 19th International Conference on System Theory Control and Computing Icstcc 2015 Joint Conference Sintes 19 Saccs 15 Simsis 19, 2015 This work presents a new Active Fault-Tolerant Control (AFTC) method to maintain the Unmanned Aerial Vehicles (UAV) stable and controllable even under a total fault up to one propulsion system actions. The proposed approach is based on the control system re-configuration of the remaining propellers. As the system is no longer controllable in all six degrees of freedom, one dimension should be abandoned. In this case, the control of yaw dynamics was chosen to be ignored because less crash risk is introduced. Than the remaining variables became controllable leading the aircraft to safely land and without shortcoming.
Modified approach using variable charges to solve inherent limitations of potential fields method Milena F. Pinto, Thiago R. F. Mendonca, Leornardo R. Olivi, Exuperry B. Costa, Andre L. M. Marcato 2014 11th IEEE IAS International Conference on Industry Applications IEEE Induscon 2014 Electronic Proceedings, 2014 There are several methods to control robot's trajectories. The potential fields technique is one of the simplest algorithms that require less computational resources. This work presents a modified version of the potential fields method using variable charge and adapted attractive fields that allows the robot to achieve the goal in dynamical and complex environment which the original approach is not able to solve. The algorithm has been validated using the MobileSim simulator together with Matlab. The results prove the algorithm efficiency in schemes with multiple local minima, goal close to obstacles and less oscillation in narrow passages. This control method can be used in industrial applications such as automatic forklift operation, robotic manipulators and wheeled robots.
