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dc.contributor.authorCadavid Rengifo, Héctor Fabio
dc.contributor.authorChaparro Preciado, Javier Alberto
dc.date.accessioned2021-11-05T23:47:15Z
dc.date.available2021-11-05T23:47:15Z
dc.date.issued2016
dc.identifier.isbn9781509037872
dc.identifier.urihttps://repositorio.escuelaing.edu.co/handle/001/1806
dc.description.abstractSome obsolete - but common - practices in the application of fertilizers and pesticides are causing serious environmental problems in Colombia; a situation that could be addressed by combining robotics and modern farming management principles, for example, the Precision Agriculture. This paper describes a novel application of Plexil - an experimental synchronous programming language developed by NASA-for robot automation in agriculture, supported by a simulation platform that allows quick prototyping of an automation plan, and a transparent integration of it on a physical robot. As a result, a methodology for evolutive robot development, and a case study with a real six-wheeled multipurpose agricultural robot are presented. Further applications of the simulation platform as a mean to easily introduce robotics engineers to alternative - and less error prone-programming models are also discussed.eng
dc.description.abstractAlgunas prácticas obsoletas -pero comunes- en la aplicación de fertilizantes y pesticidas están causando serios problemas ambientales en Colombia; una situación que podría abordarse combinando la robótica y los principios modernos de gestión agrícola, por ejemplo, la agricultura de precisión. Este artículo describe una aplicación novedosa de Plexil, un lenguaje de programación síncrono experimental desarrollado por la NASA, para la automatización de robots en la agricultura, con el apoyo de una plataforma de simulación que permite la creación rápida de prototipos de un plan de automatización y una integración transparente del mismo en un robot físico. Como resultado, se presenta una metodología para el desarrollo de robots evolutivos y un caso de estudio con un robot agrícola multipropósito real de seis ruedas. También se analizan otras aplicaciones de la plataforma de simulación como un medio para introducir fácilmente a los ingenieros de robótica en modelos de programación alternativos y menos propensos a errores.spa
dc.format.extent6 páginas.spa
dc.format.mimetypeapplication/pdfspa
dc.language.isoengspa
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/spa
dc.titleHardware and software architecture for Plexil-based, simulation supported, robot automationeng
dc.typeCapítulo - Parte de Librospa
dc.type.versioninfo:eu-repo/semantics/publishedVersionspa
oaire.accessrightshttp://purl.org/coar/access_right/c_14cbspa
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85spa
dc.contributor.researchgroupInformáticaspa
dc.publisher.placeBogotá. Colombia.spa
dc.relation.citationendpage6spa
dc.relation.citationstartpage1spa
dc.relation.indexedN/Aspa
dc.relation.ispartofbook2016 IEEE Colombian Conference on Robotics and Automation (CCRA)eng
dc.relation.referencesJason Biatek, Michael W Whalen, Mats PE Heimdahl, Sanjai Rayadurgam and Michael R Lowry, "Analysis and testing of plexil plans", Proceedings of the 2nd FME Workshop on Formal Methods in Software Engineering, pp. 52-58, 2014.spa
dc.relation.referencesRodolfo Bongiovanni and Jess Lowenberg-DeBoer, "Precision agriculture and sustainability", Precision agriculture, vol. 5, no. 4, pp. 359-387, 2004.spa
dc.relation.referencesG Brat, M Gheorghiu, D Giannakopoulou and C Pasareanu, "Verification of plans and procedures", Aerospace Conference 2008 IEEE, pp. 1-8, 2008.spa
dc.relation.referencesChristophe Cariou, Roland Lenain, Benoit Thuilot and Michel Berducat, "Automatic guidance of a four-wheel-steering mobile robot for accurate field operations", Journal of Field Robotics, vol. 26, no. 6-7, pp. 504-518, 2009.spa
dc.relation.referencesErin Catto, Box2d physics engine, World Wide Web electronic publication, 2009.spa
dc.relation.referencesGilles Dowek, César Munoz and Camilo Rocha, "Rewriting logic semantics of a plan execution language", arXiv preprint arXiv:1002.2872, 2010.spa
dc.relation.referencesJuan Pablo González, Brigid Pacheco, Fernanda Viasus and Karen Ayala, "Movilidad de pesticidas en aguas superficiales empleados en agricultura y riesgos para la salud humana en la zona centro del departamento de boyacá-colombia", L'esprit Ingénieux, vol. 3, no. 1, 2012.spa
dc.relation.referencesNathan Koenig and Andrew Howard, "Design and use paradigms for gazebo an open-source multi-robot simulator", Intelligent Robots and Systems 2004.(IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, vol. 3, pp. 2149-2154, 2004.spa
dc.relation.referencesThomas Linner, Alaguraj Shrikathiresan, V Maxim, Bernhard Ellmann and Thomas Bock, "Modelling and operating robotic environments using gazebo/ros", Proceedings of 28th International Symposium on Automation and Robotics in Construction (ISARC), June 2011.spa
dc.relation.references0Olivier Michel, Webotstm: Professional mobile robot simulation, 2004.spa
dc.relation.referencesP Orozco et al., "Impacto ambiental de los fertilizantes en la agricultura con énfasis en el cultivo de la papa", Technical report, 1995.spa
dc.relation.referencesDumitru Potop-Butucaru, Robert de Simone and Jean-Pierre Talpin, "The synchronous hypothesis and synchronous languages" in The embedded systems handbook, pp. 1-21, 2005.spa
dc.relation.referencesCamilo Rocha, Hector Cadavid, Cesar Munoz and Radu Siminiceanu, "A formal interactive verification environment for the plan execution interchange language" in Integrated Formal Methods, Springer, pp. 343-357, 2012.spa
dc.relation.referencesCamilo Rocha, Cesar Munoz and Hector Cadavid, "A graphical environment for the semantic validation of a plan execution language", Proceedings of the Third IEEE International Conference on Space Mission Challenges for Information Technology SMC-IT'09, pp. 201-207, 2009.spa
dc.relation.referencesSachin Saxena, Vinay Kumar, Sarabjeet Singh Luthra and Alok Kumar, 4 wheel steering systems (4was), 2014.spa
dc.rights.accessrightsinfo:eu-repo/semantics/closedAccessspa
dc.rights.creativecommonsAtribución 4.0 Internacional (CC BY 4.0)spa
dc.subject.armarcagriculture
dc.subject.armarcindustrial robots
dc.subject.armarcmobile robots
dc.subject.armarcsoftware architecture
dc.subject.armarcRobots industrialesSPA
dc.subject.armarcArquitectura de softwareSPA
dc.subject.armarcAutomatizaciónSPA
dc.subject.armarcSistemas de detección de robotsSPA
dc.subject.armarcRobóticaSPA
dc.subject.proposalRobot sensing systemseng
dc.subject.proposalAutomationeng
dc.subject.proposalActuatorseng
dc.subject.proposalSoftwareeng
dc.subject.proposalAdaptation modelseng
dc.subject.proposalHardwareeng
dc.type.coarhttp://purl.org/coar/resource_type/c_2df8fbb1spa
dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/bookPartspa
dc.type.redcolhttp://purl.org/redcol/resource_type/ARTspa


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