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Universidade de São Paulo. Escola Politécnica.
Copyright (c) 2025 Constanza Maria Reis da Silva Mariano http://creativecommons.org/licenses/by-nc-sa/4.0
Modeling and control of interactions between pedestrians and cyclists in shared spaces using the PFS/RdP (Production Flow Schema) methodology
This article will address the interactions between pedestrian and cyclist paths in a square. In this way, the problem to be solved is how cyclists and pedestrians should travel through the square without there being conflicts between them and how their routes can be optimized based on the size of the square. The approach adopted was to model the system in two distinct cases, one without conflict between the entities, therefore without control, and the other with interaction between the elements and the control model. The system was simplified into 4 inputs and 6 outputs and its modeling was done using the petri net (RdP) following the step-by-step PFS/RdP methodology. The model validation will be through RdP simulation using the Pipe software. For PLC programming.
Copyright (c) 2025 Vinicius Santos Farina, Augusto Campos, Henrique Zenga Carrenho http://creativecommons.org/licenses/by-nc-sa/4.0
Tutorial on how to download and use the Autodesk Fusion program
This article presents an introductory tutorial for using the Autodesk Fusion software, focusing on its application in scientific initiation projects. The main tools and functionalities of the program are addressed in a sequential and didactic manner, from installation to the creation of parts for 3D printing. The topics cover everything from basic features such as Sketch, Extrude, Revolve and Loft, to more advanced aspects such as gear modeling (cylindrical and conical), thread application, importing McMaster-Carr components, assembling sets via Grabcad and creating animations with multiple joints. The tutorial aims to provide a basis for students and researchers who wish to incorporate Fusion into their engineering projects.
Copyright (c) 2025 Davi Nagai Matias http://creativecommons.org/licenses/by-nc-sa/4.0
Initial Guide to Auto Multiple Choice (AMC) for .TXT Files
This document presents an introductory guide on the initial setup of Auto Multiple Choice (AMC), an open-source tool aimed at creating and automatically grading multiple-choice exams. The tutorial covers everything from software installation and updates to the configuration of necessary packages for proper operation, with an emphasis on using WSL for Windows environments.
Copyright (c) 2025 Jhonatan Ribeiro dos Santos, Pedro Henrique Rosa Teixeira, Carlos Eduardo Silva de Marchi http://creativecommons.org/licenses/by-nc-sa/4.0
Installation Tutorial for Windows Subsystem for Linux (WSL)
This tutorial guides you through activating the Windows Subsystem for Linux (WSL), which allows Windows to run a Linux machine within the Windows environment by executing Linux distributions directly on the operating system. It explains how to check system compatibility, enable the necessary components, and install a Linux distribution, such as Ubuntu.
Copyright (c) 2025 Jhonatan Ribeiro dos Santos, Carlos Eduardo Silva de Marchi, Pedro Henrique Rosa Teixeira http://creativecommons.org/licenses/by-nc-sa/4.0
Copyright (c) 2024 Constanza Maria Reis da Silva Mariano http://creativecommons.org/licenses/by-nc-sa/4.0
Walker with a lifting mechanism and walking monitoring system
With the aging population, the physical and emotional strain on caregivers of elderly individuals with low mobility has become an increasingly relevant issue in society. To address this challenge, this study developed a walker equipped with a mechanism for lifting patients from a seated position and a data acquisition system for monitoring walking conditions. Initially, theoretical analyses were conducted to determine the best strategies for lifting a person from a seated position, identifying the optimal placement of supports for the maneuver, the main safety risks to the patient, such as falls, and the most relevant data for walking monitoring. Based on this information and the project requirements, existing walker models with lifting mechanisms were studied, serving as a reference for the initial design. Modifications were implemented during the prototyping phase. The designed walker uses a lever operated by the caregiver's feet for the lifting mechanism. It also includes safety straps to prevent falls, arm and knee supports, lockable wheels, and a monitoring system that records data such as oxygenation, heart rate, balance disturbances, speed, and acceleration. A wooden prototype was built and tested, demonstrating that the equipment offers good ergonomics and usability. The tests revealed greater ease in lifting the patient, requiring less effort from the caregiver.
Copyright (c) 2024 Gabriela Kazumi Ono Leal, Leticia Miyuki Kimoto, Oswaldo Horikawa http://creativecommons.org/licenses/by-nc-sa/4.0
Autonomous Navigation Strategy for Drones in Indoor Environments Using Neural Networks
Drones are unmanned aerial vehicles, and their use in indoor environments has several applications, such as logistics, storage, and security. Autonomous navigation facilitates access, increases efficiency, and reduces operational costs. However, this type of application introduces positioning challenges, primarily due to the inaccuracy of GPS signals, which is the main method implemented in open environments. In this context, the development of a localization strategy based on convolutional neural network models is proposed, which are responsible for trajectory classification that informs the decision-making process of the system’s control algorithm.
Copyright (c) 2024 Sophia Celine Rafael Alves Pereira, Fábio Calça Carvalho http://creativecommons.org/licenses/by-nc-sa/4.0
Assessment of Food Supply Chain Resilience During the COVID-19 Pandemic Using Discrete Event Modeling
The COVID-19 pandemic had a significant impact on supply chains (SC) worldwide, altering food purchasing patterns, the paradigm of digital services, and logistics and distribution due to workforce shortages, transportation disruptions, and new safety and hygiene measures. The adverse effects of this scenario were studied and simulated by Ivanov and Burgos in "Food Retail Supply Chain Resilience and the COVID-19 Pandemic: A Digital Twin-Based Impact Analysis and Improvement Directions", serving as the basis for this study. In this work, we will use Discrete Event Simulation with Petri Net modeling to establish a control system for supply chains. Through this approach, we aim to demonstrate how different scenarios caused by the pandemic influence control signals and the functioning of the model, enabling a deeper assessment of the resilience of food supply chains.
Copyright (c) 2025 Gabriel Cordeiro Caram, Caic Hein Fernandes Maciel, Gustavo Loiola dos Santos http://creativecommons.org/licenses/by-nc-sa/4.0
This project aims to develop and analyze a line-following cart assembly system using the Discrete Event Systems (DES) approach. The system encompasses three main stages: a cutting station, where a robot performs the cutting of parts; an assembly station, where the operator adds the battery, Arduino, and two line sensors to the cart; and a coding station, where another operator programs the microcontroller. The primary challenge in automation and modeling is ensuring the synchronization of these stages, eliminating bottlenecks in the production flow, and ensuring operational efficiency. The system inputs include the robot command at the cutting station, the manual input of components at the assembly station, and the code entered by the operator at the final station. The outputs include the states of the actuators responsible for cutting, assembling, and finalizing the cart. To model the assembly process, Petri Nets were used, allowing the analysis of the system's dynamic behavior, and Sequential Functional Programming (SFP) was employed to structure the control logic and ensure the synchronization of operations. The analysis of the assembly process model provides insights into the stages of the process, enabling the study of how the assembly process is modeled. The results obtained demonstrate that the application of DES methodologies enabled a detailed analysis of the assembly process and allowed the implementation of a reliable and efficient system. The project's impact includes optimizing the production process, reducing idle times, and improving the final product's quality. The development reinforces the use of DES in industrial applications, contributing to advances in automation and control.
Miguel Fernandes Viana dos Santos Oliveira
Copyright (c) 2025 Dayane Pereira de Souza, Miguel Fernandes Viana dos Santos Oliveira http://creativecommons.org/licenses/by-nc-sa/4.0
Modeling Airport Flow Using Discrete Event Systems
The performance of airport systems has become increasingly significant in a globalized world. Efficient management of aircraft flow at airports is of utmost importance, especially from a financial perspective, and thus requires that operations be carried out as swiftly as possible to maximize aircraft productivity. To achieve this, it is crucial to understand how these operations function. To this end, a simplified airport system was modeled, considering a single runway for takeoffs and landings, taxiways for arrivals and departures, a parking apron with a capacity for six aircraft, and ground services provided after aircraft parking. This modeling utilized the Production Flow Schema (PFS) approach and Petri nets, characterizing the system as a discrete event model. This approach also enabled the programming of a logical controller using Ladder Diagram (LD). The developed model proved to be robust and easily adaptable, allowing the study of specific airport cases to gain a detailed understanding of their operations, identify potential optimization points, and facilitate process automation.
Copyright (c) 2024 Edilson Barbosa Guedes Dias, Giovanni Cangiano, Flávio Silva Ferro http://creativecommons.org/licenses/by-nc-sa/4.0
Modeling the production of MODE lenses for satellites as a Discrete Event System
Copyright (c) 2024 Lucas Panfilo Donaire, João Ritton, Fabio Baptista http://creativecommons.org/licenses/by-nc-sa/4.0
Study on the Automation of Aircraft Ground Handling Processes
This study addresses the automation of aircraft ground handling processes, including taxiing, passenger boarding and disembarkation, refueling, and baggage transport. The main challenge is the development of a dynamic and efficient control system capable of coordinating these processes, minimizing operational failures, enhancing safety, and optimizing efficiency. The proposed system integrates multiple inputs and outputs, such as positioning sensors and resource status, in addition to actuators responsible for executing tasks like finger coupling and the activation of refueling and baggage handling vehicles. The system modeling employs Petri Nets (RdP), a methodology that allows for a precise representation of the system's states, transitions, and interlocks, ensuring a clear and robust analysis of its dynamic behavior. The model validation will be conducted through computational simulations using the PIPE 4.3 software, ensuring the absence of deadlocks and resource limitations within the modeled network. Subsequently, the model will be translated into Ladder Diagram (LD) programming language, following the IEC 61131-3 standard, for practical implementation in Programmable Logic Controllers (PLCs). As a result, this study aims to achieve efficient automation of ground handling processes, reducing aircraft turnaround times at airports, optimizing operational efficiency, and improving safety. This project contributes to the modernization and sustainability of airport operations, providing a solid foundation for future applications in more complex systems.
Copyright (c) 2025 João Nicolas Retti, Luiz Henrique Piffer Marques, Adevaldo dos Santos Pinto Junior http://creativecommons.org/licenses/by-nc-sa/4.0
Automation of Container Unloading from Large Cargo Ships and Color-Based Positioning Segmentation
This work addresses, in the context of Discrete Event Systems, the development of a method for automation and control to tackle the issue of unloading large cargo ships and, additionally, the implementation of spatial segmentation of containers from different brands, a condition approximated by containers of different colors. The current unloading process heavily relies on human operators controlling the machinery that moves the containers. Human labor, in cases like this, poses a risk and vulnerability to the process, as workers are subject to fatigue, inattention, mistakes, and other conditions that can be very costly due to the large-scale loss of goods. Furthermore, automating the process is a means of increasing efficiency with significant potential to add value by saving time. These savings are reflected in the reduction of idle time for ships and in the decreased waiting time for other ships to dock. Returning to the issue of spatial segmentation, it is understood that an important part of the unloading process is the ability to allocate containers in an organized manner to facilitate the transportation of goods out of the port. In this way, major brands can access their goods more easily, making the integration of the distribution network with the port less costly. This work required the development of control for 39 signals, 30 of which were input signals. This was accomplished using the design methodology taught in the PMR 3305 course, whose steps include, in order: defining the physical architecture and structural model of the control system – its inputs and outputs (I/O); modeling the control behavior through PFS (Production Flow Schema) and RdP (Petri Nets) and defining interlocks; validating and simulating the model using PIPE 4.3; and applying isomorphism to program PLCs by converting the Petri Nets into Ladder Logic (LD). It is worth noting that the commissioning of the control system should mark the final stage of the project development, but the completion of this step was outside the proposed scope. The conclusion of this project pointed to the real possibility of implementing safe automation systems for unloading cargo ships. The expected impact of the real implementation of a system similar to the one proposed here is to make large-scale freight transport networks more efficient, reducing costs and making the process safer, more organized, and more efficient.
Copyright (c) 2025 Mateus Matzkin Gurza, Thiago Daquino Velasquez, Thiago Rosa Carvalho http://creativecommons.org/licenses/by-nc-sa/4.0
Simulation of a liquid propellant rocket engine manufacturing assembly line utilizing the PFS/PN methodology
The system addressed in this paper pertains to an assembly line for liquid propellant rocket engines equipped with turbopump. The challenge involves automating the process of metal 3D printing for the turbopump and combustion chamber, followed by heat treatment for stress relief, X-ray computed tomography inspection, and the subsequent movement of components throughout the factory. To achieve this, the PFS/PN methodology was employed to facilitate a detailed analysis of the system, ensuring control over its inputs and outputs. The system was simulated using the ProModel Discrete Event Simulator, and the results were scrutinized, indicating the robustness of the simulation. Following the Ladder methodology, programming for Programmable Logic Controllers was also developed.
Copyright (c) 2023 Jhonatan Ribeiro dos Santos, Eduardo Seiji Suguimoto Miyazato Ferrer http://creativecommons.org/licenses/by-nc-sa/4.0
Conceptual Study on the Automation of University Restaurants at USP
A conceptual study was conducted for the automation of the "Bandejões" at USP with the aim of reducing queues. The study was carried out using the Production Flow Scheme and Petri Net methodologies. This model, which comprises 13 inputs and 8 outputs, was verified using the reachability tree and translated into the Ladder programming language in accordance with the IEC 61131-3 standard.
Copyright (c) 2023 Iago Baldim Mendes, Gabriel Morth Cursino, Gabriel Dias de Almeida http://creativecommons.org/licenses/by-nc-sa/4.0
Copyright (c) 2023 Constanza Maria Reis da Silva Mariano http://creativecommons.org/licenses/by-nc-sa/4.0
The concept of discrete event system control applied to hydrogen tank manufacturing
Currently, the emission of greenhouse gases by humanity is a critical factor for global warming, creating the need to develop more sustainable technologies. In terms of transport, hydrogen-powered vehicles stand out, a project that emerged a few decades ago, but has not yet been fully implemented, mainly due to the need for specific tanks to store the gas in the vehicle. Therefore, this work seeks to describe and model the essential stages of the manufacturing process of a hydrogen tank, following as a reference those used in Toyota Mirai cars. Starting from the description through Petri Nets, the main characteristics and requirements of a hydrogen tank manufacturing plant were schematized and then converted to Ladder.
Automation of hydrogen tank manufacturing
Copyright (c) 2023 Sofia Lopes Suesdek Rocha, Soitiro Oura https://creativecommons.org/licenses/by-nc-sa/4.0/
Model andcontrol of vehicle dynamics and monitoring of attitude and performance
This text begins with the statement of the problem and the objective of proposing a method of controlling and monitoring vehicles on rails in order to improve the safety of the railroad car against overturning. With that in mind, the vehicle was modeled using principles of Newton-Euler and Lagrangian mechanics, the model represents the lateral dynamics of the train. With the model in hand, the system is studied by observing its behavior in the time and frequency domains, making it possible to identify their respective natural frequencies and normal modes. To solve the monitoring problem, an application was developed with MIT App Inventor with the intention of taking advantage of the IMU chip present in all modern smartphones. The application manages to save the information in the device's memory and then export the gyroscope and accelerometer signals, with these signals it is possible to use a complementary filter to measure the roll angle with greater precision. Therefore, with the dynamic model and the monitoring system, an LQR control system is proposed with two electromagnetic actuators acting on the railroad car and bogie, laterally, in order to keep the car roll angle controlled, avoiding overturning of the train. The controlled system is then evaluated at steady state during a curve and the results are discussed.
Copyright (c) 2023 Matheus José Oliveira dos Santos Dias http://creativecommons.org/licenses/by-nc-sa/4.0
Automation project for the fast-food production process using a discrete event system
The proposed automation project aims to enhance production efficiency in a fast-food environment, specifically in the manufacturing of hamburgers, french fries, and chicken nuggets. Using the Discrete Event Systems (DES) methodology, the approach employs a physical architecture that incorporates detection, monitoring, control, and actuation devices, all connected to a Programmable Logic Controller (PLC). The IEC 61131-3 standard guides the programming of PLCs, employing the Ladder Diagram (LD) language to translate Petri net models into the system's control logic. System behavior modeling is performed through the Production Flow Schema (PFS) methodology and Petri nets, providing a clear visual representation of subprocesses, including the production of each item and necessary interlocks. Control validation is conducted through simulations using PIPE 4.3 software, allowing adjustments before conversion to LD. Expected results encompass a substantial improvement in operational efficiency. Automation seeks to ensure product quality consistency, error reduction, and increased production capacity. By minimizing human intervention, the system also aims to optimize production, benefiting both the company and the customer experience. The project development follows a five step methodology, ranging from defining the physical bringing significant improvements in efficiency and production quality in a fast-food environment architecture to commissioning Inputs/Outputs in the real system. Petri Net transcription into programming language is accomplished through isomorphism, facilitating the practic al implementation of control. In summary, the integration of DES, PFS methodology, Petri net modeling, and programming according to the IEC 61131-3 standard offers a robust approach to the development of complex automation systems, bringing significant improvements in efficiency and production quality in a fast-food environment.
Copyright (c) 2023 Danilo Patah Dacca, Pedro Bianco de Aquino, Vítor Aun Kassab http://creativecommons.org/licenses/by-nc-sa/4.0
The process of selecting recyclable materials involves identifying and classifying materials according to their characteristics and conveying them to their respective containers. To automate this process, a conveyor belt system was designed that, with the presence of sensors, directs the waste to its respective collector. The solution allows this material classification process present in fields focused on sustainability, such as recycling, to be optimized and also for the human work involved in this stage to be more inclusive. As labor is employed, it is a sys tem that is not completely independent. Considering the complete system with all interlocking subnetworks, there is a total of 22 inputs and 11 controlled outputs and the process will be modeled using the Production Flow Schema (PFS) methodology to obtain a Petri net (RdP), presented in the format of an interpreted network, associating input signals with transitions and outputs with places. The control model will be validated by verifying good RdP properties using software as a tool and the behavior of the network in terms of the states reached throughout a simulation. Ladder will be used to program the controller, with the process logic given by the vertical arrangement of rungs, obtained through the conversion of the Petri net by isomorphism. Finally, the behaviors observed in the Petri net and in the Ladder of this system were compared to assess its consistency, and the results were aligned with the expected ones.
Miguel Oliveira Passos Figueiras Marques
Copyright (c) 2023 Eduardo Araujo, Vítor Viana, Miguel Marques http://creativecommons.org/licenses/by-nc-sa/4.0
Copyright (c) 2022 Gabriel Henrique de Morais Pires, http://creativecommons.org/licenses/by-nc-sa/4.0
Project and implementation of a personal assistant for meeting scheduling
The process of scheduling a meeting relies on a negotiation between two or more actors and might be a tedious task, therefore resulting in unoptimezed results given the lack of commitment of the actors. To solve this problem, it was proposed an assistante based on an architecture with two main modules: Semanticizer, responsible for the natural language processing and the creation of an object that represents the semantic of the user utterance; Dialog Managers, responsible for dialog’s conduction, processing the Semanticizer output and generating outputs. This solution allowed half of the testers to accomplish their goals while using the assistant, with an average of three turns to collect all relevant data to the meeting. It also achieved 84% of accuracy to identify relevant entities and 53% of accuracy to identify relevant intents expressed by the users.
Copyright (c) 2022 Ricardo Ciriaco Camargo Imagure, Mateus Ramos Vendramini http://creativecommons.org/licenses/by-nc-sa/4.0
Research and development of the control system of a haptic interface for motor learning and control tests
In this work we analyze a haptic interface present in the Biomechatronic Laboratory under the structural and electronic aspects and examine the codes used in its operation. We then use this analysis to develop a new version of this device that could be used as a control learning platform and could be used for laboratory testing. Electrical and mechanical systems were modeled and control theory concepts were applied to the modeling of various systems capable of controlling the angular position of our interface. In the end, we compared these systems under various conditions to define the most suitable for our device. Finally, we designed a system to allow communication and data exchange between two interfaces for future testing.
Copyright (c) 2022 Pedro Bueno Carvalhaes http://creativecommons.org/licenses/by-nc-sa/4.0
Editorial do volume 4, número 1, 2019, da revista Mecatrone.
Copyright (c) 2019 Maurício Moreira de Avelar Alchorne http://creativecommons.org/licenses/by-nc-sa/4.0
Historical synthesis of the Advanced School of Mechatronics Engineering
This paper presents a historical synthesis of the Advanced School of Mechatronics Engineering (in Portuguese, ‘Escola Avançada de Engenharia Mecatrônica’), a project carried out by the PET - Automação e Sistemas, group from the Engineering School of the University of São Paulo (in Portuguese, ‘Escola Politécnica da Universidade de São Paulo’). To this end, the project is initially described, by relating its characteristics, in order to meet two main objectives: to reduce the dropout of newcomers in mechatronics engineering and to serve as a graduate laboratory, that is, as a space for testing new teaching-learning methods. Finally, a historical analysis of the incrementally implemented improvements, over the 13 years of the project's existence, to its current form is made.
Copyright (c) 2019 Gabriel Moura Machado http://creativecommons.org/licenses/by-nc-sa/4.0
A study of glider dynamics - underwater vehicle for oceanographic monitoring
This article aims to explore the construction of a computational model for the representation of the dynamics of an underwater glider, using the software OrcaFlex. Through the obtained results, it is discussed the model validity and its advantages and limitations as a tool for glider project development.
Copyright (c) 2019 Bruno de Barros Feitosa http://creativecommons.org/licenses/by-nc-sa/4.0
Procedure for experimental calculation of the center of gravity position of road vehicles
The center of gravity position of road vehicles is directly related to safety. It is a major factor at drivability and at suspension comfort (due to its influence in moment of inertia), and the limit in which the vehicle can drive around a curve without overturning is a function of only velocity, friction with the road and center of gravity height. The latter has the most influence at large size vehicles. A simple procedure to experimentally measure this position is explained in detail. This procedure is equally precise and possible of adaptations at vehicles with different geometries, in which it is hard to position load cells.
Copyright (c) 2019 Ciro Kandi Taniguchi Onuki http://creativecommons.org/licenses/by-nc-sa/4.0
Development of simulation software for projection-based augmented reality
Augmented reality is a buzzword. It has an incredible potential to be used every day and everywhere and to bring down all barriers between realities. There are numerous ways of mixing our reality with the virtual world of our computers. No one of them can yet do so in a perfect and reproductible way. There is interest in the use of video-mapping as a medium for augmenting reality. This type of technology uses real objects to be augmented, it doesn’t need direct interaction with an user. There is interest in the development of video-mapping structures for augmented reality. How can be created, in the best way possible, a projection system capable of illuminating an object that has a given size? Which projector to choose and what will be the dimensions of this projective system? These questions motivated the research to build a CAD system made for projection. This software was developed and tested in this project. It is presented here some of the discoveries, methods and algorithms used in the development.
Copyright (c) 2019 Lucas Meirelles do Prado http://creativecommons.org/licenses/by-nc-sa/4.0
Benefits of using the frequency inverter in level control of water supply systems
This article aims the application of frequency inverter in industrial processes that work with many starts and stops of motor pump sets in water supply systems, which do not have fixed consumption demand and have their equipment sized to support the most critical cases. The study was carried out at the Elevated Station of the Bahia Water Supply Company, in the neighborhood of Garcia, in the city of Salvador (Brazil), where the system was implemented. The application aims to acquire energy savings, better utilization of the level of operation of the pool and less wastage of the equipment involved in the system. The result was satisfactory. Despite the need for some structural changes in the process, the energy savings were easily demonstrated in the first month of implementation of the new system, bringing a financial return in a less than expected time and great savings in the coming periods.
Copyright (c) 2019 Marcos Batista dos Santos http://creativecommons.org/licenses/by-nc-sa/4.0