<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">\documentclass{beamer}
\mode&lt;presentation&gt; 
{
  \usetheme{Copenhagen}
  \usecolortheme{beaver}
%  \setbeamertemplate{footline}[frame number]
%\setbeamertemplate{sidebar right}{}
%\setbeamertemplate{footline}{%
%\hfill\usebeamertemplate***{navigation symbols}
%\hspace{1cm}\insertframenumber{}/\inserttotalframenumber}
%\setbeamertemplate{footline}{\insertframenumber/\inserttotalframenumber}
}
\expandafter\def\expandafter\insertshorttitle\expandafter{%
  \insertshorttitle\hfill%
  \insertframenumber\,/\,\inserttotalframenumber}
% % -------------------------
% % PACKAGES USED
% ---------------------------
\usepackage[utf8]{inputenc}
\usepackage[portuguese]{babel}
\usepackage{default}
\usepackage{eurosym}
\usepackage{graphicx} % Allows including images
\usepackage{booktabs} % Allows the use of \toprule, \midrule and \bottomrule in tables
\usepackage{tikz}
\usepackage{xstring}
\usepackage{caption}
\usepackage{subcaption}
\usepackage{scalefnt}
\usepackage{multimedia}
\usepackage{hyperref}
\usepackage{amssymb}% http://ctan.org/pkg/amssymb
\usepackage{pifont}% http://ctan.org/pkg/pifont
\newcommand{\cmark}{\ding{51}}%
\newcommand{\xmark}{\ding{55}}%
%%%%%%%%%%%%%%%%%%%7
%TITLE PAGE
\title[E-Stop e MonitorizaÃ§Ã£o ATLASCAR]{E-STOP e consola de controlo e monitorizaÃ§Ã£o para ATLASCAR} % The short title appears at the bottom of every slide, the full title is only on the title page

\author{JosÃ© Bettencourt Viana} % Your name
\institute[LAR UA] % Your institution as it will appear on the bottom of every slide, may be shorthand to save space
{
Universidade de Aveiro \\ % Your institution for the title page
\medskip
\textit{Orientador: Prof. Doutor Vitor Santos} % Your email address

\textit{Apoio: Mestre Jorge Almeida}
}
\date{15 de julho 2013} % Date, can be changed to a custom date



\begin{document}
\begin{frame}
\titlepage % Print the title page as the first slide
\end{frame}

\begin{frame}
\frametitle{VisÃ£o geral do trabalho realizado} % Table of contents slide, comment this block out to remove it
\tableofcontents % Throughout your presentation, if you choose to use \section{} and \subsection{} commands, these will automatically be printed on this slide as an overview of your presentation
\end{frame}

%----------------------------------------------------------------------------------------
%	PRESENTATION SLIDES
%----------------------------------------------------------------------------------------

%------------------------------------------------
\section{E-Stop} % Sections can be created in order to organize your presentation into discrete blocks, all sections and subsections are automatically printed in the table of contents as an overview of the talk
%------------------------------------------------


\subsection{ApresentaÃ§Ã£o} % A subsection can be created just before a set of slides with a common theme to further break down your presentation into chunks

\begin{frame}
\frametitle{ApresentaÃ§Ã£o}
\begin{itemize}
 \item Sistema para ser implementado no ATLASCAR
 \item Requisito necessÃ¡rio para a participaÃ§Ã£o no ELROB.
 \item Sistema de atuaÃ§Ã£o remota
 \begin{figure}
        \centering
        \begin{subfigure}[tl]{0.4\textwidth}
                \centering
                \includegraphics[width=3.5cm]{atlascar_semfundo.png}
                \caption{ATLASCAR}
%                 \label{fig:gull}
        \end{subfigure}%
        ~ %add desired spacing between images, e. g. ~, \quad, \qquad etc.
          %(or a blank line to force the subfigure onto a new line)
        \begin{subfigure}[tl]{0.2\textwidth}
                \centering
                \includegraphics[width=1.7cm]{elrob_logo.png}
                \caption{ELROB}
        \end{subfigure}
\end{figure}
\end{itemize}







\end{frame}

%------------------------------------------------

\begin{frame}

\frametitle{Sistema E-STOP}
Sistema de atuaÃ§Ã£o remota para imobilizar o  veÃ­culo.
\newline
Tem trÃªs modos de funcionamento:
\begin{itemize}
\item RUN
\item PAUSE
\item DISABLE

\end{itemize}
\end{frame}



%------------------------------------------------
% diapositivo da tabela comparativa dos varios sistemas de possivel implementaÃ§Ã£o no carro
% ---------------------------------------------------
\subsection{ImplementaÃ§Ã£o}
\begin{frame}
\frametitle{Modos de atuaÃ§Ã£o}
Estudo de soluÃ§Ãµes

\begin{table}
\begin{tabular}{c  c  c}
\toprule
\textbf{Modo de comunicaÃ§Ã£o} &amp; \textbf{Rx / Tx} &amp; \textbf{Alcance}  \\
\midrule
Xbee Pro S2 &amp; totalmente configurÃ¡vel &amp;  120m (out)  \\
Xbee Pro  868 MHz &amp; totalmente configurÃ¡vel &amp; 20 km (out) \\
MÃ³dulo RC &amp; Sistema fechado  &amp; 500m (out) \\
\bottomrule
\end{tabular}
\caption{ComparaÃ§Ã£o entre os vÃ¡rios sistemas para implementaÃ§Ã£o.}
\end{table}

\end{frame}
% ----------------------------------
% % Novo diapositivo
% ---------------------------------
\begin{frame}
\frametitle{OpÃ§Ã£o escolhida}
Para a consola remota
\begin{figure}
        \centering
        \begin{subfigure}[tl]{0.3\textwidth}
                \centering
                \includegraphics[width=2.4cm]{xbee_pro.png}
                \caption{Xbee Series2.}
%                 \label{fig:gull}
        \end{subfigure}%
        ~ %add desired spacing between images, e. g. ~, \quad, \qquad etc.
          %(or a blank line to force the subfigure onto a new line)
        \begin{subfigure}[tl]{0.3\textwidth}
                \centering
                \includegraphics[width=4.4cm]{arduinofio.png}
                \caption{Arduino Fio.}
        \end{subfigure}
\end{figure}


\end{frame}
%%opaÃ§Ã£o para o elemento do carro

\begin{frame}
\frametitle{OpÃ§Ã£o escolhida}
Para o sistema do carro
\begin{figure}
        \centering
        \begin{subfigure}[tl]{0.3\textwidth}
                \centering
                \includegraphics[width=2.4cm]{xbeepro_rpsma.png}
                \caption{Xbee Series2.}
%                 \label{fig:gull}
        \end{subfigure}%
        ~ %add desired spacing between images, e. g. ~, \quad, \qquad etc.
          %(or a blank line to force the subfigure onto a new line)
        \begin{subfigure}[tl]{0.3\textwidth}
                \centering
                \includegraphics[height=5.2cm]{arduino_mega.png}
                \caption{Arduino Mega.}
        \end{subfigure}
\end{figure}


\end{frame}
%------------------------------------------------
% \subsection{Modo de funcionamento}



\begin{frame}
 \frametitle{Funcionamento do sistema}
 
 \begin{figure}
   
                \centering
                \includegraphics[width=\textwidth]{esquemacomunicacoes.png}
                \caption{Esquema de funcionamento do sistema implementado.}
%     
        \end{figure}

 
\end{frame}
\begin{frame}
\frametitle{SeguranÃ§as implementadas no sistema}



\begin{itemize}
 \item E-Stop independente do sistema de navegaÃ§Ã£o do veÃ­culo.
  \item Envio de CRC \textit{cyclic redundancy check}.
  \item Em falha de comunicaÃ§Ã£o o modo \textbf{PAUSE} Ã© ativado.
  \item Taxa de transmissÃ£o de mensagens a 5Hz.
  \item Mensagens Ãºnicas.
  \item AÃ§Ãµes efetuadas depois de verificaÃ§Ã£o do CRC.
\end{itemize}

\end{frame}
%Estrutura das mensagens trocadas entre elementos




\begin{frame}
 \frametitle{Mensagens trocadas}
 
 
 
\begin{center}

\tikzstyle{bit} = [minimum width=0.5cm, minimum height=2em, outer sep=0pt, draw=black, semithick]
\tikzstyle{textonly} = [minimum width=0.5cm, minimum height=1.5em, semithick]
\scalefont{0.8}
\textbf{Mensagem trocada entre o comando remoto e o sistema do carro}
\tikz{ \node [bit,fill=blue!20] at (0,0) (b1_1) {0x02};
\node [bit, anchor=west,fill=blue!20] at (b1_1.east) (b1_2) {STR1};
\node [bit, anchor=west,fill=red!20] at (b1_2.east) (b1_3) {COUNT};
\node [bit, anchor=west,fill=blue!20] at (b1_3.east) (b1_4) {STR2};
\node [bit, anchor=west,fill=red!20] at (b1_4.east) (b1_5) {ESTOP-STAT};
\node [bit, anchor=west,fill=blue!20] at (b1_5.east) (b1_6) {STR3};
\node [bit, anchor=west,fill=red!20] at (b1_6.east) (b1_7) {BAT-VAL};
\node [bit, anchor=west,fill=red!20] at (b1_7.east) (b1_8) {CRC16};
\node [bit, anchor=west,fill=blue!20] at (b1_8.east) (b1_9) {0x03};
 }
 \newline
 \newline
\textbf{Mensagem trocada entre o sistema do carro e o comando remoto}
\tikzstyle{bit} = [minimum width=0.5cm, minimum height=2em, outer sep=0pt, draw=black, semithick]
\tikzstyle{textonly} = [minimum width=0.5cm, minimum height=1.5em, semithick]
\tikz{ \node [bit,fill=blue!20] at (0,0) (b1_1) {0x02};
\node [bit, anchor=west,fill=red!20] at (b1_1.east) (b1_2) {COUNT};
\node [bit, anchor=west,fill=yellow!20] at (b1_2.east) (b1_3) {E-STOP};
\node [bit, anchor=west,fill=red!20] at (b1_3.east) (b1_4) {VAR1};
\node [bit, anchor=west,fill=red!20] at (b1_4.east) (b1_5) {VAR2};
\node [bit, anchor=west,fill=red!20] at (b1_5.east) (b1_6) {VAR3};
\node [bit, anchor=west,fill=red!20] at (b1_6.east) (b1_7) {CRC16};
\node [bit, anchor=west,fill=blue!20] at (b1_7.east) (b1_8) {0x03};
 }
\end{center}



 
 
\end{frame}

%Experiencias realizadas
\subsection{ExperiÃªncias realizadas} 
\begin{frame}
\frametitle{ExperiÃªncias realizadas}

\textbf{No laboratÃ³rio}
\begin{itemize}
\item Teste de Stress Ã&nbsp; comunicaÃ§Ã£o\\
durante cerca de 3h.
\item Teste de duraÃ§Ã£o da bateria\\
queda de cerca de 0.4V $\approx$ 40\%.
\item Teste de alcance da comunicaÃ§Ã£o\\
15m no interior do edifÃ­cio.
\end{itemize}
 
 
 
\end{frame}


\begin{frame}
\frametitle{ExperiÃªncias realizadas}
\textbf{No exterior} $\approx$ 40m de raio de alcance
\begin{figure}
\centering
\includegraphics[width=9cm]{essua_atlas_alcance}

\end{figure}
\end{frame}
%%
%%Novo diapositivo

%-----
%ApresentaÃ§Ã£o do Prototipo do modelo final e da seguranÃ§a da transmiÃ§Ã£o de dados
%--------

\subsection{Sistema final}
\begin{frame}
 \frametitle{Sistema ALTASCAR}
 

 
\begin{figure}
       \centering
                \includegraphics[width=7cm]{estop_carro}
                \caption{Sistema de E-Stop instalado no ATLASCAR.}
\end{figure}
\end{frame}



\begin{frame}
 \frametitle{Consola de controlo}
 
 
 
\begin{figure}
        \centering
        \begin{subfigure}[tl]{0.49\textwidth}
                \centering
                \includegraphics[width=5cm]{comandofinal1}
                \caption{Consola de controlo.}
%                 \label{fig:gull}
        \end{subfigure}%
        ~ %add desired spacing between images, e. g. ~, \quad, \qquad etc.
          %(or a blank line to force the subfigure onto a new line)
        \begin{subfigure}[tl]{0.49\textwidth}
                \centering
                \includegraphics[width=5cm]{prototipo}
                \caption{ProtÃ³tipo inicial.}
        \end{subfigure}
\end{figure}

 
 
 
\end{frame}
%% ----------------------------
% testes e resultados
%% ----------------------------

% ------------------------
% Diapositivo com o prototipo final
% ------------------------





%\begin{frame}
%  \frametitle{Sample Movie Clip}
%  \begin{center}
%\movie[width=0.9\textwidth, height=0.59\textwidth, poster, autostart, loop]{}{estopvideo_1.avi}
%\end{center}
%\end{frame}


%\begin{frame}
%%%\begin{figure}[!htb]
%%%\centering
%%%\includemovie[
%%%poster,
%%%toolbar, %same as `controls'
%%%text={\small(Click to play movie)}
%%%]{10cm}{6cm}{movieestop.avi}
%%%\caption{DemonstraÃ§Ã£o do funcionamento do E-Stop}
%%%
%%%\end{figure}
%
%\Huge{\centerline{VÃ­deo do E-STOP}}
%\end{frame}

\begin{frame}
 \frametitle{VÃ­deo E-STOP}
\begin{center}
\movie[width=0.9\textwidth, height=0.59\textwidth, poster, autostart, loop]{}{movieestop.avi}
\end{center}
\end{frame}


%\subsection{DiscussÃ£o e Trabalho futuro}
%% ------------------------
%% Diapositivo com o prototipo final
%% ------------------------
%\begin{frame}
%
%\begin{figure}
%        \centering
%        \begin{subfigure}[tl]{0.49\textwidth}
%                \centering
%                \includegraphics[width=3cm]{comando_final1.png}
%                \caption{Consola de controlo}
%%                 \label{fig:gull}
%        \end{subfigure}%
%        ~ %add desired spacing between images, e. g. ~, \quad, \qquad etc.
%          %(or a blank line to force the subfigure onto a new line)
%        \begin{subfigure}[tl]{0.49\textwidth}
%                \centering
%                \includegraphics[width=6cm]{estop_carro.png}
%                \caption{Sistema do carro}
%        \end{subfigure}
%\end{figure}

 
 
 
%\end{frame}




%------------------------------------------------
\section{MonitorizaÃ§Ã£o}
%------------------------------------------------


\begin{frame}
  \begin{center}
  \Huge{MonitorizaÃ§Ã£o remota do AtlasCar}
  \end{center}
\end{frame}




\subsection{ApresentaÃ§Ã£o} % A subsection can be created just before a set of slides with a common theme to further break down your presentation into chunks


\begin{frame}
\frametitle{ApresentaÃ§Ã£o}


Funcionalidades do sistema a implementar:
\begin{itemize}
  \item Interpretar mensagens no veÃ­culo
  \item TransmissÃ£o de informaÃ§Ã£o em "qualquer" local.
  \item Acesso a informaÃ§Ã£o de "qualquer" local.
  \item Possibilidade de acesso a histÃ³ricos.
\end{itemize}




\end{frame}

%------------------------------------------------
% comparaÃ§Ã£o de soluÃ§Ãµes
%--------------------------------------------


\begin{frame}
\frametitle{RMS(Robot Management System)}
\begin{figure}
        \centering
        
                \centering
                \includegraphics[scale=0.3]{rms_graph}
%                \caption{Esquema de funcionamento do mÃ³dulo RMS}
                 
\end{figure}






\end{frame}
\subsection{ImplementaÃ§Ã£o}

\begin{frame}
\frametitle{Sistema a implementar}
\begin{figure}
        \centering
        
                \centering
                \includegraphics[scale=0.3]{flow_monitor}
                \caption{Esquema de sistema a implementar.}
                 
\end{figure}
\end{frame}



\begin{frame}
\frametitle{VariÃ¡veis a monitorizar}
Estado da mÃ¡quina:
\begin{itemize}
 \item Velocidade
 \item RPM
 \item GPS
 \item DireÃ§Ã£o
 \item EmergÃªncia
 \item .
 \item .
\end{itemize}

\end{frame}
\begin{frame}

\frametitle{MÃ³dulo ROS}
\begin{figure}
        \centering
        
                \centering
                \includegraphics[scale=0.23]{graf_modulo_ROS}
%                \caption{Esquema de sistema a implementar}
                 
\end{figure}

\end{frame}






\begin{frame}
\frametitle{Base de dados e PÃ¡gina web}
\begin{itemize}
\item Implementada em Postgresql;
\item ContÃ©m o mesmo nÃºmero de colunas que variÃ¡veis a monitorizar;


\end{itemize}


\begin{figure}
        \centering
       
                \includegraphics[scale=0.23]{esquema_pagina}
%                \caption{Esquema de sistema a implementar}
                 
\end{figure}
\end{frame}





%------------------------------------------------
\subsection{Sistema final}
\begin{frame}
\frametitle{PÃ¡gina web}
\begin{figure}
 \centering
 \includegraphics[scale=0.29]{pag_html}
%                 \caption{ProtÃ³tipo final para o controlo e E-STOP do ATLASCAR}
\end{figure}

\end{frame}

%------------------------------------------------
%%%\begin{frame}
%%%%\begin{figure}[!htb]
%%%%\centering
%%%%\includemovie[
%%%%poster,
%%%%toolbar, %same as `controls'
%%%%text={\small(Click to play movie)}
%%%%]{10cm}{6cm}{movie.avi}
%%%%\caption{DemonstraÃ§Ã£o do funcionamento Sistema de monitorizaÃ§Ã£o}
%%%%
%%%%\end{figure}
%%%
%%%\Huge{\centerline{VÃ­deo do Sistema de monitorizaÃ§Ã£o}}
%%%\end{frame}

\begin{frame}
 \frametitle{VÃ­deo sistema de monitorizaÃ§Ã£o}
\begin{center}
\movie[width=0.9\textwidth, height=0.59\textwidth, poster, autostart, loop]{}{moviemonitor.avi}
\end{center}
\end{frame}



\section{ConclusÃµes e Trabalho futuro}
\begin{frame}
\frametitle{ConclusÃµes}

\begin{itemize}
\item CriaÃ§Ã£o e implementaÃ§Ã£o de um E-Stop com uma consola de controlo. \cmark
\item ImplementaÃ§Ã£o de um sistema de monitorizaÃ§Ã£o. \cmark
\end{itemize}



\end{frame}


%------------------------------------------------
\begin{frame}
\frametitle{Trabalho futuro}
\begin{itemize}
\item Adicionar um LCD Ã&nbsp; consola remota do E-Stop.
\item Melhorar a interface de apresentaÃ§Ã£o da monitorizaÃ§Ã£o.
\item Melhorar a arquitetura da base de dados.
%\item ImplementaÃ§Ã£o do RMS.
\end{itemize}
\end{frame}

\begin{frame}

\Huge{\centerline{Muito Obrigado a todos =)}}

\end{frame}
\begin{frame}
\Huge{\centerline{QuestÃµes/SugestÃµes?}}
\end{frame}

\end{document}
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