Cookies Policy
The website need some cookies and similar means to function. If you permit us, we will use those means to collect data on your visits for aggregated statistics to improve our service. Find out More
Accept Reject
  • Menu
Facts & Numbers
000
Presentation

Robotics and Autonomous Systems

At CRAS, our mission is to develop innovative robotic solutions for complex environments and multiple operations, including data gathering, inspection, mapping, surveillance, and intervention.

We work in four main areas of research: autonomous navigation; long-term deployments; sensing, mapping, and intervention; multiple platform operations.

Latest News

INESC TEC developed a ventilator to support Portuguese hospitals

A team of engineers and physicians led by the Institute for Systems and Computer Engineering, Technology and Science (INESC TEC) and the Faculty of Engineering of the University of Porto (FEUP) developed the PNEUMA, a low-cost and easy to assemble ventilator with a self-inflating bag, in order to support Portuguese hospitals addressing the new coronavirus.

08th April 2020

Networked Intelligent Systems

INESC TEC initiates the 35th anniversary celebrations with Open Class to the city

The first Open Class will focus on the circumnavigation trip of the School Ship Sagres.

28th February 2020

Networked Intelligent Systems

INESC TEC and ESA will test technology to detect plastics in the sea

INESC TEC signed a contract with the European Space Agency’s (ESA) General Support Technology Programme (GSTP) to test sensor-based perception technologies capable of detecting plastics in coastal areas and shallow waters.

30th January 2020

Industrial and Systems Engineering

INESC TEC leads the first European centre to test robots at offshore wind farms.

The first European centre for the real-time testing of marine robots is led by INESC TEC. The Atlantis Teste Center will be set up in Viana do Castelo and enable the validation of robotic solutions in the most extreme weather conditions of the Atlantic Ocean, namely concerning the assessment and maintenance of offshore wind infrastructures.

21st January 2020

INESC TEC technologies present at Marinetech 2019

With proven international experience in the Marine Technologies area, INESC TEC was on the spotlight at the Marinetech event, organised by the Hydrographic Institute (IH), and at the workshop "Linking Earth Observation data and Sustainable Development across the Atlantic", organised by the IH and the Air Centre, which were an opportunity for Portuguese and foreign experts from the Sea sector to discuss the challenges of linking Earth observation data and sustainable development in the Atlantic.

16th December 2019

Interest Topics
053

Featured Projects

SHIELD

Safeguard Heritage in Endangered Looted Districts

2020-2022

INSite

INSite. In­situ ore grading system using LIBS in harsh environments

2020-2022

ATLANTIS

The Atlantic Testing Platform for Maritime Robotics: New Frontiers for Inspection and Maintenance of Offshore Energy Infrastructures

2020-2022

UNEXUP

UNEXUP. UNEXMIN Upscaling

2020-2022

QuALTOS

Quality Assurance in Long Term Observation Systems

2020-2021

Sail2020

Space-Atmosphere-Ocean Interactions in the marine boundary Layer

2020-2022

RHAQ

Contratação de Recursos Humanos Altamente Qualificados

2020-2022

DEEPFIELD

DeepField- Deep Learning in Field Robotics: from conceptualization towards implementation

2019-2022

ESAPlastics

DE-RISK ASSESSMENT: SPECTROMETER FOR MARINE LITTER

2019-2020

SPRING

Strategic planning for water resources and implementation of novel biotechnical treatment solutions and good practices

2019-2023

SensiTermo_1

Estudo técnico de tecnologias e componentes eletrónicos para a monitorização da passagem de água em termoacumuladores de forma não intrusiva

2019-2019

SantoAntonio

ROV de inspeção e apoio à limpeza para Santo António Energia

2019-2020

SVManagement

Apoio à constituição de uma equipa de investigação e desenvolvimeto da Clínica Saúde Viável

2019-2019

MetroRec

Avaliação do sistema gravação vídeo do Metro do Porto

2019-2019

Nettag

Tagging fishing gears and enhancing on board best-practices to promote waste free fisheries

2019-2020

Mine_Heritage

Historical Mining – tracing and learning from ancient materials and mining technology

2019-2021

NESSIE

moNitoring offshorE StructureS with robotIc systems intEgration

2019-2021

Prince

Preparedness Response for CBRNE INCidEnts

2019-2021

GROW

Long-range broadband underwater wireless communications

2018-2021

DIIUS

Distributed perceptIon for inspectIon of aqUatic Structures

2018-2021

ENDURANCE

Underwater wireless energy and communications enabling long-term deep-sea presence

2018-2020

HiperSea

Sistema Hiperbárico para Recolha e Manutenção de Organismos do Mar Profundo

2018-2021

BIOREM

Bioremediation of hydrocarbon pollutants by autochthonous microorganisms in aquatic environment

2018-2021

INTENDU

Integrated Technologies Longterm Deployment of Robotic Underwater platforms

2018-2021

FEEDFIRST

Desenvolvimento de uma nova tecnologia para cultivo de larvas de peixes à primeira alimentação

2018-2020

PROTOATLANTIC

Development and validation of a program for the prototyping and exploitation of innovative ideas

2017-2020

ROSM

Sistema robótico de mitigação de derrame de crude

2017-2019

AutoMon

MMonitorização automatizada de Recursos Hídricos

2017-2020

TEC4Sea

Modular Platform for Research, Test and Validation of Technologies supporting a Sustainable Blue Economy

2017-2021

EMSO-PT

Observatório Europeu Multidisciplinar do Fundo do Mar e Coluna de Água - Portugal

2017-2021

SpilLess

First line response to oil spills based on native microorganisms cooperation (SpilLess)

2017-2019

SIDENAV

Smart infrastructure for deep sea navigation

2016-2018

RAWFIE

Road-, Air- and Water-based Future Internet Experimentation

2016-2019

HAIFA

Buoys for marine equipment

2016-2017

MyTag-CRAS

Integrating natural and artificial tags to reconstruct fish migrations and ontogenetic niche shifts

2016-2019

EDA-SAVEWATE-CRAS

System of Autonomous Vehicles for Water Environments for Defense

2016-2018

Fmanagement

Fmanagement

2016-2017

DeepFloat

Sistema de variação de flutuação para aplicações submarinas

2016-2018

UNEXMIN-CRAS

Autonomous Underwater Explorer for Flooded Mines

2016-2019

CORAL-SENSORS

CORAL – Sustainable Ocean Exploitation: Tools and Sensors

2016-2018

CORAL-TOOLS

CORAL – Sustainable Ocean Exploitation: Tools and Sensors

2016-2018

STRONGMAR-CRAS

STRengthening MARritime Technology Research Center

2016-2018

EMSODEV

EMSO implementation and operation: DEVelopment of instrument module

2015-2018

MarineEye

MarinEye - A prototype for multitrophic oceanic monitoring

2015-2017

BLUECOM+

Connecting Humans and Systems at Remote Ocean Areas using Cost-effective Broadband Communications

2015-2017

ENDURE

Enabling Long-Term Deployments of Underwater Robotic Platforms in Remote Oceanic Locations

2015-2017

Demo_Drone

Demonstração de capacidades de utilização de Drones para inspeção detalhada de ativos de rede

2015-2018

CINMarS

Combining Space and Maritime NetWorks

2015-2017

VAMOS

Viable Alternative Mine Operating System

2015-2019

SUNNY

Smart UNmanned aerial vehicle sensor Network for detection of border crossing and illegal entrY

2014-2018

Evologics-CRAS

Real Time LBL Data Fusion for Acoustic Modems

2013-2019

ICARUS-CRAS

Integrated Components for Assisted Rescue and Unmanned Search operations

2012-2016

SUB.2-CRAS

Propelled underwater vehicle carrying energy, electronic and computing systems on board, capable of operating autonomously without being connected to the operator

2012-2015

Team
001

Laboratories

Robotics and Autonomous Systems Laboratory

Publications

CRAS Publications

View all Publications

2020

Deep Learning for Underwater Visual Odometry Estimation

Authors
Teixeira, B; Silva, H; Matos, A; Silva, E;

Publication
IEEE Access

Abstract

2020

MARESye: A hybrid imaging system for underwater robotic applications

Authors
Pinto, AM; Matos, AC;

Publication
INFORMATION FUSION

Abstract
This article presents an innovative hybrid imaging system that provides dense and accurate 3D information from harsh underwater environments. The proposed system is called MARESye and captures the advantages of both active and passive imaging methods: multiple light stripe range (LSR) and a photometric stereo (PS) technique, respectively. This hybrid approach fuses information from these techniques through a data-driven formulation to extend the measurement range and to produce high density 3D estimations in dynamic underwater environments. This hybrid system is driven by a gating timing approach to reduce the impact of several photometric issues related to the underwater environments such as, diffuse reflection, water turbidity and non-uniform illumination. Moreover, MARESye synchronizes and matches the acquisition of images with sub-sea phenomena which leads to clear pictures (with a high signal-to-noise ratio). Results conducted in realistic environments showed that MARESye is able to provide reliable, high density and accurate 3D data. Moreover, the experiments demonstrated that the performance of MARESye is less affected by sub-sea conditions since the SSIM index was 0.655 in high turbidity waters. Conventional imaging techniques obtained 0.328 in similar testing conditions. Therefore, the proposed system represents a valuable contribution for the inspection of maritime structures as well as for the navigation procedures of autonomous underwater vehicles during close range operations.

2020

MViDO: A high performance monocular vision-based system for docking a hovering AUV

Authors
Figueiredo, AB; Matos, AC;

Publication
Applied Sciences (Switzerland)

Abstract
This paper presents a high performance (low computationally demanding) monocular vision-based system for a hovering Autonomous Underwater Vehicle (AUV) in the context of autonomous docking process-MViDO system: Monocular Vision-based Docking Operation aid. The MViDO consists of three sub-modules: a pose estimator, a tracker and a guidance sub-module. The system is based on a single camera and a three spherical color markers target that signal the docking station. The MViDO system allows the pose estimation of the three color markers even in situations of temporary occlusions, being also a system that rejects outliers and false detections. This paper also describes the design and implementation of the MViDO guidance module for the docking manoeuvres. We address the problem of driving the AUV to a docking station with the help of the visual markers detected by the on-board camera, and show that by adequately choosing the references for the linear degrees of freedom of the AUV, the AUV is conducted to the dock while keeping those markers in the field of view of the on-board camera. The main concepts behind the MViDO are provided and a complete characterization of the developed system is presented from the formal and experimental point of view. To test and evaluate the MViDO detector and pose an estimator module, we created a ground truth setup. To test and evaluate the tracker module we used the MARES AUV and the designed target in a four-meter tank. The performance of the proposed guidance law was tested on simulink/Matlab. © 2020 by the authors.

2020

Teaching robotics with a simulator environment developed for the autonomous driving competition

Authors
Fernandes, D; Pinheiro, F; Dias, A; Martins, A; Almeida, J; Silva, E;

Publication
Advances in Intelligent Systems and Computing

Abstract
Teaching robotics based on challenge of our daily lives is always more motivating for students and teachers. Several competitions of self-driving have emerged recently, challenging students and researchers to develop solutions addressing the autonomous driving systems. The Portuguese Festival Nacional de Robótica (FNR) Autonomous Driving Competition is one of those examples. Even though the competition is an exciting challenger, it requires the development of real robots, which implies several limitations that may discourage the students and compromise a fluid teaching process. The simulation can contribute to overcome this limitation and can assume an important role as a tool, providing an effortless and costless solution, allowing students and researchers to keep their focus on the main issues. This paper presents a simulation environment for FNR, providing an overall framework able to support the exploration of robotics topics like perception, navigation, data fusion and deep learning based on the autonomous driving competition. © Springer Nature Switzerland AG 2020.

2020

Evaluation of Lightweight Convolutional Neural Networks for Real-Time Electrical Assets Detection

Authors
Barbosa, J; Dias, A; Almeida, J; Silva, E;

Publication
Advances in Intelligent Systems and Computing

Abstract
The big growth of electrical demand by the countries required larger and more complex power systems, which have led to a greater need for monitoring and maintenance of these systems. To overcome this problem, UAVs equipped with appropriated sensors have emerged, allowing the reduction of the costs and risks when compared with traditional methods. The development of UAVs together with the great advance of the deep learning technologies, more precisely in the detection of objects, allowed to increase the level of automation in the process of inspection. This work presents an electrical assets monitoring system for detection of insulators and structures (poles and pylons) from images captured through a UAV. The proposed detection system is based on lightweight Convolutional Neural Networks and it is able to run on a portable device, aiming for a low cost, accurate and modular system, capable of running in real time. © 2020, Springer Nature Switzerland AG.

Supervised Theses

2019

A Self-Guided Docking Architecture for Autonomous Surface Vehicles

Author
Pedro Nuno Barbosa Leite

Institution
UP-FEUP

2019

Sistema de Posicionamento Acústico e Transmissão de Dados para Alvos Subaquáticos

Author
NUNO MANUEL COUTO VIANA

Institution
IPP-ISEP

2019

Tratamento de Imagem e detecção de objectos

Author
JOÃO DAVID GUIMARÃES FIGUEIREDO DIAS

Institution
IPP-ISEP

2019

Acoustic system for ground truth underwater positioning in DEEC's test tank

Author
Afonso Mateus Bonito

Institution
UP-FEUP

2019

Configuração de Linhas de Produção

Author
BRUNO MIGUEL DOS SANTOS SILVA

Institution
IPP-ISEP

Facts & Figures

17Papers in indexed journals

2019

1Book Chapters

2019

18Proceedings in indexed conferences

2019

Contacts