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002
Publications

2018

Robot localization system in a hard outdoor environment

Authors
Conceição, T; dos Santos, FN; Costa, P; Moreira, AP;

Publication
Advances in Intelligent Systems and Computing

Abstract
Localization and mapping of autonomous robots in a hard and unstable environment (Steep Slope Vineyards) is a challenging research topic. Typically, the commonly used dead reckoning systems can fail due to the harsh conditions of the terrain and the Global Position System (GPS) accuracy can be considerably noisy or not always available. One solution is to use wireless sensors in a network as landmarks. This paper evaluates a ultra-wideband time-of-flight based technology (Pozyx), which can be used as cost-effective solution for application in agricultural robots that works in harsh environment. Moreover, this paper implements a Localization Extended Kalman Filter (EKF) that fuses odometry with the Pozyx Range measurements to increase the default Pozyx Algorithm accuracy. © Springer International Publishing AG 2018.

2018

Development of a Dynamic Path for a Toxic Substances Mapping Mobile Robot in Industry Environment

Authors
Piardi, L; Lima, J; Costa, P; Brito, T;

Publication
Advances in Intelligent Systems and Computing

Abstract
Some industries have critical areas (dangerous or hazardous) where the presence of a human must be reduced or avoided. In some cases, there are areas where humans should be replaced by robots. The present work uses a robot with differential drive to scan an environment with known and unknown obstacles, defined in 3D simulation. It is important that the robot be able to make the right decisions about its way without the need of an operator. A solution to this challenge will be presented in this paper. The control application and its communication module with a simulator or a real robot are proposed. The robot can perform the scan, passing through all the waypoints arranged in a grid. The results are presented, showcasing the robot’s capacity to perform a viable trajectory without human intervention. © Springer International Publishing AG 2018.

2018

Ultra-wideband time of flight based localization system and odometry fusion for a scanning 3 DoF magnetic field autonomous robot

Authors
Lima, J; Costa, P;

Publication
Advances in Intelligent Systems and Computing

Abstract
Solving the robot localization problem is one of the most necessary requirements for autonomous robots. Several methodologies can be used to determine its location as accurately as possible. What makes this difficult is the existence of uncertainty in the sensing of the robot. The uncertain information needs to be combined in an optimal way. This paper stresses a Kalman filter to combine information from the odometry and Ultra Wide Band Time of Flight distance modules, which lacks the orientation. The proposed system validated in a real developed platform performs the fusion task which outputs position and orientation of the robot. It is used to localize the robot and make a 3 DoF scanning of magnetic field in a room. Other examples can be pointed out with the same localization techniques in service and industrial autonomous robots. © Springer International Publishing AG 2018.

2017

Dc motor educational kit: A teaching aid in control theory

Authors
Moreira, AP; Costa, P; Gonçalves, J; Faria, BM;

Publication
Lecture Notes in Electrical Engineering

Abstract
This paper describes a laboratory control theory experiment supported by the use of a DCMotor Educational Kit. The impact, as a teaching aid, of the proposed laboratory control experiment is evaluated, having in mind the student’s feedback. The DC motor that is used in the developed educational Kit is the EMG30, being a low cost 12V motor equipped with encoders and a 30:1 reduction gearbox. The experiment is based on real hardware and on simulation, using the SimTwo realistic simulation software. In order to implement the realistic simulation the EMG30model was obtained. Students’ feedback was acquired using a questionnaire and the results confirmed the importance given to these practical experiments. © Springer International Publishing Switzerland 2017.

2017

A Fast and Robust Kinematic Model for a 12 DoF Hyper-Redundant Robot Positioning: an Optimization Proposal

Authors
Lima, J; Pereira, AI; Costa, P; Pinto, A; Costa, P;

Publication
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2016 (ICNAAM-2016)

Abstract
This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

Supervised
thesis

2017

Fusão sensorial e cooperação em equipas de robôs móveis

Author
Pedro Miguel da Silva Rocha Relvas

Institution
UP-FEUP

2017

Player Tracking using Ultrawideband

Author
João Miguel Bagoim Guimarães Ferreira Bernardo

Institution
UP-FEUP

2017

Model of an Hyper Redundant Manipulator and respective Path Planning

Author
Alexandre Chacholou Lesinho Pires

Institution
UP-FEUP

2017

Estudo e simulação de sistemas de logística interna baseados em agvs

Author
António Pedro Fontoura Moreira

Institution
UP-FEUP

2017

Development of a Servo Motor Optimised for Robotic Applications

Author
João David Soares Silva

Institution
UP-FEUP