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003
Publications

2020

Modeling and Control of a DC Motor Coupled to a Non-Rigid Joint

Authors
Pinto, VH; Gonçalves, J; Costa, P;

Publication
Applied System Innovation

Abstract
Throughout this paper, the model, its parameter estimation and a controller for a solution using a DC motor with a gearbox worm, coupled to a non-rigid joint, will be presented. First, the modeling of a non-linear system based on a DC Motor with Worm Gearbox coupled to a non-rigid joint is presented. The full system was modeled based on the modeling of two sub-systems that compose it - a non-rigid joint configuration and the DC motor with the worm gearbox configuration. Despite the subsystems are interdependent, its modelling can be performed independently trough a carefully chosen set of experiments. Modeling accurately the system is crucial in order to simulate and know the expected performance. The estimation process and the proposed experimental setup are presented. This setup collects data from an absolute encoder, a load cell, voltage and current sensors. The data obtained from these sensors is presented and used to obtaining some physical parameters from both systems. Finally, through an optimization process, the remaining parameters are estimated, thus obtaining a realistic model of the complete system. Finally, the controller setup is presented and the results obtained are also presented.

2020

Low Cost Binaural System Based on the Echolocation

Authors
Moreira, TFM; Lima, J; Costa, P; Cunha, M;

Publication
Advances in Intelligent Systems and Computing

Abstract
Ultrasonic sensors offers attractive features at an affordable cost. The main problem faced by the use of these devices is that the data obtained are not so easy to interpret, restricting their efficiency. This paper describes a binaural sensor system that is able to determine the coordinates of an object or a target in a two-dimensional space, focusing on mathematical and signal processing techniques to provide accurate measurements and increase the system reliability. The proposed work consists only of low cost components, which aims to demonstrate that improvement is possible. Experimental tests, performed in different scenarios, reported good accuracy and repeatability of the measurements. © 2020, Springer Nature Switzerland AG.

2019

Prototyping and Programming a Multipurpose Educational Mobile Robot - NaSSIE

Authors
Pinto, VH; Monteiro, JM; Gonçalves, J; Costa, P;

Publication
Robotics in Education - Advances in Intelligent Systems and Computing

Abstract

2019

Map-Matching Algorithms for Robot Self-Localization: A Comparison Between Perfect Match, Iterative Closest Point and Normal Distributions Transform

Authors
Sobreira, H; Costa, CM; Sousa, I; Rocha, L; Lima, J; Farias, PCMA; Costa, P; Paulo Moreira, AP;

Publication
Journal of Intelligent and Robotic Systems: Theory and Applications

Abstract
The self-localization of mobile robots in the environment is one of the most fundamental problems in the robotics navigation field. It is a complex and challenging problem due to the high requirements of autonomous mobile vehicles, particularly with regard to the algorithms accuracy, robustness and computational efficiency. In this paper, we present a comparison of three of the most used map-matching algorithms applied in localization based on natural landmarks: our implementation of the Perfect Match (PM) and the Point Cloud Library (PCL) implementation of the Iterative Closest Point (ICP) and the Normal Distribution Transform (NDT). For the purpose of this comparison we have considered a set of representative metrics, such as pose estimation accuracy, computational efficiency, convergence speed, maximum admissible initialization error and robustness to the presence of outliers in the robots sensors data. The test results were retrieved using our ROS natural landmark public dataset, containing several tests with simulated and real sensor data. The performance and robustness of the Perfect Match is highlighted throughout this article and is of paramount importance for real-time embedded systems with limited computing power that require accurate pose estimation and fast reaction times for high speed navigation. Moreover, we added to PCL a new algorithm for performing correspondence estimation using lookup tables that was inspired by the PM approach to solve this problem. This new method for computing the closest map point to a given sensor reading proved to be 40 to 60 times faster than the existing k-d tree approach in PCL and allowed the Iterative Closest Point algorithm to perform point cloud registration 5 to 9 times faster. © 2018 Springer Science+Business Media B.V., part of Springer Nature

2019

3D Simulator Based on SimTwo to Evaluate Algorithms in Micromouse Competition

Authors
Eckert, L; Piardi, L; Lima, J; Costa, P; Valente, A; Nakano, A;

Publication
Advances in Intelligent Systems and Computing

Abstract
Robotics competitions are increasing in complexity and number challenging the researchers, roboticists and enthusiastic to address the robot applications. One of the well-known competition is the micromouse where the fastest mobile robot to solve a maze is the winner. There are several topics addressed in this competition such as robot prototyping, control, electronics, path planning, optimization, among others. A simulation can be used to speed-up the development and testing algorithms but faces the gap between the reality in the dynamics behaviour. In this paper, an open source realistic simulator tool is presented where the dynamics of the robot, the slippage of the wheels, the friction and the 3D visualization can be found. The complete simulator with the robot model and an example is available that allow the users to test, implement and change all the environment. The presented results validate the proposed simulator. © 2019, Springer Nature Switzerland AG.

Supervised
thesis

2019

A User-centric Approach to Locomotion Supporting Systems

Author
Diana Alves Lobo Guimarães

Institution
UP-FEUP

2019

Hybrid Legged-Wheeled Locomotion System for Robotic Vehicles

Author
Vítor Hugo Machado Oliveira Pinto

Institution
UP-FEUP

2019

Robô Móvel para Vigilância

Author
António Maria Amorim Aguiar de Araújo Correia

Institution
UP-FEUP

2018

Calibração adaptativa e extração de características de um sistema catadióptrico

Author
João Pedro Ribeiro Morais

Institution
UP-FEUP

2018

Controlo das trajetórias de um robô móvel de alto desempenho

Author
Sandro Augusto Costa Magalhães

Institution
UP-FEUP