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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.

2018

Description of a new servo motor optimized for educational robotic applications

Authors
Silva, J; Costa, P; Goncalves, J;

Publication
13th APCA International Conference on Control and Soft Computing, CONTROLO 2018 - Proceedings

Abstract
In this paper it is described a new Servo Motor Optimised for Educational Robotic Applications (SMORA), which comprises several sensors and higher level addressing/communication capabilities. Even though servos have excellent qualities when used in the field of robotics, several properties can still be enhanced. These devices are known to have nonlinear properties and dynamic factors such as dead-zones, backlash and friction that might hinder their precision and accuracy. They usually do not provide position, velocity or current feedback to the device controlling them. Factors such as change in the load attached to the system increase the complexity of the analysis even further. Controlling these servos using a PWM signal might also become complicated if the number of servo motors to control increases. The new proposed servo consists of custom hardware and firmware that includes a microcontroller and a series of sensors, allowing for the motor current, temperature and voltage to be measured in real-time as well as precise position feedback thanks to the integrated hall-effect magnetic position encoder. It also incorporates an accelerometer and a gyroscope to measure the servo body relative position and rotation. © 2018 IEEE.

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.

Supervised
thesis

2017

Development of a Servo Motor Optimised for Robotic Applications

Author
João David Soares Silva

Institution
UP-FEUP

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