Paulo José Costa

Abstract
Simulators have been increasingly used on development and tests on several areas. They allow to speed up the development without damage and no extra costs. On realistic simulators, where kinematics play an important role, the modelling process should be imported for each component to be accurately simulated. Some robots are not yet modelled, as for example the Monera. This paper presents a model of a small vibration robot (Monera) that is acquired in a developed test-bed. A localisation ground truth is used to acquire the position of the Monera with actuating it. Linear and angular speeds acquired from real experiments allow to validate the proposed methodology.

Abstract
This survey analyses and compares ten different robots capable of hybrid locomotion in an attempt to elucidate the readers on several aspects of importance when designing and implementing a legged-wheeled vehicle. With this purpose in mind, the robots are compared based on their goals, kinematic configurations, joint specifications and overall performance. In this text, their variety and versatility is presented, justifying their use in real-world scenarios.

Abstract
Navigation is one of the most important tasks for a mobile robot and the localisation is one of its main requirements. There are several types of localisation solutions such as LiDAR, Radio-frequency and acoustic among others. The well-known line follower has been a solution used for a long time ago and still remains its application, especially in competitions for young researchers that should be captivated to the scientific and technological areas. This paper describes two methodologies to estimate the position of a robot placed on a gradient line and compares them. The Least Squares and the Machine Learning methods are used and the results applied to a real robot allow to validate the proposed approach.

Abstract
The robotization and automation of tasks are relevant processes and of great relevance to be considered nowadays. This work aims to turn the manual action of assigning the score for the robotic competition Robot at Factory 4.0 by an automatic referee. Specifically, the aim is to represent the real space in a set of computational information using computer vision, localization and mapping techniques. One of the crucial processes to achieve this goal involved the adaptive calibration of the parameters of a digital camera through visual references and tracking of objects, which resulted in a fully functional, robust and dynamic system that is capable of mapping the competition's objects accurately and correctly performing the referee's tasks.

Abstract
In a robotics scope, an excellent way to test and improve knowledge is through competitions. In other words, it is possible to follow the results in practice, compare them with the development of other teams and improve the current solutions. The Robot At Factory Lite proposal simulates an Industry 4.0 warehouse scenario, applying education through Science, Technology, Engineering, and Mathematics (STEM) methodology, where the participants have to work on a solution to overcome its challenges. Thus, this article presents an initial electromechanical proposal, which is the basis for developing robots for this competition. The presented main concepts aim to inform the possibilities of using the robot's parts and components. Thus, an idea can be sketched in the participants' minds, inspiring them to use their imagination and knowledge through the presentation of this model.