Cookies
Usamos cookies para melhorar nosso site e a sua experiência. Ao continuar a navegar no site, você aceita a nossa política de cookies. Ver mais
Fechar
  • Menu
Tópicos
de interesse
Detalhes

Detalhes

003
Publicações

2019

Prototyping and Programming a Multipurpose Educational Mobile Robot - NaSSIE

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

Publicação
Robotics in Education - Advances in Intelligent Systems and Computing

Abstract

2018

Robot localization system in a hard outdoor environment

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

Publicação
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

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

Publicação
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

Autores
Lima, J; Costa, P;

Publicação
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

Autores
Silva, J; Costa, P; Goncalves, J;

Publicação
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.

Teses
supervisionadas

2017

Model of an Hyper Redundant Manipulator and respective Path Planning

Autor
Alexandre Chacholou Lesinho Pires

Instituição
UP-FEUP

2017

Estudo e simulação de sistemas de logística interna baseados em agvs

Autor
António Pedro Fontoura Moreira

Instituição
UP-FEUP

2017

Development of a Servo Motor Optimised for Robotic Applications

Autor
João David Soares Silva

Instituição
UP-FEUP

2017

Fusão sensorial e cooperação em equipas de robôs móveis

Autor
Pedro Miguel da Silva Rocha Relvas

Instituição
UP-FEUP

2017

Player Tracking using Ultrawideband

Autor
João Miguel Bagoim Guimarães Ferreira Bernardo

Instituição
UP-FEUP