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Detalhes

Detalhes

002
Publicações

2022

SCARA Self Posture Recognition Using a Monocular Camera

Autores
Tinoco, V; Silva, MF; Santos, FN; Morais, R; Filipe, V;

Publicação
IEEE ACCESS

Abstract

2022

End-Effectors for Harvesting Manipulators - State Of The Art Review

Autores
Oliveira, F; Tinoco, V; Magalhaes, S; Santos, FN; Silva, MF;

Publicação
2022 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract

2022

An overview of pruning and harvesting manipulators

Autores
Tinoco, V; Silva, MF; Santos, FN; Valente, A; Rocha, LF; Magalhaes, SA; Santos, LC;

Publicação
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION

Abstract
Purpose The motivation for robotics research in the agricultural field has sparked in consequence of the increasing world population and decreasing agricultural labor availability. This paper aims to analyze the state of the art of pruning and harvesting manipulators used in agriculture. Design/methodology/approach A research was performed on papers that corresponded to specific keywords. Ten papers were selected based on a set of attributes that made them adequate for review. Findings The pruning manipulators were used in two different scenarios: grapevines and apple trees. These manipulators showed that a light-controlled environment could reduce visual errors and that prismatic joints on the manipulator are advantageous to obtain a higher reach. The harvesting manipulators were used for three types of fruits: strawberries, tomatoes and apples. These manipulators revealed that different kinematic configurations are required for different kinds of end-effectors, as some of these tools only require movement in the horizontal axis and others are required to reach the target with a broad range of orientations. Originality/value This work serves to reduce the gap in the literature regarding agricultural manipulators and will support new developments of novel solutions related to agricultural robotic grasping and manipulation.

2021

Design, Modeling, and Simulation of a Wing Sail Land Yacht

Autores
Tinoco, V; Malheiro, B; Silva, MF;

Publicação
APPLIED SCIENCES-BASEL

Abstract
Autonomous land yachts can play a major role in the context of environmental monitoring, namely, in open, flat, windy regions, such as iced planes or sandy shorelines. This work addresses the design, modeling, and simulation of a land yacht probe equipped with a rigid free-rotating wing sail and tail flap. The wing was designed with a symmetrical airfoil and dimensions to provide the necessary thrust to displace the vehicle. Specifically, it proposes a novel design and simulation method for free rotating wing sail autonomous land yachts. The simulation relies on the Gazebo simulator together with the Robotic Operating System (ROS) middleware. It uses a modified Gazebo aerodynamics plugin to generate the lift and drag forces and the yawing moment, two newly created plugins, one to act as a wind sensor and the other to set the wing flap angular position, and the 3D model of the land yacht created with Fusion 360. The wing sail aligns automatically to the wind direction and can be set to any given angle of attack, stabilizing after a few seconds. Finally, the obtained polar diagram characterizes the expected sailing performance of the land yacht. The described method can be adopted to evaluate different wing sail configurations, as well as control techniques, for autonomous land yachts.

2021

A Review of Pruning and Harvesting Manipulators

Autores
Tinoco, V; Silva, MF; Santos, FN; Rocha, LF; Magalhaes, S; Santos, LC;

Publicação
2021 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract