CRIIS - Indexed Articles in Conferences

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Browsing CRIIS - Indexed Articles in Conferences by Author "5655"
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    AdaptPack Studio: Automatic Offline Robot Programming Framework for Factory Environments
    ( 2019) João Pedro Souza ; Manuel Santos Silva ; Luís Freitas Rocha ; Castro,A ; 5655 ; 7366 ; 5364
    The brisk and dynamic environment that factories are facing, both as an internal and an external level, requires a collection of handy tools to solve emerging issues in the industry 4.0 context. Part of the common challenges that appear are related to the increasing demand for high adaptability in the organizations' production lines. Mechanical processes are becoming faster and more adjustable to the production diversity in the Fast Moving Consumer Goods (FMCG). Concerning the previous characteristics, future factories can only remain competitive and profitable if they have the ability to quickly adapt all their production resources in response to inconstant market demands. Having previous concerns in focus, this paper presents a fast and adaptative framework for automated cells modeling, simulation and offline robot programming, focused on palletizing operations. Established as an add-on for the Visual Components (VC) 3D manufacturing simulation software, the proposed application allows performing fast layout modeling and automatic offline generation of robot programs. Furthermore, A* based algorithms are used for generating collision-free trajectories, discretized both in the robot joints space and in the Cartesian space. The software evaluation was tested inside the VC simulation world and in the real-world scenario. Results have shown to be concise and accurate, with minor displacement inaccuracies due to differences between the virtual model and the real world. © 2019 IEEE.
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    Airfoil Selection and Wingsail Design for an Autonomous Sailboat
    ( 2019) Benedita Malheiro ; Manuel Santos Silva ; Guedes,P ; Ferreira,P ; 5655 ; 5855
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    Application for automatic programming of palletizing robots
    ( 2018) Manuel Santos Silva ; Moura,FM ; 5655
    Current market demands require several degrees of flexibility, speed, and repetitiveness of manufacture and logistic processes. Considering that a fourth industrial revolution is to be expected in a near future - which is highly based on smart machines, storage systems, and production facilities that cooperate to allow dynamic businesses and engineering processes - robotics presents itself as an increasingly sought-after solution, since it is often associated with such concepts. Hence, it is of no wonder that the worldwide operational stock of industrial robots has been increasing in a steady pace for the past decades and is expected to progress in such a trend. Within the several activities for robots on industrial applications, handling operations are regarded as predominant on the European market. Subsequently, palletizing applications are amongst the handling operations that have played an important role in the end stages of modern supply chains. In this context, this work aims to contextualise and develop an application for palletizing robots. This application, together with an off-line programming software (RobotStudio), allows for automatic programming of a robot's palletizing functions. Developed in the robot's native language (RAPID), the application has a basic user interface written in XML and can provide different pallet patterns. © 2018 IEEE.
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    Aquaponics System An EPS@ISEP 2014 Spring Project
    ( 2015) Llaurado,AM ; Docherty,A ; Mery,G ; Sokolowska,N ; Keane,S ; Duarte,AJ ; Malheiro,B ; Ribeiro,C ; Ferreira,F ; Manuel Santos Silva ; Ferreira,P ; Guedes,P ; 5655
    The goal of this project, one of the proposals of the EPS@ISEP 2014 Spring, was to develop an Aquaponics System. Over recent years Aquaponics systems have received increased attention due to its possibilities in helping reduce strain on resources within 1st and 3rd world countries. Aquaponics is the combination of Hydroponics and Aquaculture and mimics a natural environment in order to successfully apply and enhance the understanding of natural cycles within an indoor process. By using this knowledge of natural cycles it was possible to create a system with the capabilities similar to that of a natural environment with the benefits of electronic adaptions to enhance the overall efficiency of the system. The multinational team involved in its development was composed of five students, from five countries and fields of study. This paper covers their solution, involving overall design, the technology involved and the benefits it could bring to the current market. The team was able to achieve the final rendered Computer Aided Design (CAD) drawings, successfully performed all the electronic testing, and designed a solution under budget. Furthermore, the solution presented was deeply studied from the sustainability viewpoint and the team also developed a product specific marketing plan. Finally, the students involved in this project obtained new knowledge and skills.
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    Bin Picking Approaches Based on Deep Learning Techniques: A State-of-the-Art Survey
    ( 2022) Cordeiro,A ; Luís Freitas Rocha ; Carlos Miguel Costa ; Pedro Gomes Costa ; Manuel Santos Silva ; 5159 ; 5364 ; 5655 ; 6164
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    Biomechanical Modeling and Simulation of the Spider Crab (Maja brachydactyla)
    ( 2013) Rita Rynkevic ; Manuel Santos Silva ; Marques,MA ; 5655 ; 5871
    One line of research and development in robotics receiving increasing attention in recent years is the development of biologically inspired walking robots. The purpose is to gain knowledge of biological beings and apply that knowledge to implement the same methods of locomotion ( or at least use the biological inspiration) on the machines we build. It is believed that this way it is possible to develop machines with capabilities similar to those of biological beings in terms of locomotion skills and energy efficiency. One way to better understand the functioning of these systems, without the need to develop prototypes with long and costly development, is to use simulation models. Based on these ideas, this work concerns the biomechanical study of the spider crab, using the SimMechanics toolbox of Matlab/Simulink. This paper describes the anatomy and locomotion of the spider crab, its modeling and control and the locomotion simulation of a crab within the SimMechanics environment.
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    Converting Robot Offline Programs to Native Code Using the AdaptPack Studio Translators
    ( 2019) João Pedro Souza ; Manuel Santos Silva ; Relvas,P ; Luís Freitas Rocha ; Castro,A ; 5655 ; 7366 ; 5364
    The increase in productivity is a demand for modern industries that need to be competitive in the actual business scenario. To face these challenges, companies are increasingly using robotic systems for end-of-line production tasks, such as wrapping and palletizing, as a mean to enhance the production line efficiency and products traceability, allowing human operators to be moved to more added value operations. Despite this increasing use of robotic systems, these equipments still present some inconveniences regarding the programming procedure, as the time required for its execution does not meet the current industrial needs. To face this drawback, offline robot programming methods are gaining great visibility, as their flexibility and programming speed allows companies to face the need of successive changes in the production line set-up. However, even with a great number of robots and simulators that are available in market, the efforts to support several robot brands in one software did not reach the needs of engineers. Therefore, this paper proposes a translation library named AdaptPack Studio Translator, which is capable to export proprietary codes for the ABB, Fanuc, Kuka, and Yaskawa robot brands, after their offline programming has been performed in the Visual Components software. The results presented in this paper are evaluated in simulated and real scenarios. © 2019 IEEE.
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    Correction to: Robot 2019: Fourth Iberian Robotics Conference
    ( 2020) Luís Lima,J ; Tardioli,D ; Sanfeliu,A ; Luís Paulo Reis ; Manuel Santos Silva ; 5655 ; 5741
    The original version of the book was inadvertently published with incomplete information in the Organization page of the front matter, which has now been included. The book has been updated with the change. © 2020, Springer Nature Switzerland AG.
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    Driverless Wheelchair for Patient's On-Demand Transportation in Hospital Environment*
    ( 2020) André Rodrigues Baltazar ; Marcelo Petry ; Manuel Santos Silva ; António Paulo Moreira ; 5157 ; 5240 ; 5655 ; 7458
    The transport of patients from the inpatient service to the operating room is a recurrent task in the hospital routine. This task is repetitive, non-ergonomic, time consuming, and requires the labor of patient transporters. In this paper is presented the design of a driverless wheelchair under development capable of providing an on-demand mobility service to hospitals. The proposed wheelchair can receive transportation requests directly from the hospital information management system, pick-up patients at their beds, navigate autonomously through different floors, avoid obstacles, communicate with elevators, and drop patients off at the designated destination. © 2020 IEEE.
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    End-Effectors for Harvesting Manipulators - State Of The Art Review
    ( 2022) Oliveira,F ; Vítor Tinoco ; Sandro Augusto Magalhães ; Filipe Neves Santos ; Manuel Santos Silva ; 8387 ; 5552 ; 5655 ; 7481
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    Industrial Robotic Arm in Machining Process Aimed to 3D Objects Reconstruction
    ( 2021) Silva,MZ ; Brito,T ; José Lima ; Manuel Santos Silva ; 5156 ; 5655
    Industrial robots are a technology which is highly present in industry and can perform several tasks, namely machining activities. Different than CNC machines, which work with G-code and have available several software applications to generate the machine code, there is a lack of software for robotic arms, in addition to each application depending on its own language and software. This work studied a way to use different robotic arms for 3D part machining processes, to perform 3D objects reconstruction obtained through a low-cost 3D scanner. Dealing with the 3D reconstruction by integrating 3D acquisition and robotic milling with software available on the market, this paper presents a system that acquires and reconstructs a 3D object, in order to seek greater flexibility with lower initial investments and checking the applicability of robot arm in these tasks. For this, a 3D object is scanned and imported to a CAD/CAM software, to generate the machining toolpath, and a software application is used to convert the G-code into robot code. Several experiments were performed, using an ABB IRB 2600 robot arm, and the results of the machining process allowed to validate the G-code conversion and milling process using robotic arms, according to the proposed methodology.
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    Modeling, Simulation and Implementation of Locomotion Patterns for Hexapod Robots
    ( 2020) Oliveira,LFP ; Rossini,FL ; Manuel Santos Silva ; Moreira,AP ; 5655
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    Multi-Legged Walking Robot Modelling in MATLAB/Simmechanics (TM) and its Simulation
    ( 2013) Manuel Santos Silva ; Barbosa,R ; Castro,T ; 5655
    Legged robots are being the target of several studies and research. The idea is to develop machines that present characteristics approximate to the ones observed in biological living creatures. However this objective is still relatively far away and the development of prototypes for these studies is expensive and time consuming, which leads to the creation of models that allow the realization of the intended studies in software. These models should include the main characteristics of biological creatures relevant for locomotion studies. Given this, the presented work describes the development of a quadruped robot model in MATLAB/Simmechanics (TM). This model is intended to be used in the development of gaits for legged robots based on Central Pattern Generators. With this purpose in mind, the model was developed in a way to accept different gaits by direct introduction of the angular positions of the knee and hip joints. Various parameters of the robot are also easily changed through a configuration file that accompanies the model. This paper presents the model of a robot with flexible body, its legs and its hip and knee joints. The model of a feet-ground interaction was also modelled using a theoretic model described in the literature.
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    Outdoor Intelligent Shader: An EPS@ISEP 2018 Project
    ( 2018) Mahon,C ; Guedes,P ; Ferreira,P ; Justo,J ; Ribeiro,C ; Manuel Santos Silva ; Benedita Malheiro ; Bergervoet,S ; Tscholl,M ; Majewska,M ; Baptista,M ; 5855 ; 5655
    This paper presents an overview of the development of SetSun, an outdoor intelligent shader, by a team of five Erasmus students within the framework of the European Project Semester at Instituto Superior de Engenharia do Porto, in the spring of 2018. The major goal of this project-based learning experience was to design a new type of parasol, granting a novel wellness and luxury experience, by combining the functionalities of smart electronics with that of a traditional parasol, while providing the participants with a meaningful learning experience for their future professional life. The Team conducted multiple studies, including scientific, technical, sustainability, marketing, ethics and deontological analyses, and discussions to derive the requirements, design the structure, specify the list of materials and components and develop a functional system. Following these studies, the Team assembled, debugged and tested the SetSun prototype successfully. © 2018 ACM
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    Quality Control of Casting Aluminum Parts: A Comparison of Deep Learning Models for Filings Detection
    ( 2023) Luís Freitas Rocha ; Manuel Santos Silva ; Cláudia Daniela Rocha ; Rui Pedro Nascimento ; 5364 ; 5655 ; 6709 ; 9050
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    A Review of Pruning and Harvesting Manipulators
    ( 2021) Vítor Tinoco ; Manuel Santos Silva ; Filipe Neves Santos ; Luís Freitas Rocha ; Sandro Augusto Magalhães ; Luís Carlos Santos ; 7481 ; 5552 ; 5364 ; 7150 ; 5655 ; 8387
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    Simulation of a Robotic Co-transport System
    ( 2021) Teixeira,FM ; Manuel Santos Silva ; 5655
    The transportation of large loads is still an obstacle to the productivity of some companies. To answer this internal logistics challenge, one solution with high potential is the use of several mobile robots that can execute these tasks cooperatively. This paper addresses the simulation of strategies that allow two omnidirectional robots, a leader and a follower, to coordinate their movement and cooperate in a transportation task (co-transport). This is achieved by implementing a force sensor on the mechanical structure of a support that allows the follower to grab and transport the load on the top of its chassis. Through the measurement of the forces, this robot will be able to react to the movement of the leader, whose function will be to guide the system to its final destination. The system and its cooperation strategies were idealized and then tested in the CoppeliaSim simulator. The results obtained through simulation were the target of an analysis that assessed which strategy best complemented the omnidirectional mobility of the system's constituents and, at the same time, ensured that less forces were exerted on the load during transport.
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    A Survey of high-level teleoperation, monitoring and task assignment to Autonomous Mobile Robots
    ( 2022) Correia,D ; Manuel Santos Silva ; António Paulo Moreira ; 5157 ; 5655
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    A survey on localization, mapping, and trajectory planning for quadruped robots in vineyards
    ( 2022) Ferreira,J ; António Paulo Moreira ; Manuel Santos Silva ; Filipe Neves Santos ; 5655 ; 5157 ; 5552
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    A Survey on Path Planning Algorithms for Mobile Robots
    ( 2019) Manuel Santos Silva ; Costa,MM ; 5655
    The use of mobile robots is growing every day. Path planning algorithms are needed to allow the coordination of several robots, and make them travel with the least cost and without collisions. With this emerged the interest in studying some path planning algorithms, in order to better understand the operation of each one when applied in this type of robots. The objective of this paper is to present a state of the art survey of some algorithms of path planning for mobile robots. A brief introduction on mobile robots and trajectory planning algorithms is made. After, the basis of each algorithm is explained, their relative advantages and disadvantages are presented and are mentioned areas of application for each of them. This study was developed in order to implement some of these algorithms in the near future, with the objective to find out their relative advantages and disadvantages, and in which situations their implementation is more adequate. © 2019 IEEE.