CRIIS - Indexed Articles in Conferences

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Browsing CRIIS - Indexed Articles in Conferences by Author "5674"
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    Applying Software Static Analysis to ROS: The Case Study of the FASTEN European Project
    ( 2019) Neto,T ; Germano Veiga ; André Filipe Santos ; Armando Sousa ; Rafael Lírio Arrais ; 5674 ; 5152 ; 6414 ; 6551
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    Automatic generation of disassembly sequences and exploded views from solidworks symbolic geometric relationships
    ( 2018) Carlos Miguel Costa ; Thomas,U ; Cardoso,HL ; Oliveira,EC ; Luís Freitas Rocha ; Armando Sousa ; Germano Veiga ; 6164 ; 5152 ; 5364 ; 5674
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    Autonomous Robot Navigation for Automotive Assembly Task: An Industry Use-Case
    ( 2019) Héber Miguel Sobreira ; Germano Veiga ; António Paulo Moreira ; Rodrigues,F ; Lima,J ; Luís Freitas Rocha ; 5364 ; 5424 ; 5674 ; 5157
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    Bridging Automation and Robotics: an Interprocess Communication between IEC 61131-3 and ROS
    ( 2018) Pinto,T ; Rafael Lírio Arrais ; Germano Veiga ; 5674 ; 6551
    The contemporary adoption of Cyber-Physical Systems and improvements in robotic applications in industrial scenarios demands for horizontal integration mechanisms with already existing automation equipment, controlled by PLCs. This paper aims to shorten the gap between the automation and robotics domain, by proposing an Interprocess Communication method to establish interoperability between robotic systems and automation equipment in a reliable and straightforward manner. In particular, this paper introduces a novel approach for linking ROS and IEC 61131-3 by way of shared memory interfaces, enabling and promoting their interactions. Moreover, this paper addresses the applied synchronization mechanism for handling concurrent accesses to the shared memory location, explores data type mapping between ROS and IEC 61131-3, and identifies some practical industrial applications.
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    Force control heuristics for surpassing pose uncertainty in mobile robotic assembly platforms
    ( 2021) Duarte Alão Magalhães ; Paulo Miranda Rebelo ; Carlos Miguel Costa ; Luís Freitas Rocha ; Germano Veiga ; 5364 ; 5674 ; 7077 ; 8275 ; 6164
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    Modeling of video projectors in OpenGL for implementing a spatial augmented reality teaching system for assembly operations
    ( 2019) Rui Pedro Rodrigues ; Thomas,U ; Carlos Miguel Costa ; Germano Veiga ; Armando Sousa ; Luís Freitas Rocha ; Augusto Sousa ; 5674 ; 5364 ; 5152 ; 5579 ; 197 ; 6164
    Teaching complex assembly and maintenance skills to human operators usually requires extensive reading and the help of tutors. In order to reduce the training period and avoid the need for human supervision, an immersive teaching system using spatial augmented reality was developed for guiding inexperienced operators. The system provides textual and video instructions for each task while also allowing the operator to navigate between the teaching steps and control the video playback using a bare hands natural interaction interface that is projected into the workspace. Moreover, for helping the operator during the final validation and inspection phase, the system projects the expected 3D outline of the final product. The proposed teaching system was tested with the assembly of a starter motor and proved to be more intuitive than reading the traditional user manuals. This proof of concept use case served to validate the fundamental technologies and approaches that were proposed to achieve an intuitive and accurate augmented reality teaching application. Among the main challenges were the proper modeling and calibration of the sensing and projection hardware along with the 6 DoF pose estimation of objects for achieving precise overlap between the 3D rendered content and the physical world. On the other hand, the conceptualization of the information flow and how it can be conveyed on-demand to the operator was also of critical importance for ensuring a smooth and intuitive experience for the operator. © 2019 IEEE.
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    Modeling of video projectors in OpenGL for implementing a spatial augmented reality teaching system for assembly operations
    ( 2019) Germano Veiga ; Carlos Miguel Costa ; Rui Pedro Rodrigues ; Augusto Sousa ; Luís Freitas Rocha ; Thomas,U ; Armando Sousa ; 197 ; 5579 ; 5152 ; 5364 ; 5674 ; 6164
    Teaching complex assembly and maintenance skills to human operators usually requires extensive reading and the help of tutors. In order to reduce the training period and avoid the need for human supervision, an immersive teaching system using spatial augmented reality was developed for guiding inexperienced operators. The system provides textual and video instructions for each task while also allowing the operator to navigate between the teaching steps and control the video playback using a bare hands natural interaction interface that is projected into the workspace. Moreover, for helping the operator during the final validation and inspection phase, the system projects the expected 3D outline of the final product. The proposed teaching system was tested with the assembly of a starter motor and proved to be more intuitive than reading the traditional user manuals. This proof of concept use case served to validate the fundamental technologies and approaches that were proposed to achieve an intuitive and accurate augmented reality teaching application. Among the main challenges were the proper modeling and calibration of the sensing and projection hardware along with the 6 DoF pose estimation of objects for achieving precise overlap between the 3D rendered content and the physical world. On the other hand, the conceptualization of the information flow and how it can be conveyed on-demand to the operator was also of critical importance for ensuring a smooth and intuitive experience for the operator.
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    Perception of Entangled Tubes for Automated Bin Picking
    ( 2019) Carlos Miguel Costa ; Germano Veiga ; Armando Sousa ; Leão,G ; 5674 ; 6164 ; 5152