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This service develops advanced solutions in automation and industrial robotics, including handlers and mobile robots, and promotes the integration of control intelligent systems and sensing.

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Browsing CRIIS by Author "5240"
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    Accuracy and Repeatability Tests on HoloLens 2 and HTC Vive
    ( 2021) Soares,I ; Ricardo Barbosa Sousa ; Marcelo Petry ; António Paulo Moreira ; 5157 ; 5240 ; 7908
    Augmented and Virtual Reality have been experiencing a rapidly growth in recent years, but there is not still a deep knowledge on their capabilities and where they could be explored. In that sense, this paper presents a study on the accuracy and repeatability of the Microsoft's HoloLens 2 (Augmented Reality device) and HTC Vive (Virtual Reality device) using an OptiTrack system as ground truth. For the HoloLens 2, the method used was hand tracking, while in HTC Vive, the object tracked was the system's hand controller. A series of tests in different scenarios and situations were performed to explore what could influence the measures. The HTC Vive obtained results in the millimetre scale, while the HoloLens 2 revealed not so accurate measures (around 2 centimetres). Although the difference can seem to be considerable, the fact that HoloLens 2 was tracking the user's hand and not an inherit controller made a huge impact. The results were considered a significant step for the on going project of developing a human-robot interface to program by demonstration an industrial robot using Extended Reality, which shows great potential to succeed based on this data.
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    Autonomous wheelchair for patient’s transportation on healthcare institutions
    ( 2021) André Rodrigues Baltazar ; Marcelo Petry ; Manuel Santos Silva ; António Paulo Moreira ; 5157 ; 5240 ; 5655 ; 7458
    AbstractThe transport of patients from the inpatient service to the operating room is a recurrent task in a hospital routine. This task is repetitive, non-ergonomic, time consuming, and requires the labor of patient transporters. In this paper is presented a system, named Connected Driverless Wheelchair, that 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 operating room. As a result, a prototype capable of transporting patients autonomously in hospital environments was obtained. Although it was impossible to test the final developed system at the hospital as planned, due to the COVID-19 pandemic, the extensive tests conducted at the robotics laboratory facilities, and our previous experience in integrating mobile robots in hospitals, allowed to conclude that it is perfectly prepared for this integration to be carried out. The achieved results are relevant since this is a system that may be applied to support these types of tasks in the future, making the transport of patients more efficient (both from a cost and time perspective), without unpredictable delays and, in some cases, safer.
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    CPPS 101 - A Tutorial Introduction on Cyber-Physical Production Systems
    ( 2021) Pinto,R ; Gonçalves,G ; Aschenbrenner,D ; Rusak,Z ; Marcelo Petry ; Manuel Santos Silva ; 5655 ; 5240
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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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    Evolution of odometry calibration methods for ground mobile robots
    ( 2020) Ricardo Barbosa Sousa ; Marcelo Petry ; António Paulo Moreira ; 5157 ; 5240 ; 7908
    Localisation is a critical problem in ground mobile robots. For dead reckoning, odometry is usually used. A disadvantage of using it alone is unbounded error accumulation. So, odometry calibration is critical in reducing error propagation. This paper presents an analysis of the developments and advances of systematic methods for odometry calibration. Four steering geometries were analysed, namely differential drive, Ackerman, tricycle and omnidirectional. It highlights the advances made on this field and covers the methods since UMBmark was proposed. The points of analysis are the techniques and test paths used, errors considered in calibration, and experiments made to validate each method. It was obtained fifteen methods for differential drive, three for Ackerman, two for tricycle, and three for the omnidirectional steering geometry. A disparity was noted, compared with the real utilisation, between the number of published works addressing differential drive and tricycle/Ackerman. Still, odometry continues evolving since UMBmark was proposed. © 2020 IEEE.
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    Extrinsic sensor calibration methods for mobile robots: A short review
    ( 2021) Ricardo Barbosa Sousa ; Marcelo Petry ; António Paulo Moreira ; 5157 ; 5240 ; 7908
    Data acquisition is a critical task for localisation and perception of mobile robots. It is necessary to compute the relative pose between onboard sensors to process the data in a common frame. Thus, extrinsic calibration computes the sensor’s relative pose improving data consistency between them. This paper performs a literature review on extrinsic sensor calibration methods prioritising the most recent ones. The sensors types considered were laser scanners, cameras and IMUs. It was found methods for robot–laser, laser–laser, laser–camera, robot–camera, camera–camera, camera–IMU, IMU–IMU and laser–IMU calibration. The analysed methods allow the full calibration of a sensory system composed of lasers, cameras and IMUs. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.
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    OptiOdom: a Generic Approach for Odometry Calibration of Wheeled Mobile Robots
    ( 2022) Ricardo Barbosa Sousa ; Marcelo Petry ; Paulo José Costa ; António Paulo Moreira ; 5153 ; 5157 ; 5240 ; 7908
    Odometry calibration adjusts the kinematic parameters or directly the robot's model to improve the wheeled odometry accuracy. The existent literature considers in the calibration procedure only one steering geometry (differential drive, Ackerman/tricycle, or omnidirectional). Our method, the OptiOdom calibration algorithm, generalizes the odometry calibration problem. It is developed an optimization-based approach that uses the improved Resilient Propagation without weight-backtracking (iRprop-) for estimating the kinematic parameters using only the position data of the robot. Even though a calibration path is suggested to be used in the calibration procedure, the OptiOdom method is not path-specific. In the experiments performed, the OptiOdom was tested using four different robots on a square, arbitrary, and suggested calibration paths. The OptiTrack motion capture system was used as a ground-truth. Overall, the use of OptiOdom led to improvements in the odometry accuracy (in terms of maximum distance and absolute orientation errors over the path) over the existent literature while being a generalized approach to the odometry calibration problem. The OptiOdom and the methods from the literature implemented in the article are available in GitHub as an open-source repository.