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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 "5655"
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    AdaptPack Studio: an automated intelligent framework for offline factory programming
    ( 2020) João Pedro Souza ; Manuel Santos Silva ; Luís Freitas Rocha ; Castro,AL ; 5655 ; 7366 ; 5364
    Purpose This paper aims to propose an automated framework for agile development and simulation of robotic palletizing cells. An automatic offline programming tool, for a variety of robot brands, is also introduced. Design/methodology/approach This framework, named AdaptPack Studio, offers a custom-built library to assemble virtual models of palletizing cells, quick connect these models by drag and drop, and perform offline programming of robots and factory equipment in short steps. Findings Simulation and real tests performed showed an improvement in the design, development and operation of robotic palletizing systems. The AdaptPack Studio software was tested and evaluated in a pure simulation case and in a real-world scenario. Results have shown to be concise and accurate, with minor model displacement inaccuracies because of differences between the virtual and real models. Research limitations/implications An intuitive drag and drop layout modeling accelerates the design and setup of robotic palletizing cells and automatic offline generation of robot programs. Furthermore, A* based algorithms generate collision-free trajectories, discretized both in the robot joints space and in the Cartesian space. As a consequence, industrial solutions are available for production in record time, increasing the competitiveness of companies using this tool. Originality/value The AdaptPack Studio framework includes, on a single package, the possibility to program, simulate and generate the robot code for four different brands of robots. Furthermore, the application is tailored for palletizing applications and specifically includes the components (Building Blocks) of a particular company, which allows a very fast development of new solutions. Furthermore, with the inclusion of the Trajectory Planner, it is possible to automatically develop robot trajectories without collisions.
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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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    Advances in Agriculture Robotics: A State-of-the-Art Review and Challenges Ahead
    ( 2021) Oliveira,LFP ; António Paulo Moreira ; Manuel Santos Silva ; 5157 ; 5655
    The constant advances in agricultural robotics aim to overcome the challenges imposed by population growth, accelerated urbanization, high competitiveness of high-quality products, environmental preservation and a lack of qualified labor. In this sense, this review paper surveys the main existing applications of agricultural robotic systems for the execution of land preparation before planting, sowing, planting, plant treatment, harvesting, yield estimation and phenotyping. In general, all robots were evaluated according to the following criteria: its locomotion system, what is the final application, if it has sensors, robotic arm and/or computer vision algorithm, what is its development stage and which country and continent they belong. After evaluating all similar characteristics, to expose the research trends, common pitfalls and the characteristics that hinder commercial development, and discover which countries are investing into Research and Development (R&D) in these technologies for the future, four major areas that need future research work for enhancing the state of the art in smart agriculture were highlighted: locomotion systems, sensors, computer vision algorithms and communication technologies. The results of this research suggest that the investment in agricultural robotic systems allows to achieve short—harvest monitoring—and long-term objectives—yield estimation.
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    Advances in Forest Robotics: A State-of-the-Art Survey
    ( 2021) Oliveira,LFP ; António Paulo Moreira ; Manuel Santos Silva ; 5157 ; 5655
    The development of robotic systems to operate in forest environments is of great relevance for the public and private sectors. In this sense, this article reviews several scientific papers, research projects and commercial products related to robotic applications for environmental preservation, monitoring, wildfire firefighting, inventory operations, planting, pruning and harvesting. After conducting critical analysis, the main characteristics observed were: (a) the locomotion system is directly affected by the type of environmental monitoring to be performed; (b) different reasons for pruning result in different locomotion and cutting systems; (c) each type of forest, in each season and each type of soil can directly interfere with the navigation technique used; and (d) the integration of the concept of swarm of robots with robots of different types of locomotion systems (land, air or sea) can compensate for the time of executing tasks in unstructured environments. Two major areas are proposed for future research works: Internet of Things (IoT)-based smart forest and navigation systems. It is expected that, with the various characteristics exposed in this paper, the current robotic forest systems will be improved, so that forest exploitation becomes more efficient and sustainable.
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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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    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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    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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    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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    Development of an AGV controlled by fuzzy logic
    ( 2013) Barbosa,RS ; Manuel Santos Silva ; Osório,DJ ; 5655
    This paper presents the development of a behavior-based AGV using fuzzy logic. A robot platform and a fuzzy logic controller (FLC) are developed for the embodiment of different behaviors. Experimental results are given to assess the performance of the AGV and to validate the proposed design schemes for its construction and control. © 2013, Springer Science Business Media Dordrecht.
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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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    Editorial of the topical collection "state of the art on autonomous robot systems and competitions"
    ( 2021) Lau,N ; Manuel Santos Silva ; Luís Paulo Reis ; Cascalho,JM ; 5655 ; 5741
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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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    Gerber File Parsing for Conversion to Bitmap Image–The VINCI7D Case Study
    ( 2022) Ricardo Barbosa Sousa ; Cláudia Daniela Rocha ; Hélio Mendonça ; António Paulo Moreira ; Manuel Santos Silva ; 1434 ; 5157 ; 5655 ; 6709 ; 7908
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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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    Introduction to the Special Issue “Robotica 2016”
    ( 2019) José Lima ; Cunha,B ; Manuel Santos Silva ; Leitao,P ; 5156 ; 5655