CRIIS - Indexed Articles in Conferences

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    Environmental assessment and modeling of wastewater discharges using autonomous underwater vehicles bio-optical observations
    ( 2009) Patrícia Ramos ; Nuno Miguel Abreu ; Nuno Cruz ; Aníbal Matos
    Around the world, the number of ocean outfalls discharging wastewater on coastal waters is already significant and is expected to grow. However, the environmental impact assessment of these structures is still difficult. In this paper we see how an autonomous underwater vehicle can be used for monitoring of sea outfalls, presenting the results obtained in a campaign, and the multi-wavelength optical sensors recently installed onboard which allow to obtain clear signatures of the particle field in order to quantify its components.
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    MONITORIZAÇÃO AMBIENTAL DO EMISSÁRIO SUBMARINO DA FOZ DO ARELHO USANDO UM VEÍCULO SUBMARINO AUTÓNOMO
    ( 2010) Sanda Carvalho ; Nuno Cruz ; Patrícia Ramos ; Aníbal Matos
    O número de emissários submarinos a descarregar águas residuais em ambientes costeiros em todo o mundo é já bastante significativo e espera-se que venha a aumentar. No entanto, a avaliação do impacte ambiental no meio destas estruturas é ainda bastante difícil. Os Veículos Submarinos Autónomos (VSAs), pela relativa facilidade de operação e capacidade de recolha de grandes quantidades de dados, de natureza muito diversa, a diferentes profundidades e com grande rapidez, constituem uma tecnologia de vanguarda para monitorização ambiental e em particular podem ser utilizados com elevado sucesso na avaliação das condições de funcionamento dos emissários submarinos (Ramos, 2005). Nesta publicação abordamos como é que um veículo submarino autónomo pode ser utilizado para monitorização de emissários submarinos apresentando os resultados obtidos numa campanha de monitorização ao emissário submarino da Foz do Arelho.
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    Location and Automatic Trajectory Calculation of Mobile Objects using Radio Frequency Identification
    ( 2011) Marcelo Petry ; José Xavier ; Pedro Henriques Abreu ; Luís Paulo Reis
    The area of object/people location consists on the identification of their instantaneous movement in a given area of space and during a given time frame. This location takes an important role because it can help rectify trajectories (in the case of autonomous objects) or improve the performance (in the case of sport practices). In this research project, a system based on RFID that automatically rectifies a location and calculates a wheelchair trajectory in a pre-defined route will be presented. For that, a commercial location system was used as well as a wheelchair and two routes: a linear one and a complex route. In order to correct the trajectory a low pass filter was also used. The obtained results showed that this approach decreased 38% of the mean squared error and in more than 7 centimeters the maximum error. In the future this research work will be enclosed in a new project where a multi agent system capable of executing a management of an autonomous wheelchair set in a hospital environment will be developed.
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    Pseudo Fuzzy Colour Calibration for Sport Video Segmentation
    ( 2011) Catarina Brito Santiago ; Armando Sousa ; Luís Paulo Reis
    Video segmentation is one of the most important parts of a vision system which allows partitioning each frame into homogeneous regions that share a common property. This work proposes a new methodology that aggregates three different techniques: background subtraction, region growing and a pseudo Fuzzy colour model to define colour subspaces that characterize each class. In addition, the pseudo Fuzzy colour model allows a given colour to belong to more than one class and enables the expansion of the classes through a dynamic model based on belonging and persistence information. In case of shared colours among classes, regional features are searched in order to determine the object's class. Tests with test and real videos of sports footages show promising results.
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    SISTEMA DE INFORMAÇÃO BASEADO EM RFID APLICAÇÃO EM MANUTENÇÃO DE EDIFÍCIOS
    ( 2011) Rui Calejo Rodrigues ; Armando Sousa ; Luis Veiga Martins
    Com a evolução da complexidade e tamanho dos edifícios a tarefa de catalogar e aceder a informações de projecto, construção e utilização de todos os elementos e componentes presentes num edifício torna-se difícil. Este trabalho tem como objectivo criar um sistema que permita o acesso fácil e directo a informações importantes à manutenção dos elementos e componentes de um edifício, permitindo a alteração e registo de ocorrências, dando conhecimento do histórico dos elementos e componentes, facilitando assim a sua manutenção e portanto melhorando o seu desempenho. Estudou-se o uso da tecnologia RFID (Radio-Frequency IDentification) para a utilização neste sistema, identificando vantagens e desvantagens das várias características desta. Desenvolveu-se um software que, aliado à tecnologia RFID permitisse a comunicação dos EFM (Elementos Fonte de Manutenção) com o operador de manutenção e que também demonstrasse algumas das vantagens que este sistema pode trazer à área da manutenção de edif
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    A Cellular Genetic Algorithm Architecture for FPGAs
    ( 2012) Pedro Manuel Santos ; José Carlos Alves
    This paper proposes a new architecture of a cellular genetic algorithm (cGA) suitable for FPGA implementation. By spreading the algorithm solutions (population) into subpopulations accessed from different processing nodes, a scalable array of processing elements can be run in parallel. Each subpopulation is saved in a dual-port memory block (BRAM) so that two different processing elements can share the same information. Preliminary results of a simple GA implementation for the travelling salesman problem (TSP) have shown that the problem size allocated for the algorithm is mainly constrained by the available memory and not by the other logic resources. Simulations performed to evaluate the effectiveness of the cGA as an optimization procedure have shown that this cGA architecture does not degrade the quality of the final solution and the performance almost linearly increases with the number of processing nodes.
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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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    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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    Localization and Navigation of a Mobile Robot in an Office-like Environment
    ( 2013) Alves,P ; Hugo Costelha ; Neves,C ; 5759
    This article focuses on the localization and navigation of a mobile differential robot in an indoor office-like environment. These are fundamental issues to service robotics, which is a branch with a strong market growth. The work implements a vision tracking system, environment mapping, route planning and navigation for an autonomous robot application inside services buildings. One goal of the methodology is its application with low cost equipment. The test bed chosen was a Pioneer P3-DX robot [16] in a service building, with an attached USB webcam, pointed at the ceiling to take advantage of the position of the light fixtures as natural landmarks. The robot location is estimated through two distinct probabilistic methods: a particle filter, when there is no information about the starting location of the robot, and the Kalman filter, given the convergence of the particle filter. Both methods use the detection of light fixtures together with the robot kinematics as information to estimate the pose. The mapping of the environment and its obstacles is obtained from the localization estimates and the information gathered by ultrasound sensors, representing the entire navigation space discretized in the form of an occupation grid. Planning the navigation path is determined by a simple search algorithm, namely the Wavefront algorithm, based on the information contained in the occupancy grid. For a given path, navigation is performed with obstacle avoidance using the virtual forces method. Replanning is used to recover from local minima situations.
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    Accuracy versus Complexity of MARG-based Filters for Remote Control Pointing Devices
    ( 2015) Rasteiro,M ; Hugo Costelha ; Bento,L ; Assuncao,P ; 5759
    Although most current pointing devices rely on relative rotation increments, absolute orientation allows for a more intuitive interaction. However, this is difficult to implement in low-energy consumption devices since accurate fusion filters are computationally intensive. This work presents a comparative study of low-complexity filters and state-of-the-art orientation tracking systems, enabling to access complexity versus portability. A relevant set of different MARG units currently available on the market were studied under systematic tests and human subjective user analysis. Experimental results show that it is possible to obtain similar accuracy using low-complexity filters to the ones observed with state-of-the-art orientation tracking systems.
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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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    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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    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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    Deep Learning-Based Methodological Approach for Vineyard Early Disease Detection Using Hyperspectral Data
    ( 2018) Hruska,J ; Morais,R ; Telmo Oliveira Adão ; Sousa,A ; Sousa,JJ ; Padua,L ; Marques,P ; Emanuel Peres Correia ; 5653 ; 5490
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    Heterogeneous Multi-Agent Planning Using Actuation Maps
    ( 2018) Tiago Raúl Pereira ; Moreira,A ; Luis,N ; Borrajo,D ; Veloso,M ; Fernandez,S ; 5224
    Many real-world robotic scenarios require performing task planning to decide courses of actions to be executed by (possibly heterogeneous) robots. A classical centralized planning approach that considers in the same search space all combinations of robots and goals could lead to inefficient solutions that do not scale well. Multi-Agent Planning (MAP) provides a good framework to solve this kind of tasks efficiently. Some MAP techniques have proposed to previously assign goals to agents (robots) so that the planning effort decreases. However, these techniques do not scale when the number of agents and goals grow, as in most real world scenarios with big maps or goals that cannot be reached by subsets of robots. In this paper we propose to help the computation of which goals should be assigned to each agent by using Actuation Maps (AMs). Given a map, AMs can determine the regions each agent can actuate on. They help on alleviating the effort of MAP techniques knowing which goals can be tackled by each agent, as well as cheaply estimating the cost of using each agent to achieve every goal. Experiments show that when information extracted from AMs is provided to the Multi Agent planner, goal assignment is significantly faster, speeding-up the planning process considerably. Experiments also show that this approach greatly outperforms classical centralized planning.
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    Machine learning classification methods in hyperspectral data processing for agricultural applications
    ( 2018) Hruska,J ; Sousa,JJ ; Telmo Oliveira Adão ; Cunha,A ; Morais,R ; Pádua,L ; Marques,P ; Emanuel Peres Correia ; Sousa,AMR ; 5490 ; 5653
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    Technical database on robotics-based educational platforms for K-12 students
    ( 2018) Hugo Costelha ; Neves,C ; 5759
    Educational robotics has had an increasing growth in the past years, mainly in teaching Science, Technology, Engineering, Arts and Mathematics (STEAM). These robotics-based learning methods have since gone from home to be used every day in school learning activities. There still is, however, a big moat from the available resources and the effective use of these tools by teachers in K-12 schools. This study aims to gather in a single location a dataset of most available educational robotic platforms and related learning materials. The goal is to have this knowledge open, freely accessible and editable by manufactures and learning resources providers, helping to increase the adoption of educational robotics in STEAM education. © 2018 IEEE.
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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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    A pilot digital image processing approach for detecting vineyard parcels in Douro region through high-resolution aerial imagery
    ( 2018) Telmo Oliveira Adão ; Pádua,L ; Sousa,JJ ; Hruska,J ; Marques,P ; Emanuel Peres Correia ; 5653 ; 5490
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    UAS-based imagery and photogrammetric processing for tree height and crown diameter extraction
    ( 2018) Pádua,L ; Sousa,JJ ; Adão,T ; Morais,R ; Marques,P ; Hruska,J ; Emanuel Peres Correia ; Sousa,AMR ; 5653