CRIIS

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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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    A Practical approach of Modeling and Parameters Estimation for OmniDirectional Mobile Robots
    ( 2009) André Conceição ; António Paulo Moreira ; Paulo José Costa
    This paper presents a non-linear modeling approach for omnidirectional mobile robots.
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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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    Modeling and Control of the MARES Autonomous Underwater Vehicle
    ( 2010) Nuno Cruz ; Bruno Miguel Ferreira ; Aníbal Matos ; Miguel Armando Pinto
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    High-level programming and control for industrial robotics: using a hand-held accelerometer-based input device for gesture and posture recognition
    ( 2010) Pedro Neto ; J. Norberto Pires ; António Paulo Moreira
    Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches to robot programming are required. The purpose of this paper is to present a robotic system that allows users to instruct and program a robot with a high-level of abstraction from the robot language. Design/methodology/approach - The paper presents in detail a robotic system that allows users, especially non-expert programmers, to instruct and program a robot just showing it what it should do, in an intuitive way. This is done using the two most natural human interfaces (gestures and speech), a force control system and several code generation techniques. Special attention will be given to the recognition of gestures, where the data extracted from a motion sensor (three-axis accelerometer) embedded in the Wii remote controller was used to capture human hand behaviours. Gestures dynamic hand positions) as well as manual postures (static hand positions) are recognized using a statistical approach and artificial neural networks. Findings - It is shown that the robotic system presented is suitable to enable users without programming expertise to rapidly create robot programs. The experimental tests showed that the developed system can be customized for different users and robotic platforms. Research limitations/implications - The propose
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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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    HUMANOID LOW-LEVEL CONTROLLER DEVELOPMENT BASED ON A REALISTIC SIMULATION
    ( 2010) José Lima ; António Paulo Moreira ; José Alexandre Gonçalves ; Pedro Gomes Costa
    This article describes a joint trajectory optimized controller developed in a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfill this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback. The proposed simulator, with realistic dynamics, allows to design and test behaviors and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot. The low-level joints controller techniques, such as acceleration, speed, and energy consumption minimization, are discussed and experimental results are presented in order to validate the proposed simulator.
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    IntellWheels: A Modular Development Platform for Intelligent Wheelchairs
    ( 2011) Rodrigo Antonio Marques Braga ; António Paulo Moreira ; Marcelo Petry ; Luis Paulo Reis
    Intelligent wheelchairs can become an important solution to assist individuals suffering from disabilities and are thus unable to perform their daily activities using classic powered wheelchairs. This paper describes the concept and design of IntellWheels, a modular platform to facilitate the development of intelligent wheelchairs through a multi-agent system paradigm. In fact, modularity is achieved not just in the software perspective, but also through a generic hardware framework, which was designed to fit, in a straightforward manner, almost any commercial powered wheelchair. Experimental results demonstrate the successful integration of all modules in the platform, providing a safe motion to the intelligent wheelchair. Furthermore, the results achieved with a prototype running in autonomous mode, in a simulated and mixed reality environments, also demonstrate the potential of our approach. Although some future research is still necessary in order to fully accomplish its objectives, preliminary tests have shown that IntellWheels will be able to effectively reduce user's limitations, offering them a much more independent life.
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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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    Fault Tolerant Depth Control of the MARES AUV
    ( 2011) Bruno Miguel Ferreira ; Aníbal Matos ; Nuno Cruz
    Control theory has been applied to several domains where practical considerations are relevant. Robotics is a notable example of this. In most cases, mobile robotic systems are governed such that their behavior obeys to a defined motion. However, during their operations, it is conceivable that faults could occur. Indeed, this assumption has to be made in order to predict a possible malfunction and to take an appropriate action according to the fault, improving the robustness and the reliability of the system. This work tackles the problem of fault detection, identification and automatic reconfiguration of an autonomous underwater vehicle (AUV). Although our emphasis will be directed to an AUV, the methods and the tools that are employed in this chapter can be easily extended to other engineering problems beyond robotics.
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    Experiment@Portugal
    ( 2011) Maria Teresa Restivo ; José Carlos Alves ; Alberto Cardoso
    The main goal of the Project Experiment@Portugal is to produce a complete survey of Portuguese developments in remote and virtual labs. This knowledge will provide the conditions for joining forces in order to organize a well structured national website integrating a database of available remote and virtual experiments, categorized for sharing purposes, and looking for delivering valuable contents for high schools and for higher education. It is expected that the final result will bring up a solid team able to offer in this domain a Portuguese partner at international level
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    Planeamento Cooperativo de Tarefas e Trajectórias em Múltiplos Robôs
    ( 2011) Pedro Gomes Costa
    Hoje em dia o planeamento de trajectórias não se resume ao domínio dos robôs. Muitas novas áreas de aplicação prática, tais como: animação por computador, jogos, mundos virtuais, procedimentos cirúrgicos, informática para fins biomédicos e protótipos virtuais surgiram e fizeram com que o desenvolvimento desta área acelerasse significativamente nos últimos anos. Este desenvolvimento ocorre com avanços significativos em muitas direcções diferentes. No planeamento de trajectórias existem muitas restrições originadas pelo ambiente em que ocorre a acção, o que torna mais ou menos complexo esse planeamento. Uma dessas restrições é o problema da acção decorrer em tempo real com obstáculos dinâmicos imprevisíveis, em que o tempo de execução do planeamento é um aspecto crucial. Neste trabalho foi realizado o desenvolvimento e a implementação de um novo algoritmo de planeamento de trajectórias, que funciona num ambiente de tempo real com obstáculos dinâmicos. Para plataforma de teste escolheu-se
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    Intuitive Robot Programming Based on CAD: dealing with unstructured environments - Part II
    ( 2011) N. Mendes ; Pedro Neto ; António Paulo Moreira ; J.N. Pires ; R. Araújo
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    INTUITIVE ROBOT PROGRAMMING BASED ON CAD DEALING WITH UNSTRUCTURED ENVIRONMENTS (1ª parte)
    ( 2011) J. norberto Pires ; Nuno Mendes ; Ricardo Araújo ; António Paulo Moreira ; Pedro Neto
    The global market demands for cheaper, diversified and better quality products are forcing manufacturing companies to change their production facilities. Increasingly, traditional manufacturing is being replaced by flexible manufacturing systems where industrial robots are seen as a fundamental element. Nevertheless, robot programming is still a time consuming task that requires technical expertise. The pu rpose of this paper is to present a human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by humans to teach each other. Another important issue addressed here has to do with how robots deal with uncertainty and the role of sensory feedback as a way to make robots more autonomous and thus face uncertainty.
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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.