CRIIS - Indexed Articles in Conferences

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Browsing CRIIS - Indexed Articles in Conferences by Title

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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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    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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    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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    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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    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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    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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    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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    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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    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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    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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    Cost-Effective 4DoF Manipulator for General Applications
    ( 2021) Sandro Augusto Magalhães ; António Paulo Moreira ; dos Santos,FN ; Dias,J ; Luís Carlos Santos ; 5157 ; 7150 ; 7481
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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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    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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    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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    Enhanced Performance Real-Time Industrial Robot Programming by Demonstration using Stereoscopic Vision and an IMU sensor
    ( 2020) Amorim,A ; Vitor Hugo Pinto ; Luís Freitas Rocha ; Moreira,AP ; 6852 ; 5364
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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.