CRIIS - Indexed Articles in Conferences

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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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    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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    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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    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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    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.
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    Estimation of Leaf Area Index in Chestnut Trees using Multispectral Data from an Unmanned Aerial Vehicle
    ( 2020) Martins,L ; Padua,L ; Emanuel Peres Correia ; Sousa,JJ ; Marques,P ; Sousa,A ; 5653
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    Force control heuristics for surpassing pose uncertainty in mobile robotic assembly platforms
    ( 2021) Duarte Alão Magalhães ; Paulo Miranda Rebelo ; Carlos Miguel Costa ; Luís Freitas Rocha ; Germano Veiga ; 5364 ; 5674 ; 7077 ; 8275 ; 6164
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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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    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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    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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    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