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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    3 DoF/6 DoF Localization System for Low Computing Power Mobile Robot Platforms
    ( 2015) Carlos Miguel Costa ; Héber Miguel Sobreira ; Armando Sousa ; Germano Veiga
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    3-D Position Estimation from Inertial Sensing: Minimizing the Error from the Process of Double Integration of Accelerations
    ( 2013) Neto,P ; Norberto Pires,JN ; António Paulo Moreira
    This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and a gyroscope as interaction technology. A major challenge is to minimize the error caused by the process of double integration of accelerations due to motion (these ones have to be separated from the accelerations due to gravity). Owing to drift error, position estimation cannot be performed with adequate accuracy for periods longer than few seconds. For this reason, we propose a method to detect motion stops and only integrate accelerations in moments of effective hand motion during the demonstration process. The proposed system is validated and evaluated with experiments reporting a common daily life pick-and-place task.
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    A* Based Routing and Scheduling Modules for Multiple AGVs in an Industrial Scenario
    ( 2021) Santos,J ; Paulo Miranda Rebelo ; Luís Freitas Rocha ; Pedro Gomes Costa ; Germano Veiga ; 5159 ; 5364 ; 5674 ; 7077
    A multi-AGV based logistic system is typically associated with two fundamental problems, critical for its overall performance: the AGV’s route planning for collision and deadlock avoidance; and the task scheduling to determine which vehicle should transport which load. Several heuristic functions can be used according to the application. This paper proposes a time-based algorithm to dynamically control a fleet of Autonomous Guided Vehicles (AGVs) in an automatic warehouse scenario. Our approach includes a routing algorithm based on the A* heuristic search (TEA*—Time Enhanced A*) to generate free-collisions paths and a scheduling module to improve the results of the routing algorithm. These modules work cooperatively to provide an efficient task execution time considering as basis the routing algorithm information. Simulation experiments are presented using a typical industrial layout for 10 and 20 AGVs. Moreover, a comparison with an alternative approach from the state-of-the-art is also presented.
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    Accuracy and Repeatability Tests on HoloLens 2 and HTC Vive
    ( 2021) António Paulo Moreira ; Marcelo Petry ; Ricardo Barbosa Sousa ; 5157 ; 5240 ; 7908
    Augmented and virtual reality have been experiencing rapid growth in recent years, but there is still no deep knowledge regarding their capabilities and in what fields they could be explored. In that sense, this paper presents a study on the accuracy and repeatability of Microsoft's HoloLens 2 (augmented reality device) and HTC Vive (virtual reality device) using an OptiTrack system as ground truth. For the HoloLens 2, the method used was hand tracking, whereas, in HTC Vive, the object tracked was the system's hand controller. A series of tests in different scenarios and situations were performed to explore what could influence the measures. The HTC Vive obtained results in the millimeter range, while the HoloLens 2 revealed not very accurate measurements (around 2 cm). Although the difference can seem to be considerable, the fact that HoloLens 2 was tracking the user's hand and not the system's controller made a huge impact. The results are considered a significant step for the ongoing project of developing a human-robot interface by demonstrating an industrial robot using extended reality, which shows great potential to succeed based on our data.
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    Accuracy and Repeatability Tests on HoloLens 2 and HTC Vive
    ( 2021) Soares,I ; Ricardo Barbosa Sousa ; Marcelo Petry ; António Paulo Moreira ; 5157 ; 5240 ; 7908
    Augmented and Virtual Reality have been experiencing a rapidly growth in recent years, but there is not still a deep knowledge on their capabilities and where they could be explored. In that sense, this paper presents a study on the accuracy and repeatability of the Microsoft's HoloLens 2 (Augmented Reality device) and HTC Vive (Virtual Reality device) using an OptiTrack system as ground truth. For the HoloLens 2, the method used was hand tracking, while in HTC Vive, the object tracked was the system's hand controller. A series of tests in different scenarios and situations were performed to explore what could influence the measures. The HTC Vive obtained results in the millimetre scale, while the HoloLens 2 revealed not so accurate measures (around 2 centimetres). Although the difference can seem to be considerable, the fact that HoloLens 2 was tracking the user's hand and not an inherit controller made a huge impact. The results were considered a significant step for the on going project of developing a human-robot interface to program by demonstration an industrial robot using Extended Reality, which shows great potential to succeed based on this data.
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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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    Active Perception Fruit Harvesting Robots - A Systematic Review
    ( 2022) Sandro Augusto Magalhães ; António Paulo Moreira ; Filipe Neves Santos ; Dias,J ; 5157 ; 7481 ; 5552
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    Adaptive Portfolio Optimization for Multiple Electricity Markets Participation
    ( 2016) Pinto,T ; Morais,H ; Sousa,TM ; Sousa,T ; Vale,Z ; Praca,I ; Faia,R ; Eduardo Pires
    The increase of distributed energy resources, mainly based on renewable sources, requires new solutions that are able to deal with this type of resources' particular characteristics (namely, the renewable energy sources intermittent nature). The smart grid concept is increasing its consensus as the most suitable solution to facilitate the small players' participation in electric power negotiations while improving energy efficiency. The opportunity for players' participation in multiple energy negotiation environments (smart grid negotiation in addition to the already implemented market types, such as day-ahead spot markets, balancing markets, intraday negotiations, bilateral contracts, forward and futures negotiations, and among other) requires players to take suitable decisions on whether to, and how to participate in each market type. This paper proposes a portfolio optimization methodology, which provides the best investment profile for a market player, considering different market opportunities. The amount of power that each supported player should negotiate in each available market type in order to maximize its profits, considers the prices that are expected to be achieved in each market, in different contexts. The price forecasts are performed using artificial neural networks, providing a specific database with the expected prices in the different market types, at each time. This database is then used as input by an evolutionary particle swarm optimization process, which originates the most advantage participation portfolio for the market player. The proposed approach is tested and validated with simulations performed in multiagent simulator of competitive electricity markets, using real electricity markets data from the Iberian operator-MIBEL.
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    AdaptPack studio translator: translating offline programming to real palletizing robots
    ( 2020) Silva,MF ; João Pedro Souza ; Castro,AL ; Luís Freitas Rocha ; 5364 ; 7366
    Purpose This paper aims to propose a translation library capable of generating robots proprietary code after their offline programming has been performed in a software application, named AdaptPack Studio, running over a robot simulation and offline programming software package. Design/methodology/approach The translation library, named AdaptPack Studio Translator, is capable to generate proprietary code for the Asea Brown Boveri, FANUC, Keller und Knappich Augsburg and Yaskawa Motoman robot brands, after their offline programming has been performed in the AdaptPack Studio application. Findings Simulation and real tests were performed showing an improvement in the creation, operation, modularity and flexibility of new robotic palletizing systems. In particular, it was verified that the time needed to perform these tasks significantly decreased. Practical implications The design and setup of robotics palletizing systems are facilitated by an intuitive offline programming system and by a simple export command to the real robot, independent of its brand. In this way, industrial solutions can be developed faster, in this way, making companies more competitive. Originality/value The effort to build a robotic palletizing system is reduced by an intuitive offline programming system (AdaptPack Studio) and the capability to export command to the real robot using the AdaptPack Studio Translator. As a result, companies have an increase in competitiveness with a fast design framework. Furthermore, and to the best of the author’s knowledge, there is also no scientific publication formalizing and describing how to build the translators for industrial robot simulation and offline programming software packages, being this a pioneer publication in this area.
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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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    Anechoic Chamber Interference Tests on a Bluetooth Low Energy Front-End Towards a Subcutaneous Glucose Sensor
    ( 2012) Sérgio Santos Silva ; António Paulo Moreira ; Salviano Soares ; António Valente
    Background: The metabolic disorder which entails the absent or reduced control of blood glucose in the body by means of insulin dependence (Type 1) or intolerance (Type 2) affected more than 382 million people in 2013. Although only 13% of patients die from diabetes, there are a significant number of costly, dangerous health complications that appear if the correct control is not taken. Glucose subcutaneous Bluetooth Low-Energy sensor can help patients to constantly monitor their glucose levels and issue alarms to a cellular phone. Several tests regarding interference, robustness and coexistence were made to ensure Quality of Service in order to achieve medical diagnostic status. Materials and Methods: All measurements were performed in a full anechoic chamber with walls, ceiling and floor covered with high loss microwave absorbers. A PC USB Dongle acts as receiver for the Java developed application, where several data sets for each location were recorded.
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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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    Assessing physical activity intensity by video analysis
    ( 2015) Silva,P ; Santiago,C ; Reis,LP ; Armando Sousa ; Mota,J ; Welk,G
    Assessing physical activity (PA) is a challenging task and many different approaches have been proposed. Direct observation (DO) techniques can objectively code both the behavior and the context in which it occurred, however, they have significant limitations such as the cost and burden associated with collecting and processing data. Therefore, this study evaluated the utility of an automated video analysis system (CAM) designed to record and discriminate the intensity of PA using a subject tracking methodology. The relative utility of the CAM system and DO were compared with criterion data from an objective accelerometry-based device (Actigraph GT3X+). Eight 10 year old children (three girls and five boys) wore the GT3X+ during a standard basketball session. PA was analyzed by two observers using the SOPLAY instrument and by the CAM system. The GT3X+ and the CAM were both set up to collect data at 30 Hz while the DO was performed every two minutes, with 10s of observation for each gender. The GT3X+ was processed using cut points by Evanson and the outcome measure was the percentage of time spent in different intensities of PA. The CAM data were processed similarly using the same speed thresholds as were used in establishing the Evenson cut-off points (light: <2 mph; walking: 2-4 mph; very active: >4 mph). Similar outcomes were computed from the SOPLAY default analyses. A chi-square test was used to test differences in the percentage of time at the three intensity zones (light, walking and very active). The Yates' correction was used to prevent overestimation of statistical significance for small data. When compared with GT3X+, the CAM had better results than the SOPLAY. The chi-square test yielded the following pairwise comparisons: CAM versus GT3x+ was chi(2) (5) = 24.18, p < .001; SOPLAY2 versus GT3x+ was chi(2) (5) = 144.44, p < .001; SOPLAY1 versus GT3x+ was chi(2) (5) = 119.55, p < .001. The differences were smaller between CAM and GT3x+, suggesting that the video tracking system provided better agreement than DO. The small sample size precludes a definitive evaluation but the results show that the CAM video system may have promise for automated coding of physical activity behavior.
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    Assessment of Robotic Picking Operations Using a 6 Axis Force/Torque Sensor
    ( 2016) Moreira,E ; Luís Freitas Rocha ; Andry Maykol Pinto ; António Paulo Moreira ; Germano Veiga
    This letter presents a novel architecture for evaluating the success of picking operations that are executed by industrial robots. It is formed by a cascade of machine learning algorithms (kNN and SVM) and uses information obtained by a 6 axis force/torque sensor and, if available, information from the built-in sensors of the robotic gripper. Beyond measuring the success or failure of the entire operation, this architecture makes it possible to detect in real-time when an object is slipping during the picking. Therefore, force and torque signatures are collected during the picking movement of the robot, which is decomposed into five different stages that allows to characterize distinct levels of success over time. Several trials were performed using an industrial robot with two different grippers for picking a long and flexible object. The experiments demonstrate the reliability of the proposed approach under different picking scenarios since, it obtained a testing performance (in terms of accuracy) up to 99.5% of successful identification of the result of the picking operations, considering an universe of 400 attempts. © 2016 IEEE.