On a test-bed application for the ART-WiSe framework

This report describes the development of a Test-bed Application for the ART-WiSe Framework with the aim of providing a means of access, validate and demonstrate that architecture. The chosen application is a kind of pursuit-evasion game where a remote controlled robot, navigating through an area covered by wireless sensor network (WSN), is detected and continuously tracked by the WSN. Then a centralized control station takes the appropriate actions for a pursuit robot to chase and “capture” the intruder one. This kind of application imposes stringent timing requirements to the underlying communication infrastructure. It also involves interesting research problems in WSNs like tracking, localization, cooperation between nodes, energy concerns and mobility. Additionally, it can be easily ported into a real-world application. Surveillance or search and rescue operations are two examples where this kind of functionality can be applied. This is still a first approach on the test-bed application and this development effort will be continuously pushed forward until all the envisaged objectives for the Art-WiSe architecture become accomplished.

Auxiliary mechanisms for telerobotics

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

Using remote labs in education: two little ducks in remote experimentation

A book about remote labs and engineering education begs to begin with the question, “Why do engineering programs include lab work?” Although this may seem like a given and not worth discussing, whenever we’re faced with innovative ideas, it’s important to “put everything on the table” in order to reassess its value to our program or goals. What is it about lab work that is of value to students? Are there elements of traditional labs that we could let go of? Are there elements that we don’t want to lose? These questions can help us to clarify how and why labs are integrated into an engineering education program.

An integrated reusable remote laboratory to complement electronics teaching

The great majority of the courses on science and technology areas where lab work is a fundamental part of the apprenticeship was not until recently available to be taught at distance. This reality is changing with the dissemination of remote laboratories. Supported by resources based on new information and communication technologies, it is now possible to remotely control a wide variety of real laboratories. However, most of them are designed specifically to this purpose, are inflexible and only on its functionality they resemble the real ones. In this paper, an alternative remote lab infrastructure devoted to the study of electronics is presented. Its main characteristics are, from a teacher's perspective, reusability and simplicity of use, and from a students' point of view, an exact replication of the real lab, enabling them to complement or finish at home the work started at class. The remote laboratory is integrated in the Learning Management System in use at the school, and therefore, may be combined with other web experiments and e-learning strategies, while safeguarding security access issues.

A remote engineering solution for automating a roller hearth kiln

Remote engineering (also known as online engineering) may be defined as a combination of control engineering and telematics. In this area, specific activities require computacional skills in order to develop projects where electrical devives are monitored and / or controlled, in an intercative way, through a distributed network (e.g. Intranet or Internet). In our specific case, we will be dealing with an industrial plant. Within the last few years, there has been an increase in the number of activities related to remote engineering, which may be connected to the phenomenon of the large extension experienced by the Internet (e.g. bandwith, number of users, development tools, etc.). This increase opens new and future possibilities to the implementation of advance teleworking (or e-working) positions. In this paper we present the architecture for a remote application, accessible through the Internet, able to monitor and control a roller hearth kiln, used in a ceramics industry for firing materials. The proposed architecture is based on a micro web server, whose main function is to monitor and control the firing process, by reading the data from a series of temperature sensors and by controlling a series of electronic valves and servo motors. This solution is also intended to be a low-cost alternative to other potential solutions. The temperature readings are obtained through K-type thermopairs and the gas flow is controlled through electrovalves. As the firing process should not be stopped before its complete end, the system is equipped with a safety device for that specific purpose. For better understanding the system to be automated and its operation we decided to develop a scale model (100:1) and experiment on it the devised solution, based on a Micro Web Server.

A smart layer for remote laboratories

Commonly, when a weblab is developed to support remote experiments in sciences and engineering courses, a particular hardware/software architecture is implemented. However, the existence of several technological solutions to implement those architectures difficults the emergence of a standard, both at hardware and software levels. While particular solutions are adopted assuming that only qualified people may implement a weblab, the control of the physical space and the power consumption are often forgotten. Since controlling these two previous aspects may increase the quality of the weblab hosting the remote experiments, this paper proposes the useof a new layer implemented by a domotic system bus with several devices (e.g. lights, power sockets, temperature sensors, and others) able to be controlled through the Internet. We also provide a brief proof-of-concept in the form of a weblab equipped with a simple domotic system usually implemented in smart houses. The added value to the remote experiment hosted at the weblab is also identified in terms of power savings and environment conditions.

Remote and mobile experimentation: pushing the boundaries of an ubiquitous learning place

Concepts like E-learning and M-learning are changing the traditional learning place. No longer restricted to well-defined physical places, education on Automation and other Engineering areas is entering the so-called ubiquitous learning place, where even the more practical knowledge (acquired at lab classes) is now moving into, due to emergent concepts such as Remote Experimentation or Mobile Experimentation. While Remote Experimentation is traditionally regarded as the remote access to real-world experiments through a simple web browser running on a PC connected to the Internet, Mobile Experimentation may be seen as the access to those same (or others) experiments, through mobile devices, used in M-learning contexts. These two distinct client types (PCs versus mobile devices) pose specific requirements for the remote lab infrastructure, namely the ability to tune the experiment interface according to the characteristics (e.g. display size) of the accessing device. This paper addresses those requirements, namely by proposing a new architecture for the remote lab infrastructure able to accommodate both Remote and Mobile Experimentation scenarios.

Remote experimentation: integrating research, education, and industrial application

This paper presents a low-cost scaled model of a silo for drying and airing cereal grains. It allows the control and monitor of several parameters associated to the silo's operation, through a remote accessible infrastructure. The scaled model consists of a 2.50 m wide × 2.10 m long plant with all control and monitor capacities provided by micro-Web servers. An application running on the micro-Web servers enables storing all parameters in a data basis for later analysis. The implemented model aims to support a remote experimentation facility for technological education, research-oriented tutorials, and industrial applications. Given the low-cost requirement, this remote facility can be easily replicated in other institutions to support a network of remote labs, which encompasses the concurrent access of several users (e.g. students).

Remote operation of embedded controllers designed using IOPT Petri-nets

This paper presents a new communication architecture to enable the remote control, monitoring and debug of embedded-system controllers designed using IOPT Petri nets. IOPT Petri nets and the related tools (http://gres.uninova.pt) have been used as a rapid prototyping and development framework, including model-checking, simulation and automatic code generation tools. The new architecture adds remote operation capabilities to the controllers produced by the automatic code generators, enabling quasi-real-time remote debugging and monitoring using the IOPT simulator tool. Furthermore, it enables the creation of graphical user interfaces for remote operation and the development of distributed systems where a Petri net model running on a central system supervises the actions of multiple remote subsystems. © 2015 IEEE.

Design and Implementation of a Biologically Inspired Flying Robot - An EPS@ISEP 2014 Spring Project

The goal of this EPS@ISEP project proposed in the Spring of 2014 was to develop a flapping wing flying robot. The project was embraced by a multinational team composed of four students from different countries and fields of study. The team designed and implemented a robot inspired by a biplane design, constructed from lightweight materials and battery powered. The prototype, called MyBird, was built with a 250 € budget, reuse existing materials as well as low cost solutions. Although the team's initial idea was to build a light radio controlled robot, time limitations along with setbacks involving the required electrical components led to a light but not radio controlled prototype. The team, from the experience gathered, made a number of future improvement suggestions, namely, the addition of radio control and a camera and the adoption of articulated monoplane design instead of the current biplane design for the wings.

Manoeuvre Based Mission Control System for an Autonomous Surface Vehicle

In this work the mission control and supervision system developed for the ROAZ Autonomous Surface Vehicle is presented. Complexity in mission requirements coupled with flexibility lead to the design of a modular hierarchical mission control system based on hybrid systems control. Monitoring and supervision control for a vehicle such as ROAZ mission is not an easy task using tools with low complexity and yet powerful enough. A set of tools were developed to perform both on board mission control and remote planning and supervision. “ROAZ- Mission Control” was developed to be used in support to bathymetric and security missions performed in river and at seas.

An automated maneuver control framework for a remotely operated vehicle

OCEANS, 2001. MTS/IEEE Conference and Exhibition (Volume:2 )

Design of the ISePorto robocup Middle-Size League Robotic Soccer Team: Control, Localisation and Coordination

Proceedings of the 10th Mediterranean Conference on Control and Automation - MED2002 Lisbon, Portugal, July 9-12, 2002

Control and Localisation for the ISePorto Robotic Soccer Team

International Conference on Advanced Robotics, Coimbra, Portugal, Julho 2003

Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.