Collaborative environment to support a professional community

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

2D PCA-Based localization for mobile robots in unstructured environments

In this paper a new PCA-based positioning sensor and localization system for mobile robots to operate in unstructured environments (e. g. industry, services, domestic ...) is proposed and experimentally validated. The inexpensive positioning system resorts to principal component analysis (PCA) of images acquired by a video camera installed onboard, looking upwards to the ceiling. This solution has the advantage of avoiding the need of selecting and extracting features. The principal components of the acquired images are compared with previously registered images, stored in a reduced onboard image database, and the position measured is fused with odometry data. The optimal estimates of position and slippage are provided by Kalman filters, with global stable error dynamics. The experimental validation reported in this work focuses on the results of a set of experiments carried out in a real environment, where the robot travels along a lawn-mower trajectory. A small position error estimate with bounded co-variance was always observed, for arbitrarily long experiments, and slippage was estimated accurately in real time.

Climbing robots: a survey of technologies and applications

The interest in the development of climbing robots is growing rapidly. Motivations are typically to increase the operation efficiency by obviating the costly assembly of scaffolding or to protect human health and safety in hazardous tasks. Climbing robots are starting to be developed for applications ranging from cleaning to inspection of difficult to reach constructions. These robots should be capable of travelling on different types of surfaces, with varying inclinations, such as floors, walls, ceilings, and to walk between such surfaces. Furthermore, these machines should be capable of adapting and reconfiguring for various environment conditions and to be self-contained. Regarding the adhesion to the surface, they should be able to produce a secure gripping force using a light-weight mechanism. This paper presents a survey of different applications and technologies proposed for the implementation of climbing robots.

Using fractional derivatives for the joint ontrol of hexapod robots

This article studies several Fractional Order Control algorithms used for joint control of a hexapod robot. Both Padé and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density of energy used per unit distance travelled, and the control effort. A set of simulation experiments reveals the influence of the different approximations upon the proposed indices. The results show that the fractional proportional and derivative algorithm, implemented using the Padé approximation with a small number of terms, gives the best results.

A historical perspective of legged robots

The objective of this paper is to present the evolution and the state-of-the-art in the area of legged locomotion systems. In a first phase different possibilities for implementing mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase a historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones of technological and scientific progress. After this historical timeline, some of the present-day systems are examined and their performance is analyzed. In a third phase the major areas of research and development that are presently being followed in the construction of legged robots are pointed out. Finally, some still unsolved problems that remain defying robotics research, are also addressed.

Collaborative learning in a qeb-accessible workbench

Web-based course management and delivery is regarded by many institutions as a key factor in an increasingly competitive education and training world, but the systems currently available are largely unsatisfactory in terms of supporting collaborative work and access to practical science facilities. These limitations are less important in areas where “pen-and-paper” courseware is the mainstream, but become unacceptably restrictive when student assignments require real-time teamwork and access to laboratory equipment. This paper presents a web-accessible workbench for electronics design and test, which was developed in the scope of an European IST project entitled PEARL, with the aim of supporting two main features: full web access and collaborative learning facilities.

Vision based obstacle detection for all-terrain robots

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

Sistema de auto calibração visual para robots do ISePorto, baseado em EKF

Os sistemas de perceção existentes nos robôs autónomos, hoje em dia, são bastante complexos. A informação dos vários sensores, existentes em diferentes partes do robôs, necessitam de estar relacionados entre si face ao referencial do robô ou do mundo. Para isso, o conhecimento da atitude (posição e rotação) entre os referenciais dos sensores e o referencial do robô é um fator critico para o desempenho do mesmo. O processo de calibração dessas posições e translações é chamado calibração dos parâmetros extrínsecos. Esta dissertação propõe o desenvolvimento de um método de calibração autónomo para robôs como câmaras direcionais, como é o caso dos robôs da equipa ISePorto. A solução proposta consiste na aquisição de dados da visão, giroscópio e odometria durante uma manobra efetuada pelo robô em torno de um alvo com um padrão conhecido. Esta informação é então processada em conjunto através de um Extended Kalman Filter (EKF) onde são estimados necessários para relacionar os sensores existentes no robô em relação ao referencial do mesmo. Esta solução foi avaliada com recurso a vários testes e os resultados obtidos foram bastante similares aos obtidos pelo método manual, anteriormente utilizado, com um aumento significativo em rapidez e consistência.

ErasmusApp: A Location-Based Collaborative System for Erasmus Students

This paper reports on the design and development of an Android-based context-aware system to support Erasmus students during their mobility in Porto. It enables: (i) guest users to create, rate and store personal points of interest (POI) in a private, local on board database; and (ii) authenticated users to upload and share POI as well as get and rate recommended POI from the shared central database. The system is a distributed client / server application. The server interacts with a central database that maintains the user profiles and the shared POI organized by category and rating. The Android GUI application works both as a standalone application and as a client module. In standalone mode, guest users have access to generic info, a map-based interface and a local database to store and retrieve personal POI. Upon successful authentication, users can, additionally, share POI as well as get and rate recommendations sorted by category, rating and distance-to-user.

Collaborative web applications

Trabalho apresentado no âmbito do Mestrado em Engenharia Informática, como requisito parcial para obtenção do grau de Mestre em Engenharia Informática

LADAR based mapping and obstacle detection system for service robots

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

Multilingual ontology specification: a collaborative approach

19-22 June 2012 Madrid, Spain

Vision based trail detection for all-terrain robots

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

The need of performance indicators for collaborative business ecosystems

During last decades there has been a trend to build collaboration platforms as enablers for groups of enterprises to jointly provide integrated services and products. As a result, the notion of business ecosystem is getting wider acceptance. However, a critical issue that is still open, despite some efforts in this area, is the identification of adequate performance indicators to measure and motivate sustainable collaboration. This work-in-progress addresses this concern, briefly presenting the state of the art of relevant contributing areas such as, collaborative networks, business ecosystems, enterprise performance indicators, social networks analysis, and supply chains. Complementarily, through an assessment of current gaps, the research challenges are identified and an approach for further development is proposed.

Methodology for collaborative enterprise reference ontology building

Dissertation presented at Faculdade de Ciências e Tecnologia of Universidade Nova de Lisboa to obtain the Master degree in Electrical Engineering and Computer Science