67 research outputs found
Intelligent collision avoidance system for industrial manipulators
Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáThe new paradigm of Industry 4.0 demand the collaboration between robot and humans.
They could help (human and robot) and collaborate each other without any additional
security, unlike other conventional manipulators. For this, the robot should have the
ability of acquire the environment and plan (or re-plan) on-the-fly the movement avoiding
the obstacles and people.
This work proposes a system that acquires the space of the environment, based on
a Kinect sensor, verifies the free spaces generated by a Point Cloud and executes the
trajectory of manipulators in these free spaces. The simulation system should perform
the path planning of a UR5 manipulator for pick-and-place tasks, while avoiding the
objects around it, based on the point cloud from Kinect. And due to the results obtained
in the simulation, it was possible to apply this system in real situations.
The basic structure of the system is the ROS software, which facilitates robotic applications
with a powerful set of libraries and tools. The MoveIt! and Rviz are examples
of these tools, with them it was possible to carry out simulations and obtain planning
results. The results are reported through logs files, indicating whether the robot motion
plain was successful and how many manipulator poses were needed to create the final
movement. This last step, allows to validate the proposed system, through the use of the
RRT and PRM algorithms. Which were chosen because they are most used in the field
of robot path planning.Os novos paradigmas da Indústria 4.0 exigem a colaboração entre robôs e seres humanos.
Estes podem ajudar e colaborar entre si sem qualquer segurança adicional, ao contrário de
outros manipuladores convencionais. Para isto, o robô deve ter a capacidade de adquirir
o meio ambiente e planear (ou re-planear) on-the-fly o movimento evitando obstáculos e
pessoas.
Este trabalho propõe um sistema que adquire o espaço do ambiente através do sensor
Kinect. O sistema deve executar o planeamento do caminho de manipuladores que possuem
movimentos de um ponto a outro (ponto inicial e final), evitando os objetos ao seu
redor, com base na nuvem de pontos gerada pelo Kinect. E devido aos resultados obtidos
na simulação, foi possível aplicar este sistema em situações reais.
A estrutura base do sistema é o software ROS, que facilita aplicações robóticas com
um poderoso conjunto de bibliotecas e ferramentas. O MoveIt! e Rviz são exemplos
destas ferramentas, com elas foi possível realizar simulações e conseguir os resultados de
planeamento livre de colisões.
Os resultados são informados por meio de arquivos logs, indicando se o movimento
do UR5 foi realizado com sucesso e quantas poses do manipulador foram necessárias criar
para atingir o movimento final. Este último passo, permite validar o sistema proposto,
através do uso dos algoritmos RRT e PRM. Que foram escolhidos por serem mais utilizados
no ramo de planeamento de trajetória para robôs
Wireless sensor network for ignitions detection: an IoT approach
Wireless Sensor Networks (WSN) can be used to acquire environmental variables useful
for decision-making, such as agriculture and forestry. Installing a WSN on the forest will allow
the acquisition of ecological variables of high importance on risk analysis and fire detection.
The presented paper addresses two types of WSN developed modules that can be used on the
forest to detect fire ignitions using LoRaWAN to establish the communication between the nodes
and a central system. The collaboration between these modules generate a heterogeneous WSN; for
this reason, both are designed to complement each other. The first module, the HTW, has sensors
that acquire data on a wide scale in the target region, such as air temperature and humidity, solar
radiation, barometric pressure, among others (can be expanded). The second, the 5FTH, has a set of
sensors with point data acquisition, such as flame ignition, humidity, and temperature. To test HTW
and 5FTH, a LoRaWAN communication based on the Lorix One gateway is used, demonstrating the
acquisition and transmission of forest data (simulation and real cases). Even in internal or external
environments, these results allow validating the developed modules. Therefore, they can assist
authorities in fighting wildfire and forest surveillance systems in decision-making.This work is financed by SAFe Project through PROMOVE—Fundação La Caixainfo:eu-repo/semantics/publishedVersio
Deep learning method to identify fire ignitions
The SAFe project aims to create and implement a set of innovative operations that
minimize the time of forest ignitions identification contributing to the development of the Trás-os-Montes region. Thus, it is intended to locate a set of sensors
in the forest, data information will be collected, and the artificial intelligence
algorithm Deep Learning will be applied to achieve the intended end. Numerical
results demonstrated the approach reliability.info:eu-repo/semantics/publishedVersio
Development of a dynamic path for a toxic substances mapping mobile robot in industry environment
Some industries have critical areas (dangerous or hazardous) where the presence of a human must be reduced or avoided. In some cases, there are areas where humans should be replaced by robots. The present work uses a robot with differential drive to scan an environment with known and unknown obstacles, defined in 3D simulation. It is important that the robot be able to make the right decisions about its way without the need of an operator. A solution to this challenge will be presented in this paper. The control application and its communication module with a simulator or a real robot are proposed. The robot can perform the scan, passing through all the waypoints arranged in a grid. The results are presented, showcasing the robot’s capacity to perform a viable trajectory without human intervention.Project ”TEC4Growth - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE-01-0145-FEDER-000020” is financed by the North Portugal Regional Operational. Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF).
This work is also financed by the ERDF European Regional Development
Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.info:eu-repo/semantics/publishedVersio
Industrial robotic arm in machining process aimed to 3D objects reconstruction
Industrial robots are a technology which is highly present in industry and can perform several tasks, namely machining activities. Different than CNC machines, which work with G-code and have available several software applications to generate the machine code, there is a lack of software for robotic arms, in addition to each application depending on its own language and software. This work studied a way to use different robotic arms for 3D part machining processes, to perform 3D objects reconstruction obtained through a low-cost 3D scanner. Dealing with the 3D reconstruction by integrating 3D acquisition and robotic milling with software available on the market, this paper presents a system that acquires and reconstructs a 3D object, in order to seek greater flexibility with lower initial investments and checking the applicability of robot arm in these tasks. For this, a 3D object is scanned and imported to a CAD/CAM software, to generate the machining toolpath, and a software application is used to convert the G-code into robot code. Several experiments were performed, using an ABB IRB 2600 robot arm, and the results of the machining process allowed to validate the G-code conversion and milling process using robotic arms, according to the proposed methodology. © 2021 IEEE.This work has been supported by FCT – Fundac¸ao para a ˜
Ciencia e Tecnologia within the Projects UIDB/50014/2020 ˆ
and UIDB/05757/2020.info:eu-repo/semantics/publishedVersio
Real cockpit proposal for flight simulation with airbus A32x models: an overview description
This paper describes the several steps to build an elaborate flight simulator cockpit, where the hardware is designed
based on Mechatronic principles and the proposed software was developed using agile methodologies
to create a Cyber-Physical System (CPS). Furthermore, this research attempts to simulate the real environment
from an aircraft as close as possible with a real scale developed cockpit. Based on this, the presented paper
contributions include: (1) The implementation of a complex dynamic system such as a CPS, where the Mechatronic
system is part of it; (2) The deployment of a scale model of an Airbus A32x aircraft (one of the most
used), integrating into a mathematical model adapted to the operation of an aircraft flight simulation system,
regarding the physical forces involved. This project is also used to captivate the students’ motivation to the
areas of technology such as electronics and programming and permits its development as a student project and
thesis. Results allow validating the proposed cockpit.This work has been supported by FCT - Fundação para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020.info:eu-repo/semantics/publishedVersio
Optimum sensors allocation for a forest fires monitoring system
Every year forest fires destroy millions of hectares of land worldwide. Detecting forest fire
ignition in the early stages is fundamental to avoid forest fires catastrophes. In this approach, Wireless
Sensor Network is explored to develop a monitoring system to send alert to authorities when a fire
ignition is detected. The study of sensors allocation is essential in this type of monitoring system
since its performance is directly related to the position of the sensors, which also defines the coverage
region. In this paper, a mathematical model is proposed to solve the sensor allocation problem. This
model considers the sensor coverage limitation, the distance, and the forest density interference in
the sensor reach. A Genetic Algorithm is implemented to solve the optimisation model and minimise
the forest fire hazard. The results obtained are promising since the algorithm could allocate the sensor
avoiding overlaps and minimising the total fire hazard value for both regions considered.This research received no external funding.info:eu-repo/semantics/publishedVersio
Hardware-in-the-loop simulation approach for the robot at factory lite competition proposal
Mobile robotic applications are increasing in several
areas not only in industries but also service robots. The Industry
4.0 promoted even more the digitalization of factories that opened
space for smart-factories implementation. Robotic competitions
are a key to improve research and to motivate learning. This
paper addresses a new competition proposal, the Robot@Factory
Lite, in the scope of the Portuguese Robotics Open. Beyond the
competition, a reference robot with all its components is proposed
and a simulation environment is also provided. To minimize
the gap between the simulation and the real implementation,
an Hardware-in-the-loop technique is proposed that allows to
control the simulation with a real Arduino board. Results show
the same code, and hardware, can control both simulation model
and real robot.info:eu-repo/semantics/publishedVersio
A comparison of A* and RRT* algorithms with dynamic and real time constraint scenarios for mobile robots
There is an increasing number of mobile robot applications. The demanding of the Industry 4.0 pushes the
robotic areas in the direction of the decision. The autonomous robots should actually decide the path according
to the dynamic environment. In some cases, time requirements must also be attended and require fast path
planning methods. This paper addresses a comparison between well-known path planning methods using a
realistic simulator that handles the dynamic properties of robot models including sensors. The methodology
is implemented in SimTwo that allows to compare the A* and RRT* algorithms in different scenarios with
dynamic and real time constraint scenarios.This work is financed by the ERDF – European
Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within
project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundac¸ao para ˜
a Ciencia e a Tecnologia (Portuguese Foundation ˆ
for Science and Technology) as part of project
UID/EEA/50014/2013.info:eu-repo/semantics/publishedVersio
Optimal sensors positioning to detect forest fire ignitions
Forests have been harassed by fire in recent years. Whether by human action or for other reasons, the burned
area has increased harming fauna and flora. It is fundamental to detect an ignition early in order to firefighters
fight the fire minimizing the fire impacts. The proposed Forest Monitoring System aims at improving the
nature monitoring and to enhance the existing surveillance systems. A set of innovative operations is proposed
that will allow to identify a forest ignition and also will monitor the fauna. For that, a set of sensors are being
developed and placed in the forest to transmit data and identify forest fire ignition. This paper addresses a
methodology that identifies the ideal positions to place the developed sensors in order to minimize the fire
hazard. Some preliminary results are shown by a random algorithm that spread points to position sensor
modules in areas with high risk of fire hazard.This work has been supported by FCT — Fundação para a Ciência e Tecnologia within the Project Scope:
UIDB/5757/2020.info:eu-repo/semantics/publishedVersio
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