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506 results on '"Moreira, António Paulo"'

1. BVE + EKF: A viewpoint estimator for the estimation of the object's position in the 3D task space using Extended Kalman Filters

Author

Magalhães, Sandro Costa, Moreira, António Paulo, Santos, Filipe Neves dos, and Dias, Jorge

Subjects
Computer Science - Robotics, Computer Science - Machine Learning, Electrical Engineering and Systems Science - Systems and Control
Abstract

RGB-D sensors face multiple challenges operating under open-field environments because of their sensitivity to external perturbations such as radiation or rain. Multiple works are approaching the challenge of perceiving the 3D position of objects using monocular cameras. However, most of these works focus mainly on deep learning-based solutions, which are complex, data-driven, and difficult to predict. So, we aim to approach the problem of predicting the 3D objects' position using a Gaussian viewpoint estimator named best viewpoint estimator (BVE) powered by an extended Kalman filter (EKF). The algorithm proved efficient on the tasks and reached a maximum average Euclidean error of about 32 mm. The experiments were deployed and evaluated in MATLAB using artificial Gaussian noise. Future work aims to implement the system in a robotic system.

Published
2024

2. 3D tomatoes' localisation with monocular cameras using histogram filters

Author

Magalhães, Sandro Costa, Santos, Filipe Neves dos, Moreira, António Paulo, and Dias, Jorge

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Abstract

Performing tasks in agriculture, such as fruit monitoring or harvesting, requires perceiving the objects' spatial position. RGB-D cameras are limited under open-field environments due to lightning interferences. Therefore, in this study, we approach the use of Histogram Filters (Bayesian Discrete Filters) to estimate the position of tomatoes in the tomato plant. Two kernel filters were studied: the square kernel and the Gaussian kernel. The implemented algorithm was essayed in simulation, with and without Gaussian noise and random noise, and in a testbed at laboratory conditions. The algorithm reported a mean absolute error lower than 10 mm in simulation and 20 mm in the testbed at laboratory conditions with an assessing distance of about 0.5 m. So, the results are viable for real environments and should be improved at closer distances.

Published
2023

3. Robust human position estimation in cooperative robotic cells

Author

Amorim, António, Guimarães, Diana, Mendonça, Tiago, Neto, Pedro, Costa, Paulo, and Moreira, António Paulo

Subjects
Computer Science - Robotics
Abstract

Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a major concern when humans and robots share the same workspace. Many times, this is due to the lack of a reliable estimation of the human pose in space which is the primary input to calculate the human-robot minimum distance (required for safety and collision avoidance) and HRI/C featuring machine learning algorithms classifying human behaviours / gestures. Each sensor type has its own characteristics resulting in problems such as occlusions (vision) and drift (inertial) when used in an isolated fashion. In this paper, it is proposed a combined system that merges the human tracking provided by a 3D vision sensor with the pose estimation provided by a set of inertial measurement units (IMUs) placed in human body limbs. The IMUs compensate the gaps in occluded areas to have tracking continuity. To mitigate the lingering effects of the IMU offset we propose a continuous online calculation of the offset value. Experimental tests were designed to simulate human motion in a human-robot collaborative environment where the robot moves away to avoid unexpected collisions with de human. Results indicate that our approach is able to capture the human\textsc's position, for example the forearm, with a precision in the millimetre range and robustness to occlusions.

Published
2023
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5. Robotic Arm Development for a Quadruped Robot

Author

Lopes, Maria S., Moreira, António Paulo, Silva, Manuel F., Santos, Filipe, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Youssef, Ebrahim Samer El, editor, Tokhi, Mohammad Osman, editor, Silva, Manuel F., editor, and Rincon, Leonardo Mejia, editor

Published
2024
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8. Benchmarking Edge Computing Devices for Grape Bunches and Trunks Detection using Accelerated Object Detection Single Shot MultiBox Deep Learning Models

Author

Magalhães, Sandro Costa, Santos, Filipe Neves, Machado, Pedro, Moreira, António Paulo, and Dias, Jorge

Subjects
Computer Science - Computer Vision and Pattern Recognition, Computer Science - Hardware Architecture, Computer Science - Distributed, Parallel, and Cluster Computing, 62M45, 62P30, 68Q85
Abstract

Purpose: Visual perception enables robots to perceive the environment. Visual data is processed using computer vision algorithms that are usually time-expensive and require powerful devices to process the visual data in real-time, which is unfeasible for open-field robots with limited energy. This work benchmarks the performance of different heterogeneous platforms for object detection in real-time. This research benchmarks three architectures: embedded GPU -- Graphical Processing Units (such as NVIDIA Jetson Nano 2 GB and 4 GB, and NVIDIA Jetson TX2), TPU -- Tensor Processing Unit (such as Coral Dev Board TPU), and DPU -- Deep Learning Processor Unit (such as in AMD-Xilinx ZCU104 Development Board, and AMD-Xilinx Kria KV260 Starter Kit). Method: The authors used the RetinaNet ResNet-50 fine-tuned using the natural VineSet dataset. After the trained model was converted and compiled for target-specific hardware formats to improve the execution efficiency. Conclusions and Results: The platforms were assessed in terms of performance of the evaluation metrics and efficiency (time of inference). Graphical Processing Units (GPUs) were the slowest devices, running at 3 FPS to 5 FPS, and Field Programmable Gate Arrays (FPGAs) were the fastest devices, running at 14 FPS to 25 FPS. The efficiency of the Tensor Processing Unit (TPU) is irrelevant and similar to NVIDIA Jetson TX2. TPU and GPU are the most power-efficient, consuming about 5W. The performance differences, in the evaluation metrics, across devices are irrelevant and have an F1 of about 70 % and mean Average Precision (mAP) of about 60 %.

Published
2022
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9. Omnidirectional robot modeling and simulation

Author

Magalhães, Sandro Costa, Moreira, António Paulo, and Costa, Paulo

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However, building these simulation environments is usually time-consuming work, and when considering robot fleets, the simulation reveals to be computing expensive. With it, developers building teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. An omnidirectional robot from the 5DPO robotics soccer team served to test this approach. The modeling issue was divided into two steps: modeling the motor's non-linear features and modeling the general behavior of the robot. A proper fitting of the robot was reached, considering the velocity robot's response., Comment: Conference proceedings ICARSC; 6 pages

Published
2022
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10. Sound-Based Anomalies Detection in Agricultural Robotics Application

Author

Baltazar, André Rodrigues, dos Santos, Filipe Neves, Soares, Salviano Pinto, Moreira, António Paulo, Cunha, José Boaventura, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Moniz, Nuno, editor, Vale, Zita, editor, Cascalho, José, editor, Silva, Catarina, editor, and Sebastião, Raquel, editor

Published
2023
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11. A Review on Quadruped Manipulators

Author

Lopes, Maria S., Moreira, António Paulo, Silva, Manuel F., Santos, Filipe, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Moniz, Nuno, editor, Vale, Zita, editor, Cascalho, José, editor, Silva, Catarina, editor, and Sebastião, Raquel, editor

Published
2023
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14. Cost-Effective 4DoF Manipulator for General Applications

Author

Magalhães, Sandro A., Moreira, António Paulo, dos Santos, Filipe Neves, Dias, Jorge, Santos, Luis, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, and Arai, Kohei, editor

Published
2022
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16. A Robotic Framework for the Robot@Factory 4.0 Competition

Author

Sousa, Ricardo B., primary, Rocha, Cláudia D., additional, Martins, João G., additional, Pedro Costa, João, additional, Padrão, João Tomás, additional, Sarmento, José Maria, additional, Carvalho, José Pedro, additional, Lopes, Maria S., additional, Costa, Paulo G., additional, and Moreira, António Paulo, additional

Published
2024
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20. Human Detector Smart Sensor for Autonomous Disinfection Mobile Robot

Author

Mendonça, Hugo, Lima, José, Costa, Paulo, Moreira, António Paulo, Santos, Filipe, Filipe, Joaquim, Editorial Board Member, Ghosh, Ashish, Editorial Board Member, Prates, Raquel Oliveira, Editorial Board Member, Zhou, Lizhu, Editorial Board Member, Pereira, Ana I., editor, Fernandes, Florbela P., editor, Coelho, João P., editor, Teixeira, João P., editor, Pacheco, Maria F., editor, Alves, Paulo, editor, and Lopes, Rui P., editor

Published
2021
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21. Extrinsic Sensor Calibration Methods for Mobile Robots: A Short Review

Author

Sousa, Ricardo B., Petry, Marcelo R., Moreira, António Paulo, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Gonçalves, José Alexandre, editor, Braz-César, Manuel, editor, and Coelho, João Paulo, editor

Published
2021
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27. A Comparison Procedure for IMUs Performance

Author

Mendonça, Tiago, Guimarães, Diana, Moreira, António Paulo, Costa, Paulo, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Moura Oliveira, Paulo, editor, Novais, Paulo, editor, and Reis, Luís Paulo, editor

Published
2019
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31. A low-cost laser scanning solution for flexible robotic cells: spray coating

Author

Ferreira, Marcos, Moreira, António Paulo, and Neto, Pedro

Subjects
Computer Science - Robotics
Abstract

In this paper, an adaptive and low-cost robotic coating platform for small production series is presented. This new platform presents a flexible architecture that enables fast/automatic system adaptive behaviour without human intervention. The concept is based on contactless technology, using artificial vision and laser scanning to identify and characterize different workpieces travelling on a conveyor. Using laser triangulation, the workpieces are virtually reconstructed through a simplified cloud of three-dimensional (3D) points. From those reconstructed models, several algorithms are implemented to extract information about workpieces profile (pattern recognition), size, boundary and pose. Such information is then used to on-line adjust the base robot programmes. These robot programmes are off-line generated from a 3D computer-aided design model of each different workpiece profile. Finally, the robotic manipulator executes the coating process after its base programmes have been adjusted. This is a low-cost and fully autonomous system that allows adapting the robots behaviour to different manufacturing situations. It means that the robot is ready to work over any piece at any time, and thus, small production series can be reduced to as much as a one-object series. No skilled workers and large setup times are needed to operate it. Experimental results showed that this solution proved to be efficient and can be applied not only for spray coating purposes but also for many other industrial processes (automatic manipulation, pick-and-place, inspection, etc.)., Comment: The International Journal of Advanced Manufacturing Technology

Published
2013
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32. Poses Optimisation Methodology for High Redundancy Robotic Systems

Author

Tavares, Pedro, Costa, Pedro, Veiga, Germano, Moreira, António Paulo, Kacprzyk, Janusz, Series editor, Pal, Nikhil R., Advisory editor, Bello Perez, Rafael, Advisory editor, Corchado, Emilio S., Advisory editor, Hagras, Hani, Advisory editor, Kóczy, László T., Advisory editor, Kreinovich, Vladik, Advisory editor, Lin, Chin-Teng, Advisory editor, Lu, Jie, Advisory editor, Melin, Patricia, Advisory editor, Nedjah, Nadia, Advisory editor, Nguyen, Ngoc Thanh, Advisory editor, Wang, Jun, Advisory editor, Ollero, Anibal, editor, Sanfeliu, Alberto, editor, Montano, Luis, editor, Lau, Nuno, editor, and Cardeira, Carlos, editor

Published
2018
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33. Flexible Work Cell Simulator Using Digital Twin Methodology for Highly Complex Systems in Industry 4.0

Author

Tavares, Pedro, Silva, Joao André, Costa, Pedro, Veiga, Germano, Moreira, António Paulo, Kacprzyk, Janusz, Series editor, Pal, Nikhil R., Advisory editor, Bello Perez, Rafael, Advisory editor, Corchado, Emilio S., Advisory editor, Hagras, Hani, Advisory editor, Kóczy, László T., Advisory editor, Kreinovich, Vladik, Advisory editor, Lin, Chin-Teng, Advisory editor, Lu, Jie, Advisory editor, Melin, Patricia, Advisory editor, Nedjah, Nadia, Advisory editor, Nguyen, Ngoc Thanh, Advisory editor, Wang, Jun, Advisory editor, Ollero, Anibal, editor, Sanfeliu, Alberto, editor, Montano, Luis, editor, Lau, Nuno, editor, and Cardeira, Carlos, editor

Published
2018
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34. Robot Localization System in a Hard Outdoor Environment

Author

Conceição, Teresa, Neves dos Santos, Filipe, Costa, Paulo, Moreira, António Paulo, Kacprzyk, Janusz, Series editor, Pal, Nikhil R., Advisory editor, Bello Perez, Rafael, Advisory editor, Corchado, Emilio S., Advisory editor, Hagras, Hani, Advisory editor, Kóczy, László T., Advisory editor, Kreinovich, Vladik, Advisory editor, Lin, Chin-Teng, Advisory editor, Lu, Jie, Advisory editor, Melin, Patricia, Advisory editor, Nedjah, Nadia, Advisory editor, Nguyen, Ngoc Thanh, Advisory editor, Wang, Jun, Advisory editor, Ollero, Anibal, editor, Sanfeliu, Alberto, editor, Montano, Luis, editor, Lau, Nuno, editor, and Cardeira, Carlos, editor

Published
2018
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35. Collision Avoidance for Multi-robot Systems with Coincident Paths Based on Fictitious Collision Points Using Nonlinear Formulation

Author

Souza, Marina B. A., de Oliveira, Edimar José, de Oliveira, Leonardo Willer, Moreira, Antonio Paulo G. M., Kacprzyk, Janusz, Series editor, Pal, Nikhil R., Advisory editor, Bello Perez, Rafael, Advisory editor, Corchado, Emilio S., Advisory editor, Hagras, Hani, Advisory editor, Kóczy, László T., Advisory editor, Kreinovich, Vladik, Advisory editor, Lin, Chin-Teng, Advisory editor, Lu, Jie, Advisory editor, Melin, Patricia, Advisory editor, Nedjah, Nadia, Advisory editor, Nguyen, Ngoc Thanh, Advisory editor, Wang, Jun, Advisory editor, Ollero, Anibal, editor, Sanfeliu, Alberto, editor, Montano, Luis, editor, Lau, Nuno, editor, and Cardeira, Carlos, editor

Published
2018
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36. Object Tracking in a Moving Reference Frame

Author

Relvas, Pedro, Costa, Paulo, Moreira, António Paulo, Kacprzyk, Janusz, Series editor, Pal, Nikhil R., Advisory editor, Bello Perez, Rafael, Advisory editor, Corchado, Emilio S., Advisory editor, Hagras, Hani, Advisory editor, Kóczy, László T., Advisory editor, Kreinovich, Vladik, Advisory editor, Lin, Chin-Teng, Advisory editor, Lu, Jie, Advisory editor, Melin, Patricia, Advisory editor, Nedjah, Nadia, Advisory editor, Nguyen, Ngoc Thanh, Advisory editor, Wang, Jun, Advisory editor, Ollero, Anibal, editor, Sanfeliu, Alberto, editor, Montano, Luis, editor, Lau, Nuno, editor, and Cardeira, Carlos, editor

Published
2018
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39. Approach for Supervising Self-localization Processes in Mobile Robots

Author

Farias, P. C. M. A., Sousa, Ivo, Sobreira, Héber, Moreira, António Paulo, Hutchison, David, Editorial Board Member, Kanade, Takeo, Editorial Board Member, Kittler, Josef, Editorial Board Member, Kleinberg, Jon M., Editorial Board Member, Mattern, Friedemann, Editorial Board Member, Mitchell, John C., Editorial Board Member, Naor, Moni, Editorial Board Member, Pandu Rangan, C., Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Terzopoulos, Demetri, Editorial Board Member, Tygar, Doug, Editorial Board Member, Weikum, Gerhard, Series Editor, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Oliveira, Eugénio, editor, Gama, João, editor, Vale, Zita, editor, and Lopes Cardoso, Henrique, editor

Published
2017
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40. Autonomous Interactive Object Manipulation and Navigation Capabilities for an Intelligent Wheelchair

Author

Shafii, Nima, Farias, P. C. M. A., Sousa, Ivo, Sobreira, Heber, Reis, Luis Paulo, Moreira, Antonio Paulo, Hutchison, David, Editorial Board Member, Kanade, Takeo, Editorial Board Member, Kittler, Josef, Editorial Board Member, Kleinberg, Jon M., Editorial Board Member, Mattern, Friedemann, Editorial Board Member, Mitchell, John C., Editorial Board Member, Naor, Moni, Editorial Board Member, Pandu Rangan, C., Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Terzopoulos, Demetri, Editorial Board Member, Tygar, Doug, Editorial Board Member, Weikum, Gerhard, Series Editor, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Oliveira, Eugénio, editor, Gama, João, editor, Vale, Zita, editor, and Lopes Cardoso, Henrique, editor

Published
2017
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