9 documents found, page 1 of 1
Ontology based robot reasoning in the elderly care domain - the EUROAGE projects
Gonçalves, Paulo; Bernardo, Rodrigo; Sousa, João M.C.This paper describes the actions developed and currently in development within the EUROAGE projects related to the ontology-based robot reasoning in the elderly care domain. Recent ontology-based standards were developed (IEEE 1872-2015; IEEE 1872.2-2021; IEEE 7007-2021), and others are currently in development (IEEE P1872.1; IEEE P1872.3) to improve robot performance while executing tasks. This is a very hot t...
Ontological framework to improve motion planning of manipulative agents through...
Bernardo, Rodrigo; Sousa, João M.C.; Gonçalves, PauloThis paper describes the actions taken in developing a framework that aims to improve the motion planning of a manipulative robotic agent through reasoning based on semantic knowledge. The Semantic Web Rule Language (SWRL) was employed to draw new insights from the existing information about the robotic system and its environment. Recent ontology-based standards have been developed (IEEE 1872-2015; IEEE 1872.2-...
A novel control architecture based on behavior trees for an omni-directional mo...
Bernardo, Rodrigo; Sousa, João M.C.; Botto, Miguel Ayala; Gonçalves, PauloRobotic systems are increasingly present in dynamic environments. This paper proposes a hierarchical control structure wherein a behavior tree (BT) is used to improve the flexibility and adaptability of an omni-directional mobile robot for point stabilization. Flexibility and adaptability are crucial at each level of the sense–plan–act loop to implement robust and effective robotic solutions in dynamic environm...
A novel framework to improve motion planning of robotic systems through semanti...
Bernardo, Rodrigo; Sousa, João M.C.; Gonçalves, PauloThe need to improve motion planning techniques for manipulator robots, and new effective strategies to manipulate different objects to perform more complex tasks, is crucial for various real-world applications where robots cooperate with humans. This paper proposes a novel framework that aims to improve the motion planning of a robotic agent (a manipulator robot) through semantic knowledge-based reasoning. The ...
Survey on robotic systems for internal logistics
Bernardo, Rodrigo; Sousa, João M.C.; Gonçalves, PauloThe evolution of production systems has established major challenges in internal logistics. In order to overcome these challenges, new automation solutions have been developed and implemented. This paper is a literature review and analysis of selected scientific studies, which has as the main focus the existing solutions in robotics for internal logistics. The review aims to provide a broad perspective of the e...
Planning robotic agent actions using semantic knowledge for a home environment
Bernardo, Rodrigo; Sousa, João M.C.; Gonçalves, PauloAutonomous mobile robotic agents are increasingly present in highly dynamic environments, thus making the planning and execution of their tasks challenging. Task planning is vital in directing the actions of a robotic agent in domains where a causal chain could lock the agent into a dead-end state. This paper proposes a framework that integrates a domain ontology (home environment ontology) with a task planner ...
Novel magnetic stimulation methodology for low-current implantable medical devices
Bernardo, Rodrigo; Rodrigues, André; Santos, Marco P. Soares dos; Carneiro, Pedro; Lopes, António; Amaral, João Sequeira; Amaral, Vitor SequeiraRecent studies highlight the ability of inductive architectures to deliver therapeutic magnetic stimuli to target tissues and to be embedded into small-scale intracorporeal medical devices. However, to date, current micro-scale biomagnetic devices require very high electric current excitations (usually exceeding 1 A) to ensure the delivery of efficient magnetic flux densities. This is a critical problem as advan...
Knowledge and tasks representation for an industrial robotic application
Bernardo, Rodrigo; Farinha, Rodolfo; Gonçalves, PauloThe paper presents an implementation of knowledge representation and task representation, based on ontologies for an Industrial Robotic Application. The industrial application is to insert up to 56 small pins, e.g., sealants, in a harness box terminal for the automotive industry. The number of sealants and their insertion pattern vary significantly with the production requests. Based on the knowledge representa...
Desenvolvimento e prototipagem de um no de acesso para redes de chaveamento de ...
Bernardo, RodrigoOrientador: Furio Damiani; Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação; Resumo: Este trabalho apresenta o desenvolvimento e a prototipagem de um nó de acesso utilizado como prova de conceito de redes de chaveamento de pacotes ópticos. Ele descreve as arquiteturas propostas para a rede e o nó de acesso, juntamente com o desenvolvimento detalhado do...