28 documents found, page 1 of 3
Trajectory Generation for Robotic Additive Manufacturing: A Comparative Study
Cavalcanti, Marcella; Costelha, Hugo; Neves, CarlosThe integration of robot manipulators into additive manufacturing processes, particularly in fused filament fabrication, presents opportunities to overcome limitations of traditional three-axis systems. By leveraging the additional degrees of freedom, more versatile and efficient manufacturing solutions can be developed. However, this increased complexity introduces new challenges, including the need for trajec...
A multidisciplinary engineering-based approach for tunnelling strengthening wit...
Barros, Joaquim A. O.; Costelha, Hugo; Bento, David; Brites, Nelson; Luís, Rui; Patrício, Hugo; Cunha, Vitor; Bento, Luís; Miranda, Tiago; Coelho, PauloThis paper describes the relevant research activities that are being carried out on the development of a novel shotcrete technology capable of applying, autonomously and in real time, fibre reinforced shotcrete (FRS) with tailored properties regarding the optimum structural strengthening of railway tunnels (RT). This technique allows to apply fibre reinforced concrete (FRC) of strain softening (SSFRC) and strai...
A review on Robot-Assisted Additive Manufacturing Systems and Technologies
Cavalcanti, M.; Costelha, Hugo; Neves, CarlosAbstract. The general use of robot manipulators in the Additive Manufacturing (AM) world could cause a paradigm shift on how these technologies are used today. Adding more degrees of freedom to the AM systems decreases the limita tions of current mainstream additive technologies, such as restricted build volume, high manufacturing times, and the use of support structures. However, existing traditional technique...
Industrial Robot Trajectory Generation and Execution for 3D Printing using an A...
Cavalcanti, Marcella; Costelha, Hugo; Neves, CarlosThe use of industrial robots in additive manufacturing processes has become increasingly important, offering more flexibility and the capability of multi-directional printing. This integration facilitates the production of more complex geometries, free from the limitations of small build volumes and support structures, opening new possibilities for innovation in advanced manufacturing systems. As the complexity...
Flexible Manufacturing Systems Through the Integration of Asset Administration ...
Martins, André; Costelha, Hugo; Neves, Carlos; Cosgrove, John; Lyons, JohnThe advent of Industry 4.0 has created a need for more flexible and adaptable manufacturing systems. This paper proposes the integration of AAS (Asset Administration Shells), SBM (Skill-based manufacturing) and OPC UA (Open Platform Communications Unified Architecture), to enable more flexible manufacturing systems. The integration of these concepts provides a solution for achieving faster and easier dynamic re...
A multidisciplinary engineering-based approach for tunnelling strengthening wit...
Barros, Joaquim; Costelha, Hugo; Bento, David; Brites, Nelson; Luís, Rui; Patrício, Hugo; Cunha, Vítor M.C.F.; Bento, Luís; Miranda, TiagoThis paper describes the relevant research activities that are being carried out on the development of a novel shotcrete technology capable of applying, autonomously and in real time, fibre reinforced shotcrete (FRS) with tailored properties regarding the optimum structural strengthening of railway tunnels (RT). This technique allows to apply fibre reinforced concrete (FRC) of strain softening (SSFRC) and strai...
Survey of SLAM Algorithms with ROS Support
Teixeira, Abel; Costelha, Hugo; Bento, Luis Conde; Neves, CarlosSimultaneous Localization and Mapping (SLAM) algorithms are a key component in enabling autonomous navigation for robotic systems. This study presents a comprehensive assessment of state-of-the-art SLAM algorithms, focusing exclusively on those with Robot Operating System (ROS) support. The study aims to provide insights into the computational performance of these algorithms by leveraging the benchmark results ...
Point Cloud Alignment for Deposited Material Assessment in Tunnel Environments
Teixeira, Abel; Costelha, Hugo; Neves, Carlos; Bento, Luis CondeThe assessment of deposited material in tunnel reinforcement operations can be performed using a 3D model generated from multiple scans. For this purpose, an accurate alignment of the scanned models is required. Aligning existing structure model with data scanned after surface deformations can be challenging, particularly if reference markers are not available or were displaced. For scenarios where the surround...
Robotic Path Planning Algorithms for Additive Manufacturing Using Advanced Simu...
Ferreira, Marco; Costelha, Hugo; Conde Bento, Luis; Neves, CarlosRobotics-based additive manufacturing (AM), or 3D printing, enables flexible printing systems. This paper analyses path planning algorithms for robotic manipulators aiming at dynamic AM environments. Using the cuRobo library, the study evaluates the path planning algorithm MotionGen and Model Predictive Control (MPC) using NVIDIA’s Isaac Sim with ROS2 and MoveIt2. Docker provided a modular development environme...
Digital Twin Development for a Quality Control Cell
Marcella Cavalcanti; Costelha, Hugo; Neves, Carlos; Martins, André; Luís PerdigotoThe Digital Twin is one of the enabling technologies of Industry 4.0, Cyber-Physical Systems and Smart Factories. In this context, Digital Twins can be developed for being employed through the entire lifecycle of a system, for design, operation, monitoring, maintenance, and even fault prediction and reconfiguration. This paper describes the development of a Digital Twin for a Quality Control cell that is part o...