168 documents found, page 1 of 17
Kabsch marker estimation algorithm - a multi-robot marker-based localization al...
Braun, João; Lima, José; Pereira, Ana I.; Costa, Paulo Gomes daThis paper introduces the Kabsch Marker Estimation Algorithm (KMEA), a new, robust multi-marker localization method designed for Autonomous Mobile Robots (AMRs) within Industry 4.0 (I4.0) settings. By integrating the Kabsch Algorithm, our approach significantly enhances localization robustness by aligning detected fiducial markers with their known positions. Unlike conventional methods that rely on a limited su...
Prototyping and Control of an Educational Manipulator Robot
Coelho, João Paulo; Brancalião, Laiany Suganuma; Alvarez, Mariano José; Costa, Paulo Gomes da; Gonçalves, JoséThis article presents the prototyping of an educational manipulator robot, based on the “EEZYbotARM Mk2” robot, tailored for first-year master’s students in the field of robotics. The project encompasses the assembly of the robot arm, computation of both forward and inverse kinematics, and analysis of two path-planning movement algorithms. These features are consolidated into an Arduino library to streamline th...
Programming Mobile Robots in an Educational Context: a Hardware-in-the-loop App...
Brancalião, Laiany Suganuma; Alvarez, Mariano José; Coelho, João Paulo; Conde, Miguel Ángel; Costa, Paulo Gomes da; Gonçalves, JoséIn this paper it is presented a Hardware-in-theloop (HIL) mobile robot programming approach, to be applied in a robotics educational context. The motivation to apply this approach is the fact that students can program the robots without access to the robot hardware, but still maintain some important closed loop control critical features, such as a realistic lag time and the possibility for a larger number of st...
Design and Development of an Omnidirectional Mecanum Platform for the RobotAtFa...
Braun, João; Baidi, Kaïs; Bonzatto, Luciano; Berger, Guido; Pinto, Milena F.; Kalbermatter, Rebeca B.; Klein, Luan C.; Grilo, Vinicius F.S.B.Robotics competitions are highly strategic tools to engage and motivate students, cultivating their curiosity and enthusiasm for technology and robotics. These competitions encompass various disciplines, such as programming, electronics, control systems, and prototyping, often beginning with developing a mobile platform. This paper focuses on designing and implementing an omnidirectional mecanum platform, encom...
Development of a Low-Cost 3D Mapping Technology with 2D LIDAR for Path Planning...
Ferreira, Edilson Santos; Grilo, Vinicius F.S.B.; Braun, João; Santos, Murillo F. dos; Pereira, Ana I.; Costa, Paulo Gomes da; Lima, JoséThis article presents the development of a low-cost 3D mapping technology for trajectory planning using a 2D LiDAR and a stepper motor. The research covers the design and implementation of a circuit board to connect and control all components, including the LiDAR and motor. In addition, a 3D printed support structure was developed to connect the LiDAR to the motor shaft. System data acquisition and processing a...
Editorial: Educational robotics and competitions
Martins, Felipe N.; Lima, José; Oliveira, Andre Schneider; Costa, Paulo Gomes da; Eguchi, AmySTEM education endeavors to instill fundamental principles of science, technology, engineering, and mathematics, fostering a passion that propels students toward careers in these fields. Robotics, as a formidable educational tool, goes beyond theoretical learning by immersing students in practical projects that demand problem-solving skills. Its inherently multidisciplinary nature encourages the integration of ...
Enhancing Forest Fire Detection and Monitoring Through Satellite Image Recognit...
Brito, Thadeu; Pereira, Ana I.; Costa, Paulo Gomes da; Lima, JoséWorldwide, forests have been harassed by fire in recent years. Either by human intervention or other reasons, the history of the burned area is increasing considerably, harming fauna and flora. It is essential to detect an early ignition for fire-fighting authorities can act quickly, decreasing the impact of forest damage impacts. The proposed system aims to improve nature monitoring and improve the existing su...
Deep learning-based localization approach for autonomous robots in the robotAtF...
Klein, Luan C.; Mendes, João; Braun, João; Martins, Felipe N.; Oliveira, Andre Schneider; Costa, Paulo Gomes da; Wörtche, Heinrich; Lima, JoséAccurate localization in autonomous robots enables effective decision-making within their operating environment. Various methods have been developed to address this challenge, encompassing traditional techniques, fiducial marker utilization, and machine learning approaches. This work proposes a deep-learning solution employing Convolutional Neural Networks (CNN) to tackle the localization problem, specifically ...
Dynamic AMR Navigation: Simulation with Trajectory Prediction of Moving Obstacles
Cadete, Tomás; Pinto, Vítor H.; Lima, José; Gonçalves, Gil; Costa, Paulo Gomes daAutonomous Mobile Robots (AMRs) have significantly transformed task management in factories, warehouses, and urban environments. These robots enhance operational efficiency, reduce labor costs, and automate various tasks. However, navigating dynamic environments with moving obstacles, such as human workers, vehicles, and machinery, remains challenging. Traditional navigation systems, which rely on static maps a...
Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platform...
Chellal, Arezki Abderrahim; Braun, João; Junior, Luciano Bonzatto; Faria, Milena; Kalbermatter, Rebeca B.; Gonçalves, José; Costa, Paulo Gomes daAs robots have limited power sources. Energy optimization is essential to ensure an extension for their operating periods without needing to be recharged, thus maximizing their uptime and minimizing their running costs. This paper compares the energy consumption of different mobile robotic platforms, including differential, omnidirectional 3-wheel, omnidirectional 4-wheel, and Mecanum platforms. The comparison ...