4 documents found, page 1 of 1
Trajectory tracking for the inspection of deformable objects considering manipu...
Borges, Carlos Alberto Peixoto; Ribeiro, José Miguel Maia; Louro, Luis; Vicente, Paulo Sérgio Cunha; Faria, Carlos; Monteiro, Sérgio; Bicho, EstelaThis work deals with the manipulation of deformable objects for defect inspection purposes. The required inspection movements, obtained from mimicking demonstrated trajectories, are realized with a 7-DoF serial arm and a fixed grasp support. These trajectories can be realized in different zones, as such, we use this freedom, with the various possibilities for the inverse kinematics problem and the elbow redunda...
Autonomous vehicles on the factory floor: an approach to safety
Trigo, Ana Margarida; Machado, Toni; Malheiro, Tiago; Louro, Luis; Fonseca, Alberto; Monteiro, Sérgio; Bicho, EstelaThis paper provides insights into a safety assurance procedure and its application in an Autonomous Vehicle (AV) solution. The product, object of study, is composed of a kit that is integrated into a stacker forklift truck to add autonomous features to the exclusively manually driven vehicle. Integrating the kit in the conventional vehicle gives new applications to the machine, making the CE marking, previously...
Rapid learning of complex sequences with time constraints: A dynamic neural fie...
Ferreira, Flora José Rocha; Wojtak, Weronika; Sousa, Emanuel; Louro, Luis; Bicho, Estela; Erlhagen, WolframMany of our sequential activities require that behaviors must be both precisely timed and put in the proper order. This article presents a neurocomputational model based on the theoretical framework of dynamic neural fields that supports the rapid learning and flexible adaptation of coupled order-timing representations of sequential events. A key assumption is that elapsed time is encoded in the monotonic build...
Competitive dynamics for behavior coordination in a joint transportation task
Bicho, Estela; Louro, Luis; Soares, Rui; Erlhagen, WolframWe address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results i...