6 documents found, page 1 of 1
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...
A safe autonomous stacker in human shared workspaces
Louro, Luís; Teixeira, Duarte; Malheiro, Tiago Emanuel Quintas; Mesquita, Luís; Machado, Toni; Monteiro, Sérgio; Erlhagen, Wolfram; Bicho, EstelaThis paper proposes a solution for safe navigation of stacker vehicles in workspaces shared with people, with a focus on the docking manoeuvres for pallet picking and dropping. Behaviours for way-point and wall following are developed following the attractor dynamics approach. Then, these behaviours are orchestrated by state machines (that activate or deactivate them) depending on the specific task. Each of the...
Using discrete simulation to support internal logistics process design
Campos, Tiago M.C.; Carvalho, Maria Sameiro; Oliveira, José A.; Silva, Pedro Vaz; Machado, ToniThe objective of this paper is to present the developments of an ongoing project that aims at implementing an internal materials movement system using autonomous vehicles for supporting logistics processes. In particular the project focus on the movement of final products, from assembly lines to the expedition warehouse and the supply of packaging materials (customer packages), from the raw materials warehouse ...
A software framework for the implementation of dynamic neural field control arc...
Malheiro, Tiago Emanuel Quintas; Bicho, Estela; Machado, Toni; Louro, Luís; Monteiro, Sérgio; Vicente, Paulo; Erlhagen, WolframUseful and efficient human-robot interaction in joint tasks requires the design of a cognitive control architecture that endows robots with crucial cognitive and social capabilities such as intention recognition and complementary action selection. Herein, we present a software framework that eases the design and implementation of Dynamic Neural Field (DNF) cognitive architectures for human-robot joint tasks. We...
Experiential learning of robotics fundamentals based on a case study of robot-a...
Faria, Carlos; Vale, Carolina; Machado, Toni; Erlhagen, Wolfram; Rito, Manuel; Monteiro, Sérgio; Bicho, EstelaRobotics has been playing an important role in modern surgery, especially in procedures that require extreme precision, such as neurosurgery. This paper addresses the challenge of teaching robotics to undergraduate engineering students, through an experiential learning project of robotics fundamentals based on a case study of robot-assisted stereotactic neurosurgery. The project was integrated into the curricul...
Object transportation by multiple mobile robots controlled by attractor dynamic...
Soares, Rui; Bicho, Estela; Machado, Toni; Erlhagen, WolframDynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to exten...