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...
Attractor dynamics approach to joint transportation by autonomous robots: theor...
Machado, Toni Daniel Neto; Malheiro, Tiago; Monteiro, Sérgio; Erlhagen, Wolfram; Bicho, EstelaThis paper shows how non-linear attractor dynamics can be used to control teams of two autonomous mobile robots that coordinate their motion in order to transport large payloads in unknown environments, which might change over time and may include narrow passages, corners and sharp U-turns. Each robot generates its collision-free motion online as the sensed information changes. The control architecture for each...
Motion control for autonomous tugger vehicles in dynamic factory floors shared ...
Louro, Luís; Malheiro, Tiago; Guimarães, Pedro Miguel Ferreira; Machado, Toni Daniel Neto; Monteiro, Sérgio; Silva, Pedro Vaz; Erlhagen, WolframWe present a motion controller that generates collision free trajectories for autonomous Tugger vehicles operating in dynamic factory environments, where human operators may coexist. The controller is formalized as a dynamic system of path velocity and heading direction, whose vector fields change as sensory information varies. By design the parameters are tuned so that the control variables are close to an att...
Combining intention and emotional state inference in a dynamic neural field arc...
Silva, Rui; Louro, Luís; Malheiro, Tiago; Erlhagen, Wolfram; Bicho, EstelaWe report on our approach towards creating socially intelligent robots, which is heavily inspired by recent experimental findings about the neurocognitive mechanisms underlying action and emotion understanding in humans. Our approach uses neuro-dynamics as a theoretical language to model cognition, emotional states, decision making and action. The control architecture is formalized by a coupled system of dynami...
Object transportation by a human and a mobile manipulator : a dynamical systems...
Malheiro, Tiago; Machado, Toni Daniel Neto; Monteiro, Sérgio; Erlhagen, Wolfram; Bicho, E.In this paper we address the problem of humanrobot joint transportation of large payloads. The human brings to the task knowledge on the goal destination and global path planning. The robot has no prior knowledge of the environment and must autonomously help the human, while simultaneously avoiding static and/or dynamic obstacles that it encounters. For this purpose a dynamic control architecture, formalized as...
Real-time low-cost industrial acquisition system
Silva, Vítor; Malheiro, Tiago; Cabral, Jorge; Mendes, José A.; Tavares, AdrianoIndustrial systems monitor and control is, in the majority of the cases, implemented using real-time acquisition systems. Since the real-world is analog, there is a growing demand for faster, high resolution, real-time and reliable acquisition systems at very low cost. This paper presents an embedded system designed to tackle the previously listed requirements, thus being able to be used in most of today’s indu...