Percorrer por autor "Brito, Thadeu"
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- An industry 4.0 approach for the Robot@Factory lite competitionPublication . Lima, José; Oliveira, Vitor; Brito, Thadeu; Gonçalves, José; Pinto, Vítor H.; Costa, Paulo Gomes da; Torrico, CesarThe Robot@Factory Lite (R@FL) is a competition held at the Portuguese Robotics Open that aims to present a problem inspired by the deployment of autonomous mobile robots on a factory shop floor. This paper proposes an approach to transform this competition according to the Industry 4.0 concept using the Wi-Fi to attribute orders to the mobile robot. The main contribution of this paper is to address a Supply Chain Management (SPM) of the ERP (Enterprise Resource Planning) that will inform the tasks to the robot so that it can schedule. It is presented a new hardware architecture that should be able to read the information of the parts through Wi-Fi in a client-server methodology. It also includes encoders that allow to feedback the wheels rotation and can be used to estimate the odometry.
- An integer programming approach for sensor location in a forest fire monitoring systemPublication . Azevedo, Beatriz Flamia; Alvelos, Filipe; Rocha, Ana; Brito, Thadeu; Lima, José; Pereira, Ana I.Forests worldwide have been devastated by fires. Forest fires cause incalculable damage to fauna and flora. In addition, a forest fire can lead to the death of people and financial damage in general, among other problems. To avoid wildfire catastrophes is fundamental to detect fire ignitions in the early stages, which can be achieved by monitoring ignitions through sensors. This work presents an integer programming approach to decide where to locate such sensors to maximize the coverage provided by them, taking into account different types of sensors, fire hazards, and technological and budget constraints. We tested the proposed approach in a real-world forest with around 7500 locations to be covered and about 1500 potential locations for sensors, showing that it allows obtaining optimal solutions in less than 20 minutes.
- An IoT approach for animals trackingPublication . Zorawski, Matheus; Brito, Thadeu; Castro, José; Castro, João Paulo; Castro, Marina; Lima, JoséPastoral activities bring several benefits to the ecosystem and rural communities. These activities are already carried out daily with goats, cows and sheep in Portugal. Still, they could be better applied to take advantage of their benefits. Most of these pastoral ecosystem services are not remunerated, indicating a lack of making these activities more attractive to bring returns to shepherds, breeders and landowners. The monitoring of these activities provides data to value these services, besides being able to indicate directly to the shepherds’ routes to drive their flocks and the respective return. There are devices in the market that perform this monitoring, but they are not adaptable to the circumstances and challenges required in the Northeast of Portugal. This work addresses a system to perform animals tracking, and the development of a test platform, through long-range technologies for transmission using LoRaWAN architecture. The results demonstrated the use of LoRaWAN in tracking services, allowing to conclude about the viability of the proposed methodology and the direction for future works.
- Building of smart plugs to energy efficiency in the residence load managementPublication . Silva, William Rodrigues; Brito, Thadeu; Gambôa, Luis; Lima, JoséIt is known that electrical energy consumption is higher during the day than at night.This is a challenge to balance the consumption levels because when the consumption is high at night, it does not have energy production to supply and the tariff usage is cheaper. Aspiring to avoid the users consuming too much electrical energy and work on this usage control during the night, the present work aims to develop smart plug modules that could self-manage power in residence utilizing the minimum of grid energy. In this sense, the modules may use the overproduction of energy coming from generator systems (such as photovoltaic panels), eliminating the necessity of battery usage. Sometimes, the power supply could provide different values of current, consequently, the use of this electric energy needs to adapt according to the production. Therefore, the final objective is to build an intelligent electrical management system that works on energy efficiency.
- Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D dataPublication . Brito, Thadeu; Lima, José; Costa, Pedro; Matellán, Vicente; Braun, JoãoThe collaboration between humans and machines, where humans can share the same work environment without safety equipment due to the collision avoidance characteristic is one of the research topics for the Industry 4.0. This work proposes a system that acquires the space of the environment through an RGB-Depth sensor, verifies the free spaces in the created Point Cloud and executes the trajectory of the collaborative manipulator avoiding collisions. It is demonstrated a simulated environment before the system in real situations, in which the movements of pick-and-place tasks are defined, diverting from virtual obstacles with the RGB-Depth sensor. It is possible to apply this system in real situations with obstacles and humans, due to the results obtained in the simulation. The basic structure of the system is supported by the ROS software, in particular, the Movelt! and Rviz. These tools serve both for simulations and for real applications. The obtained results allow to validate the system using the algorithms PRM and RRT, chosen for being commonly used in the field of robot path planning.
- A comparison of A* and RRT* algorithms with dynamic and real time constraint scenarios for mobile robotsPublication . Braun, João; Brito, Thadeu; Lima, José; Costa, Paulo Gomes da; Costa, Pedro; Nakano, Alberto YoshiroThere is an increasing number of mobile robot applications. The demanding of the Industry 4.0 pushes the robotic areas in the direction of the decision. The autonomous robots should actually decide the path according to the dynamic environment. In some cases, time requirements must also be attended and require fast path planning methods. This paper addresses a comparison between well-known path planning methods using a realistic simulator that handles the dynamic properties of robot models including sensors. The methodology is implemented in SimTwo that allows to compare the A* and RRT* algorithms in different scenarios with dynamic and real time constraint scenarios.
- Data acquisition filtering focused on optimizing transmission in a LoRaWAN network applied to the WSN forest monitoring systemPublication . Brito, Thadeu; Azevedo, Beatriz Flamia; Mendes, João; Zorawski, Matheus; Fernandes, Florbela P.; Pereira, Ana I.; Rufino, José; Lima, José; Costa, Paulo Gomes daDeveloping innovative systems and operations to monitor forests and send alerts in dangerous situations, such as fires, has become, over the years, a necessary task to protect forests. In this work, a Wireless Sensor Network (WSN) is employed for forest data acquisition to identify abrupt anomalies when a fire ignition starts. Even though a low-power LoRaWAN network is used, each module still needs to save power as much as possible to avoid periodic maintenance since a current consumption peak happens while sending messages. Moreover, considering the LoRaWAN characteristics, each module should use the bandwidth only when essential. Therefore, four algorithms were tested and calibrated along real and monitored events of a wildfire. The first algorithm is based on the Exponential Smoothing method, Moving Averages techniques are used to define the other two algorithms, and the fourth uses the Least Mean Square. When properly combined, the algorithms can perform a pre-filtering data acquisition before each module uses the LoRaWAN network and, consequently, save energy if there is no necessity to send data. After the validations, using Wildfire Simulation Events (WSE), the developed filter achieves an accuracy rate of 0.73 with 0.5 possible false alerts. These rates do not represent a final warning to firefighters, and a possible improvement can be achieved through cloud-based server algorithms. By comparing the current consumption before and after the proposed implementation, the modules can save almost 53% of their batteries when is no demand to send data. At the same time, the modules can maintain the server informed with a minimum interval of 15 min and recognize abrupt changes in 60 s when fire ignition appears.
- A data logger for educational purposes of a laboratory chemical reactor: an IoT approachPublication . Lima, José; Brito, Thadeu; Ferreira, Olga; Afonso, Maria João A.P.S.; Pinto, Vítor H.; Carvalho, José Augusto; Costa, Paulo Gomes daThis paper presents the development of an acquisition system and data logger from an existing set of three continuous stirred-tank reactors in series. The reactors are currently used in chemical engineering educational laboratories to perform kinetic and tracer experiments. In this sense, to accomplish the store data process, the volumetric flow rate and the concentration of tracer, reactants and/or products of the reaction must be acquired as a function of time. In the original experimental setup, only the signal conditioning system was operational, while the acquisition, visualization, and control systems were obsolete and damaged. Thus, a new system composed of an interface and real-time acquisition data is proposed alongside preserving the main reactor structure. A graphical user interface and the automation of the various actuators were developed based on worldwide usage and low cost, respectively. This system, based on a common 8-bit microcontroller and an application developed in Lazarus, allows the storage of the acquired data in a timeseries database. In this way, students can analyze the results later or in real time. Moreover, remote access allows controlling the reactor and getting data by the Internet of Things (IoT) resources. Additionally, the proposed system using IoT allows data to be shared with the community as a dataset.
- Deep learning method to identify fire ignitionsPublication . Mendes, João; Brito, Thadeu; Pereira, Ana I.; Lima, JoséThe SAFe project aims to create and implement a set of innovative operations that minimize the time of forest ignitions identification contributing to the development of the Trás-os-Montes region. Thus, it is intended to locate a set of sensors in the forest, data information will be collected, and the artificial intelligence algorithm Deep Learning will be applied to achieve the intended end. Numerical results demonstrated the approach reliability.
- Development of a dynamic path for a toxic substances mapping mobile robot in industry environmentPublication . Piardi, Luis; Lima, José; Costa, Paulo Gomes da; Brito, ThadeuSome industries have critical areas (dangerous or hazardous) where the presence of a human must be reduced or avoided. In some cases, there are areas where humans should be replaced by robots. The present work uses a robot with differential drive to scan an environment with known and unknown obstacles, defined in 3D simulation. It is important that the robot be able to make the right decisions about its way without the need of an operator. A solution to this challenge will be presented in this paper. The control application and its communication module with a simulator or a real robot are proposed. The robot can perform the scan, passing through all the waypoints arranged in a grid. The results are presented, showcasing the robot’s capacity to perform a viable trajectory without human intervention.