Browsing by Author "Malheiros, Paulo"
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- Code migration from a realistic simulator to a real robotPublication . Gonçalves, José; Lima, José; Malheiros, Paulo; Costa, Paulo Gomes daThis paper describes the code migration from a realistic simulator to a real wheeled mobile robot. The robot software consists in the localization and navigation of an omnidirectional robot in a structured environment. The localization estimate is achieved by fusing odometry and infra-red distance sensors data, applying an extended Kalman filter.
- Code migration from a realistic simulator to a real wheeled mobile robotPublication . Gonçalves, José; Lima, José; Malheiros, Paulo; Costa, Paulo Gomes daThis paper describes the code migration from a realistic simulator to a real wheeled mobile robot. The robot software consists in the localization and navigation of an omnidirectional robot in a structured environment. The localization estimate is achieved by fusing odometry and infra-red distance sensors data, applying an extended Kalman filter.
- Fostering advances in mechatronics and robotics resorting to simulationPublication . Gonçalves, José; Lima, José; Malheiros, Paulo; Costa, Paulo Gomes daThis paper presents the modelling and simulation of a wheeled mobile robot designed to operate in structured environments and the development of robot software based on its simulation. The mobile robot was simulated resorting to the SimTwo, a custom made simulator developed by the authors with the purpose to test and produce control software for industrial, humanoid and wheeled robots. The presented example is in the field of edutainment robotics, being presented the localization and navigation in a Fire Fight Robot Contest arena of an omnidirectional mobile robot equipped with brushless motors and infra-red distance sensors. Edutainment robotics plays an important role in education due to the inherent multi-disciplinary concepts that are involved, motivating students to technological areas. It also plays an important role in research and development, because it is expected that the outcomes that will emerge here, will later be transfered to other application areas, such as service robots and manufacturing.
- Real-time tracking system for a moored oil tanker : a Kalman filter approachPublication . Malheiros, Paulo; Rosa-Santos, Paulo; Gonçalves, José; Costa, Paulo Gomes da; Moreira, António Paulo G. M.; Veloso-Gomes, Fernando; Taveira-Pinto, FranciscoThis paper presents a tracking system developed to study the behavior of an oil tanker moored at the Berth “A” of the Leixões Oil Terminal, Porto, Portugal. A brief description of the local environmental conditions and the existing operational conditions at that oil terminal are presented. Due to extreme outdoor working conditions a Kalman filter was implemented to ensure the robustness and reliability of the obtained measurements. Tests were performed in laboratory on a physical model of a moored oil tanker at a scale 1/100. The results were compared with a commercial motion capture system installed in laboratory. The presented measurement system was developed as part of the DOLPHIN project that aims to study the behavior of moored ships in harbors.
- Real-time tracking system for a moored oil tanker: a Kalman filter approachPublication . Malheiros, Paulo; Rosa-Santos, Paulo; Gonçalves, José; Costa, Paulo Gomes da; Moreira, António Paulo G. M.; Veloso-Gomes, Fernando; Taveira-Pinto, FranciscoThis paper presents a tracking system developed to study the behavior of an oil tanker moored at the Berth "A" of the Leixões oli terminal, Porto, Portugal.
- Realistic simulation of a Lego Mindstorms NXT based robotPublication . Gonçalves, José; Lima, José; Malheiros, Paulo; Costa, Paulo Gomes daThis paper describes the realistic simulation of a Lego Mindstorms NXT based robot. The presented approach does not replace the training with hardware but is an important complement, since it allows to develop robot software without accessing to the real hardware.
- Sensor and actuator stochastic modeling of the Lego mindstorms NXT educational kitPublication . Gonçalves, José; Lima, José; Malheiros, Paulo; Costa, Paulo Gomes daThis paper describes the sensor and actuator stochastic modeling of Lego Mindstorms NXT educational kit. It will be also presented the experimental setups applied to obtain each sensor and actuator parameters. The introduction of an industrial robot in some of the experimental setups allowed to increase the speed, repeatability and to reduce errors in the process of sensor data collecting.
- SimTwo realistic simulator: a tool for the development and validation of robot softwarePublication . Costa, Paulo Gomes da; Gonçalves, José; Lima, José; Malheiros, PauloMany times the simulation environment is an ad hoc implementation done with the single purpose of testing the author's algorithm or methodology. It is not difficult to find that the accuracy of the simulation is low and mostly unable to reflect the real world. While, under certain circumstances, that can be a valid approach there is the need of a simulation environment where the focus is on the physical realism while retaining a lot of configurability so that it can be adapted to a lot of different uses. In this paper it is presented a simulation environment where multiple kinds of robots can be modeled. The robots can be modeled based on a network of physical bodies interconnected by joints that can be powered, or not, by electrical motors. The corresponding low level controllers and the high level decision or IA can also be implemented in the simulation environment. To achieve that, some established open source libraries like the Open Dynamics Engine are used. The parameters for the physical simulation are all accessible when defining the robot model and a very accurate motor model can also be implemented. There is also the ability to use external modules to implement the high level controllers.
- Towards a more accurate model for an infrared distance sensorPublication . Malheiros, Paulo; Gonçalves, José; Costa, Paulo Gomes daThis paper presents the stochastic modelling of an infrared distance sensor. The modelled features of the sensor were its characteristic, the mandatory minimal dis-tance, the sensor noise and the influence of the sensor position while facing an ob-stacle. In order to model the distance sensor it was necessary to collect a consider-able amount of data, for this task it was used an industrial robot to position the distance sensor while facing an obstacle. The presented study is about a Sharp in-frared (IR) distance sensor (model GP2Y0A21YK0F).