Percorrer por autor "Matos, Diogo"
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- Modelling of a vibration robot using localization ground truth assisted by aruco markersPublication . Matos, Diogo; Lima, José; Rohrich, Ronnier Frates; Oliveira, Andre Schneider; Valente, António; Costa, Pedro; Costa, Paulo Gomes daSimulators have been increasingly used on development and tests on several areas. They allow to speed up the development without damage and no extra costs. On realistic simulators, where kinematics play an important role, the modelling process should be imported for each component to be accurately simulated. Some robots are not yet modelled, as for example the Monera. This paper presents a model of a small vibration robot (Monera) that is acquired in a developed testbed. A localisation ground truth is used to acquire the position of the Monera with actuating it. Linear and angular speeds acquired from real experiments allow to validate the proposed methodology.
- Multi AGV coordination tolerant to communication failuresPublication . Matos, Diogo; Costa, Pedro; Lima, José; Costa, Paulo Gomes daMost path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot’s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot’s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results.
- Multi AGV industrial supervisory systemPublication . Cruz, Ana Luísa Sampaio; Matos, Diogo; Lima, José; Costa, Paulo Gomes da; Costa, PedroAutomated guided vehicles (AGV) represent a key element in industries’ intralogistics and the use of AGV fleets bring multiple advantages. Nevertheless, coordinating a fleet of AGV is already a complex task but when exposed to delays in the trajectory and communication faults it can represent a threat, compromising the safety, productivity and efficiency of these systems. Concerning this matter, trajectory planning algorithms allied with supervisory systems have been studied and developed. This article aims to, based on work developed previously, implement and test a Multi AGV Supervisory System on real robots and analyse how the system responds to the dynamic of a real environment, analysing its intervention, what influences it and how the execution time is affected.
- Multi-robot coordination for a heterogeneous fleet of robotsPublication . Pereira, Diogo; Matos, Diogo; Rebelo, Paulo; Ribeiro, Fillipe; Costa, Pedro; Lima, JoséThere is an increasing need for autonomous mobile robots (AMRs) in industrial environments. The capability of autonomous movement and transportation of items in industrial environments provides a significant increase in productivity and efficiency. This need, coupled with the possibility of controlling groups of heterogeneous robots, simultaneously addresses a wide range of tasks with different characteristics in the same environment, further increasing productivity and efficiency. This paper will present an implementation of a system capable of coordinating a fleet of heterogeneous robots with robustness. The implemented system must be able to plan a safe and efficient path for these different robots. To achieve this task, the TEA* (Time Enhanced A*) graph search algorithm will be used to coordinate the paths of the robots, along with a graph decomposition module that will be used to improve the efficiency and safety of this system. The project was implemented using the ROS framework and the Stage simulator. Results validate the proposed approach since the system was able to coordinate a fleet of robots in various different tests efficiently and safely, given the heterogeneity of the robots.
- Multiple mobile robots scheduling based on simulated annealing algorithmPublication . Matos, Diogo; Costa, Pedro; Lima, José; Valente, AntónioTask Scheduling assumes an integral topic in the efficiency of multiple mobile robots systems and is a key part in most modern manufacturing systems. Advances in the field of combinatorial optimisation have allowed the implementation of algorithms capable of solving the different variants of the vehicle routing problem in relation to different objectives. However few of this approaches are capable of taking into account the nuances associated with the coordinated path planning in multi-AGV systems. This paper presents a new study about the implementation of the Simulated Annealing algorithm to minimise the time and distance cost of executing a tasks set while taking into account possible pathing conflicts that may occur during the execution of the referred tasks. This implementation uses an estimation of the planned paths for the robots, provided by the Time Enhanced A* (TEA*) to determine where possible pathing conflicts occur and uses the Simulated Annealing algorithm to optimise the attribution of tasks to each robot, in order to minimise the pathing conflicts. Results are presented that validate the efficiency of this algorithm and compare it to an approach that does not take into account the estimation of the robots paths.
- Therapy adherence in community elderly from inner and coast councils of Northern PortugalPublication . Pinto, Isabel C.; Nascimento, Luís; Chã, Ana; Moura, Armando; Matos, Diogo; Frade, MagdaGlobal aging associated with chronic comorbidities leads to increased simultaneous use of drugs and complex drug therapies. Therapy adherence is essential to ensure the effectiveness of therapeutic and control of chronic diseases in elderly. Objectives: To estimate the prevalence of therapy adherence and associated factors in community elderly from inner and coast councils of northern Portugal. Methods: This cross-sectional and correlational study was based on a questionnaire, with MAT scale (measure of adherence to therapy) validated for the Portuguese population (Delgado & Lima, 2001), applied by interview to 384 elderly (≥65 years) living in the community in northern Portugal councils of Esposende, Guimarães and Lamego. It was used descriptive statistics and Chi-Square test, with a significance level of 5%. Results: The sample consisted mainly of females elderly (60,7%), with age mean of 75.8 years old, while 47.7% was between 65-74 years. On average, 4.99 different drugs are administered per day, being medicines that act on the circulatory system the most prescribed. The prevalence of therapy adherence was 86,6%. Elderly people who have help with medication, are those who most adhere to drug therapy (p=0.035). Conclusions: This study shows a considerable prevalence of therapy adherence. Having help with medication seems to be associated with better therapy adherence.