Browsing by Author "Pereira, Diogo"
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- 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.
- Thermal stress and physiological responses in Brazilian jiu-jitsu athletes submitted to simulated fights in a hot environmentPublication . Pereira, Diogo; Forte, Pedro; Leite, Luciano Bernardes; Ribeiro, Joana; Cachada, José M.; Bolani, Wladimir; Pussieldi, Guilherme de Azambuja; Rezende, Leonardo M.T.; Pimenta, Eduardo Mendonça; Cabido, Christian Emmanuel Torres; Oliveira Junior, Mario Norberto Sevilio; Mendes, Thiago Teixeira; Veneroso, Christiano EduardoAnalyze thermal stress and changes in physiological variables in simulated BJJ fights in a hot environment. The study included 12 male athletes, comprising 11 black belts and 1 brown belt. The athletes were divided into pairs according to their categories and there were four 10-minute bouts with 10 minutes of rest between bouts in a covered environment, during the night, with an ambient temperature (TA) of 29.3 ± 0.5ºC and relative air humidity (URA) of 75.9 ± 1.1%. The variables heart rate (HR), lactate, gastrointestinal temperature (Tgi) and skin temperature (Tskin), hand grip, dehydration rate, total sweating and specific urine density were evaluated. HR, lactate and Tgi data were collected before starting the simulated fights (pre 1, 2, 3 and 4), immediately after the end of each fight (post 1, 2, 3, and 4). All other variables were collected during the baseline period, which corresponds to pre 1, and in the post-fight assessments (post-fight 1, 2, 3, and 4). There was a significant reduction in body mass post-fight compared to pre-simulated fights (p < 0.001). Despite ad libitum hydration, athletes transitioned from a euhydrated state to significant-to-severe dehydration by the end of the protocol. HR values were significantly higher post-fight (post 1, 2, 3, 4) compared to rest (pre-1) (p < 0.001). Blood lactate levels increased post-fight (post 1, 2, 3, 4) compared to rest (pre-1). Tgi increased significantly after the first fight (post 1, 2, 3, 4) compared to rest (pre 1) (p < 0.001) and remained stable until the fourth fight. Tskin showed a increase post-fight (post 1, 2, 3) compared to rest (pre-1) (p < 0.001). Conclusions: The thermoregulatory mechanisms were sufficient to maintain thermal control during the simulated BJJ fights.