Browsing by Author "Piardi, Luis"
Now showing 1 - 10 of 40
Results Per Page
Sort Options
- 3D Simulator based on simTwo to evaluate algorithms in micromouse competitionPublication . Eckert, Lucas; Piardi, Luis; Lima, José; Costa, Paulo Gomes da; Valente, António; Nakano, Alberto YoshiroRobotics competitions are increasing in complexity and number challenging the researchers, roboticists and enthusiastic to address the robot applications. One of the well-known competition is the micromouse where the fastest mobile robot to solve a maze is the winner. There are several topics addressed in this competition such as robot prototyping, control, electronics, path planning, optimization, among others. A simulation can be used to speed-up the development and testing algorithms but faces the gap between the reality in the dynamics behaviour. In this paper, an open source realistic simulator tool is presented where the dynamics of the robot, the slippage of the wheels, the friction and the 3D visualization can be found. The complete simulator with the robot model and an example is available that allow the users to test, implement and change all the environment. The presented results validate the proposed simulator.
- 3D Simulator with hardware-in-the-loop capability for the micromouse competitionPublication . Piardi, Luis; Eckert, Lucas; Lima, José; Costa, Paulo Gomes da; Valente, António; Nakano, Alberto YoshiroRobotics competitions are a way to challenge researchers, roboticists and enthusiastic to address robot applications. One of the well-known international competition is the Micromouse where the fastest mobile robot to solve a maze is the winner. There are several topics addressed in this competition such as robot prototyping, control, electronics, path planning, optimization, among others while keeping the size of the robot as small as possible. A simulation can be used to speed-up the development and testing algorithms but faces the gap between a simulation and reality, specially in the dynamics behaviour. There are some simulation environments that allow to simulate the Micromouse competition, but in this paper, an Hardware-in-the-loop simulator tool is presented where the simulated robot is controlled by the same microcontroller used by the robot. By this way, the developed algorithms are tested and validated with the limitations and constraints presented in the real hardware, such as memory and processing capabilities. The robot dynamics, the slippage of the wheels, the friction and the 3D visualization are present in the simulator. The presented results show that the same code and hardware controlling the simulated and the real robot identically.
- A* search algorithm optimization path planning in mobile robots scenariosPublication . Lima, José; Costa, Pedro; Costa, Paulo Gomes da; Eckert, Lucas; Piardi, Luis; Moreira, António Paulo G. M.; Nakano, Alberto YoshiroPath planning for mobile robotics in unknown environments or with moving obstacles requires re-planning paths based on information gathered from the surroundings. Moving obstacles and real time constraints require fast computing to navigate and make decisions in a mobile robot. This paper addresses an optimization approach to compute, with real time constraints, the optimal path for a mobile robot based on a dynamically simplified A* search algorithm with a commitment on the available time.
- An interaction strategy for safe human co-working with industrial collaborative robotsPublication . Garcia-Esteban, Juan Alberto; Piardi, Luis; Leitão, Paulo; Curto, Belén; Moreno, VidalWithin the framework of Industry 4.0, robotics is experiencing a rapprochement between humans and robots. To achieve this, the barriers that have historically separated humans from industrial robots are being eliminated with the main objective of increasing performance by taking advantage of the capabilities in which each one excels. The success of collaborative robotics is possible once safety is ensured, adding the need and importance of a proper human-robot communication interface. In this context, there are many safety techniques in current collaborative robots, but these are not sufficient to guarantee high industrial production and quality products. Non-verbal communication using the hands is one of the most widely used techniques in the industrial environment for the exchange of human-human information. Thus, this work presents a safety solution based on the creation of a new layer that allows the avoidance of human-robot collisions and includes a robust and safe human-robot communication interface. Advanced automatic learning and computer vision techniques have been used in its development, which was experimental analyses and validated in a co-work scenario involving an industrial collaborative robot and an operator.
- Application of a mobile robot to spatial mapping of radioactive substances in indoor environmentPublication . Piardi, Luis; Lima, José; Costa, Paulo Gomes; Bombacini, MarcosNuclear medicine requires the use of radioactive substances that can contaminate critical areas (dangerous or hazardous) where the presence of a human must be reduced or avoided. The present work uses a mobile robot in real environment and 3D simulation to develop a method to realize spatial mapping of radioactive substances. The robot should visit all the waypoints arranged in a grid of connectivity that represents the environment. The work presents the methodology to perform the path planning, control and estimation of the robot location. For path planning two methods are approached, one a heuristic method based on observation of problem and another one was carried out an adaptation in the operations of the genetic algorithm. The control of the actuators was based on two methodologies, being the first to follow points and the second to follow trajectories. To locate the real mobile robot, the extended Kalman filter was used to fuse an ultra-wide band sensor with odometry, thus estimating the position and orientation of the mobile agent. The validation of the obtained results occurred using a low cost system with a laser range finder.
- ARENA—augmented reality to enhanced experimentation in smart warehousesPublication . Piardi, Luis; Kalempa, Vivian Cremer; Limeira, Marcelo A.; Oliveira, Andre Schneider; Leitão, PauloThe current industrial scenario demands advances that depend on expensive and sophisticated solutions. Augmented Reality (AR) can complement, with virtual elements, the real world. Faced with this features, an AR experience can meet the demand for prototype testing and new solutions, predicting problems and failures that may only exist in real situations. This work presents an environment for experimentation of advanced behaviors in smart factories, allowing experimentation with multi-robot systems (MRS), interconnected, cooperative, and interacting with virtual elements. The concept of ARENA introduces a novel approach to realistic and immersive experimentation in industrial environments, aiming to evaluate new technologies aligned with the Industry 4.0. The proposed method consists of a small-scale warehouse, inspired in a real scenario characterized in this paper, managing by a group of autonomous forklifts, fully interconnected, which are embodied by a swarm of tiny robots developed and prepared to operate in the small scale scenario. The AR is employed to enhance the capabilities of swarm robots, allowing box handling and virtual forklifts. Virtual laser range finders (LRF) are specially designed as segmentation of a global RGB-D camera, to improve robot perception, allowing obstacle avoidance and environment mapping. This infrastructure enables the evaluation of new strategies to improve manufacturing productivity, without compromising the production by automation faults.
- Augmented reality system for multi-robot experimentation in warehouse logisticsPublication . Limeira, Marcelo A.; Piardi, Luis; Kalempa, Vivian Cremer; Schneider, André; Leitao, PauloThe application of tools as augmented reality has been developing innovative solutions for the industrial scenario. In this context, this work presents an industrial plant of a warehouse, where augmented reality is used to represent virtual loads to be transported by multiple small mobile robots. The results promote an application developed in ROS, with virtual and real objects sharing the same environment, producing an excellent scenario to development and experimentation to new approaches for automation in warehouses or smart factories.
- A bio-inspired approach for robot swarm in smart factoriesPublication . Rohrich, Ronnier Frates; Teixeira, Marco Antônio Simões; Piardi, Luis; Oliveira, Andre SchneiderRecent theoretical developments have revealed that the influences and efficiency that mobile robots have brought to society in the last years are incredibly revealing and should be explored in applications for the benefit of the community and the corporate world. Access to this technology enables the development of innovative research for increasingly active industrial environments. This research constitutes a relatively new area which has emerged from the problems of the industry that aims to automate activities considered costly efficiently. A common strategy used to study mobile robots, in production, is to automate work routines through robots, but specific tasks improve specific works. This paper proposes a new approach to use a SWARM of mobile robots to solve problems in the industry based on the bio-inspired solution. The bacteria can have actions that guarantee the survival of their colony; for this purpose, a series of measures can be adopted by the bacteria constituting the colony. This approach has been widely adopted in the field of SWARM of mobile robots with technical and sensory restrictions, to realize a plausible application in the industrial environment. The results of the experiment found clear support for the methodology created, and the bio-inspired SWARM proved to be potentially useful for applications in real industrial robot solutions
- Bio-inspired distributed sensors to autonomous search of gas leak sourcePublication . Rohrich, Ronnier Frates; Piardi, Luis; Lima, José; Oliveira, Andre SchneiderThis work presents multiple small robots in an unhealthy industrial environment responsible for detecting harmful gases to humans, avoiding possible harmful effects on the body. Mixed reality is widely used, considering that the environment and gases are virtual and real small robots. Essential components for the experiments are virtual, such as gases and BioCyber-Sensors. The results establish the great potential for applications in several areas, such as industrial, biomedical, and services. The entire system was developed based on ROS (Robot Operating System), thus the ease in diversifying different applications and approaches with multiple agents. The main objective of small robots is to guaranty a healthy work environment.
- Collaborative fault detection and diagnosis architecture for industrial cyber-physical systemsPublication . Piardi, Luis; Costa, Pedro; Oliveira, Andre Schneider; Leitão, PauloIndustrial Cyber-Physical Systems (ICPS) deploy a network of connected and heterogeneous systems, integrating computational and physical components, improving production and quality. However, a fault-free system is still utopian, but methodologies related to fault detection and diagnosis are still being treated in isolation or a centralized approach, overlooking the technological advances related to ICPS such as IoT, AI and edge computing. With this in mind, the present work proposes a collaborative architecture for fault detection and diagnosis, regarding the exchange of information for collaborative detection and diagnosis adopting disruptive technologies. Laboratory-scale ICPS experiments were carried out to compare the proposed approach with the approach where each component separately intends to identify and diagnose faults. The results present a faster response generating a system more flexible and robust.