Browsing by Author "Ribeiro, Francisco"
Now showing 1 - 4 of 4
Results Per Page
Sort Options
- Data fusion using ultra wideband time-of-flight positioning for mobile robot applicationsPublication . Lima, José; Pinto, André F.; Ribeiro, Francisco; Pinto, Milena F.; Pereira, Ana I.; Pinto, Vítor H.; Costa, Paulo Gomes daSelf-localization of a robot is one of the most important requirements in mobile robotics. There are several approaches to providing localization data. The Ultra Wide Band Time of Flight provides position information but lacks the angle. Odometry data can be combined by using a data fusion algorithm. This paper addresses the application of data fusion algorithms based on odometry and Ultra Wide Band Time of Flight positioning using a Kalman filter that allows performing the data fusion task which outputs the position and orientation of the robot. The proposed solution, validated in a real developed platform can be applied in service and industrial robots.
- Glove prototype for feature extraction applied to learning by demonstration purposesPublication . Cerqueira, Tiago; Ribeiro, Francisco; Pinto, Vítor H.; Lima, José; Goncalves, GilThis article focuses on a sensorial glove prototype capable of acquiring hand motion and estimating its pose. The presented solution features twelve inertial measurement units (IMUs) to track hand orientation. The sensors are attached to a glove to decrease the project cost. The system also focuses on sensor fusion algorithms for the IMUs and further implementations, presenting the algebraic quaternion algorithm (AQUA), used because of its modularity and intuitive implementation. An adaptation of a human hand model is proposed, explaining its advantages and its limitations. Considering that the calibration is a very important process in gyroscope performance, the online and offline calibration data was analyzed, pointing out its challenges and improvements. To better visualize the model and sensors a simulation was conducted in Unity.
- Hybrid legged-wheeled robot path following: a realistic simulation approachPublication . Pinto, Vítor H.; Soares, Inês N.; Ribeiro, Francisco; Lima, José; Gonçalves, José; Costa, Paulo Gomes daLegged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm.
- Synthesis of Tricyclic and Tetracyclic Lactone Derivatives of Thieno[2,3-b]pyrazine or Thieno[2,3-b]quinoline: Preliminary Antitumor and Antiparasitic Activity EvaluationPublication . Martins, Maria F.; Ribeiro, Francisco; Borges, Ana Margarida; Calhelha, Ricardo C.; Santarém, Nuno; Cordeiro-da-Silva, Anabela; Queiroz, Maria João R.P.Tricyclic and tetracyclic lactone derivatives of thieno[2,3-b]pyrazine or thieno[2,3-b]quinoline, and 2H-pyrones were prepared using different methodologies. Pd/Cu-catalyzed Sonogashira coupling using Et3N as a base, of methyl 7-bromothieno[2,3-b]pyrazine-6-carboxylate and (het)arylalkynes to yield the Sonogashira ester products, gave also the corresponding tricyclic lactones as minor products. However, the major products did not cyclize with TFA. Tricyclic lactones were then obtained by a tandem one-pot Sonogashira coupling and 6-endo-dig lactonization of 7-bromothieno[2,3-b]pyrazine-6-carboxylic acid with (het)arylalkynes, in good yields. Halogenated tricyclic lactones were synthesized by halocyclization using CuX and NXS. Tetracyclic lactones were synthesized through a Rh(III)-catalyzed formal [4+2] cycloaddition, between thieno[2,3-b]quinoline-2-carboxylic acid and internal alkynes, triggered by C-H activation, with the carboxylic group acting as a directing group. Using the SRB assay, the antitumor activity of both Sonogashira products and lactones was evaluated across five human cancer cell lines (CaCo-2, MCF-7, AGS, HeLa, NCI-H460). The best-performing compound was a Sonogashira product showing a GI50 < 10 µM in all tumor cell lines and low toxicity in PLP2 cells. Additionally, antiparasitic testing against Trypanosoma brucei and Leishmania infantum revealed some compounds with IC50 < 11 µM, though some level of cytotoxicity was observed in THP-1—derived macrophages.