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- Design, modeling, and control of an autonomous legged-wheeled hybrid robotic vehicle with non-rigid jointsPublication . Pinto, Vítor H.; Soares, Inês N.; Rocha, Marco; Lima, José; Gonçalves, José; Costa, Paulo Gomes daThis paper presents a legged-wheeled hybrid robotic vehicle that uses a combination of rigid and non-rigid joints, allowing it to be more impact-tolerant. The robot has four legs, each one with three degrees of freedom. Each leg has two non-rigid rotational joints with completely passive components for damping and accumulation of kinetic energy, one rigid rotational joint, and a driving wheel. Each leg uses three independent DC motors—one for each joint, as well as a fourth one for driving the wheel. The four legs have the same position configuration, except for the upper hip joint. The vehicle was designed to be modular, low-cost, and its parts to be interchangeable. Beyond this, the vehicle has multiple operation modes, including a low-power mode. Across this article, the design, modeling, and control stages are presented, as well as the communication strategy. A prototype platform was built to serve as a test bed, which is described throughout the article. The mechanical design and applied hardware for each leg have been improved, and these changes are described. The mechanical and hardware structure of the complete robot is also presented, as well as the software and communication approaches. Moreover, a realistic simulation is introduced, along with the obtained results.
- Systematic mapping literature review of mobile robotics competitionsPublication . Brancalião, Laiany Suganuma; Gonçalves, José; Conde, Miguel Ángel; Costa, Paulo Gomes daThis paper presents a systematic mapping literature review about the mobile robotics competitions that took place over the last few decades in order to obtain an overview of the main objectives, target public, challenges, technologies used and final application area to show how these competitions have been contributing to education. In the review we found 673 papers from 5 different databases and at the end of the process, 75 papers were classified to extract all the relevant information using the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) method. More than 50 mobile robotics competitions were found and it was possible to analyze most of the competitions in detail in order to answer the research questions, finding the main goals, target public, challenges, technologies and application area, mainly in education.
- Patente Nacional Nº 107553 - Equipamento para implementar o teste de avaliação funcional''timed up and go''Publication . Gonçalves, José; Batista, JoséO presente invento refere-se a um equipamento utilizado no teste de avaliação funcional ''timed up and go''. Trata-se de um dos testes típicos físicos feitos a grupos específicos da população com potencial défice de capacidade funcional, visando especialmente os gerontes. O sistema é constituído por uma cadeira (1) com um sensor micro interruptor (2) colocado debaixo do assento, um tapete (5) com dois sensores de força (3,4), uma carta eletrónica (6) desenvolvida, uma carta arduino uno (7) e um computador pessoal (8). O sensor micro interruptor deteta quando a pessoa se levanta, e os sensores de força sinalizam quando é inicializada a marcha. A carta electrónica desenvolvida é acoplada fisicamente ao arduino uno, sendo a conexão deste ao computador feita via porta usb. O presente sistema é aplicável, por exemplo, na medicina física e reabilitação, geriatria, e sempre que se pretenda avaliar a aptidão física de grupos específicos da população.
- CONTROLO 2020: Proceedings of the 14th APCA International Conference on Automatic Control and Soft ComputingPublication . Gonçalves, José (Ed.); Braz-César, Manuel (Ed.); Coelho, João Paulo (Ed.)Going to a conference is always an opportunity to establish contacts with other researchers and to grow culturally. Often, from informal conversations fostered by the conference’s social programme, synergies are generated, leading to new ideas and partnerships. Indeed, networking is the fundamental reason for being present at any conference. Moreover, every time we visit a new country, distinct realities are observed and a kind of mild acculturation happens. Experiences gathered from travelling shape our vision of the world and promote cultural enrichment. The CONTROLO 2020 Conference was intended not only to be a scientific event, but also to give the opportunity for the control community to know Bragança, the Polytechnic Institute of Bragança, and to network face-to-face in friendly, safe, stimulating and international environment. The city was prepared to receive this scientific community, with a welcome reception at the Castle of Bragança and a gala dinner at the gardens of the Abade de Baçal Museum, providing all the participants to get in touch with some of the most important landmarks of the Bragança cultural heritage. The ideal situation would be to communicate in person but, due to the current pandemic situation, the CONTROLO 2020 Conference was forced to change to an online event. In spite of all these difficulties, the decision to maintain the date of this event has demonstrated the resilience of APCA in adapting to extreme conditions. In addition, it was also important in this decision-making, to ensure that the dissemination of the research and development works, submitted and accepted for publication, would be made public in due time. A total of 93 papers, originating from 39 different countries, were submitted for publication, from which 76 were accepted, after an evaluation process that totalled more than 300 reviews. Besides its six special sessions and a MATLAB course, the CONTROLO 2020 Conference had the honour of having five of the most relevant personalities in automatic control community in its five plenary sessions, namely professors André Preumont, Eduardo Camacho, Karl Johansson, Kevin Passino and Sebástian Dormido. We hope that all interested readers can benefit scientifically from this conference proceedings.
- Overview of robotic based system for rehabilitation and healthcarePublication . Chellal, Arezki Abderrahim; Lima, José; Fernandes, Florbela P.; Gonçalves, José; Pacheco, Maria F.; Monteiro, Fernando C.As in many other fields, robots are increasingly being used in the healthcare sector, particularly for hospital logistics support, surgery and rehabilitation. Rehabilitation is a concern for millions of people around the world, and because of this, there has been a constant progress over the last decade in the rehabilitation robotics field, with the use of new technologies aimed at overcoming the different challenges faced in this field. In this sense, this paper reviews the main applications developed in the last ten years of rehabilitation robotics, as well as the different challenges that still need to be addressed in order to achieve the design of a prototype that is easy to use, small, safe, less costly and brings real added value to this field. Much of the efforts of the researchers in this topics is focused on providing as many DOF and ROM as possible, and also on the designing of new robots control algorithms
- Manufacturing education and training resorting to a new mobile robot competitionPublication . Gonçalves, José; Lima, José; Costa, Paulo Gomes da; Moreira, António Paulo G. M.In this paper it is discussed the educational, research and development outcomes that are respected to achieve from a new robot competition, proposed and conceived by the authors, that was recently included in Robotica (the main Robotics Portuguese Competition). The robot competition takes place in an emulated factory plant, where Automatic Guided Vehicles (AGVs) 1mtst cooperate to perform tasks.
- Aprendizagem baseada em soluções efetivasPublication . Matos, Paulo; Alves, Rui; Gonçalves, JoséOs autores apresentam a Aprendizagem Baseada em Soluções Efetivas que deriva da Aprendizagem Baseada em Projeto, mas aplicada a problemas reais com objetivo de contruir soluções efetivas. A enfase é colocada na efetividade no pressuposto que incentiva a um maior envolvimento e comprometimento por parte dos alunos, assegurando um contexto que se pretende mais aliciante e próximo do que será a realidade profissional dos alunos. A efetividade é aferida pelas funcionalidades consideradas essenciais à plena utilização e resolução do problema, mas também pela viabilidade da aplicação ser efetivamente utilizada, sem que seja necessário a continuidade do envolvimento dos alunos. As evidências empíricas apontam um claro aumento da aquisição de competências, do número de aprovados e das classificações. Permitiu também definir um posicionamento estratégico de cooperação com a comunidade envolvente, em que todas as partes beneficiam (formandos, docentes, instituição de ensino, entidades locais e regionais e empregadores).
- Conception, development and validation of a software interface to assess human’s horizontal intra-cyclic velocity with a mechanical speedo-meterPublication . Barbosa, Tiago M.; Costa, M.J.; Morais, J.E.; Jesus, Sérgio; Marques, Mário C.; Batista, José; Gonçalves, JoséThe aim of this paper was to: (i) calibrate the Swimsportec® speedo-meter; (ii) concept and develop a software’s interface for it (iii) validate the full system. Calibration was done with an industrial robot. The robot arm’s performed a linear and horizontal path at a uniform movement for a set of wide range of velocities (0.5
- 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.
- Fostering STEAM through challenge‐based learning, robotics, and physical devices: a systematic mapping literature reviewPublication . Conde, Miguel Ángel; Rodríguez-Sedano, Francisco Jesús; Fernández‐Llamas, Camino; Gonçalves, José; Lima, José; García-Peñalvo, Francisco JoséNowadays, companies are demanding better-prepared professionals to succeed in a digital society, and the acquisition of Science, Technology, Engineering, Arts, and Mathematics (STEAM)-related competencies is a key issue. One of the main problems in this sense is how to integrate STEAM into the current educational curricula. This is not something related to a subject or educational trend but rather to new methodological approaches that can engage students. In this sense, such active methodologies that apply mechatronics and robotics could be an interesting path to pursue. Given this context, the first necessary task in evaluating the potential of this approach is to understand the landscape of the application of robotics and mechatronics in STEAM Education and how active methodologies are applied in this sense. To carry out this analysis in a systematic and replicable manner, it is necessary to follow a methodology. In this case, the researchers employ a systematic mapping review. This paper presents this process and its main findings. Fifty-four studies have been selected out of 242 total studies analyzed. From these, beyond obtaining a clear vision of the STEAM landscape regarding project topics, we can also conclude that robotics and physical devices have been applied successfully with collaborative methodologies in STEAM Education. Regarding conclusions, this paper shows that robotics and mechatronics applied with active methodologies is to be a good means to engage students in STEAM disciplines and thus aid the acquisition of what is commonly known as “21st-century skills.