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- Combining particle filter and fiducial markers in a slam-based approach to indoor localization of mobile robotsPublication . Oliveira JĂșnior, Alexandre de; LeitĂŁo, Paulo; Bertogna, Eduardo GiomettiMobile Robotics is an ever-expanding field in several application areas, but it is still subject to numerous challenges, mainly related to localization in indoor environments. Approaches commonly used to solve localization problems in these environments, such as Simultaneous Localization and Mapping (SLAM), while quite effective in static environments, are still easily subject to inaccuracies and failures in dynamic environments, or environments with a very limited number of distinguishing features. In this work, an approach that aims to integrate a SLAM technique based on particle filtering with a position tracking algorithm for fiducial markers distributed in the indoor environment will be presented. The proposed approach allows to perform corrections for intrinsic errors accumulated in the particle filter, as well as a way to solve global localization problems by obtaining the position of global landmarks based on the detection of the markers. Experiments to validate the proposed localization system were performed in a simulation environment, which allowed to ensure the effectiveness of the method compared to the traditional approach with the particle filter. Based on the results obtained, the system was adapted for testing in a real environment, making use of a mobile robot integrated with the ROS framework.
- A robot localization proposal for the RobotAtFactory 4.0: A novel robotics competition within the Industry 4.0 conceptPublication . Braun, JoĂŁo; Oliveira JĂșnior, Alexandre de; Berger, Guido; Pinto, VĂtor H.; Soares, InĂȘs N.; Pereira, Ana I.; Lima, JosĂ©; Costa, Paulo Gomes daRobotic competitions are an excellent way to promote innovative solutions for the current industriesâ challenges and entrepreneurial spirit, acquire technical and transversal skills through active teaching, and promote this area to the public. In other words, since robotics is a multidisciplinary field, its competitions address several knowledge topics, especially in the STEM (Science, Technology, Engineering, and Mathematics) category, that are shared among the students and researchers, driving further technology and science. A new competition encompassed in the Portuguese Robotics Open was created according to the Industry 4.0 concept in the production chain. In this competition, RobotAtFactory 4.0, a shop floor, is used to mimic a fully automated industrial logistics warehouse and the challenges it brings. Autonomous Mobile Robots (AMRs) must be used to operate without supervision and perform the tasks that the warehouse requests. There are different types of boxes which dictate their partial and definitive destinations. In this reasoning, AMRs should identify each and transport them to their destinations. This paper describes an approach to the indoor localization system for the competition based on the Extended Kalman Filter (EKF) and ArUco markers. Different innovation methods for the obtained observations were tested and compared in the EKF. A real robot was designed and assembled to act as a test bed for the localization systemâs validation. Thus, the approach was validated in the real scenario using a factory floor with the official specifications provided by the competition organization.
- RobotAtFactory 4.0: a ROS framework for the SimTwo simulatorPublication . Braun, JoĂŁo; Oliveira JĂșnior, Alexandre de; Berger, Guido; Lima, JosĂ©; Pereira, Ana; Costa, Paulo Gomes daRobotics competitions encourage the development of solutions to new challenges that emerge in sync with the rise of Industry 4.0. In this context, robotic simulators are employed to facilitate the development of these solutions by disseminating knowledge in robotics, Education 4.0, and STEM. The RobotAtFactory 4.0 competition arises to promote improvements in industrial challenges related to autonomous robots. The official organization provides the simulation scene of the competition through the open-source SimTwo simulator. This paper aims to integrate the SiwTwo simulator with the Robot Operating System (ROS) middleware by developing a framework. This integration facilitates the design of robotic systems since ROS has a vast repository of packages that address common problems in robotics. Thus, competitors can use this framework to develop their solutions through ROS, allowing the simulated and real systems to be integrated.
- Digitalization of Industrial Inspection Assets through the Asset Administration ShellPublication . Treuk, Iury Michel; Oliveira JĂșnior, Alexandre de; Lopes, Rui Pedro; Mota, Gonçalo; Mira, J. Joaquim; LeitĂŁo, PauloDevelopments in industrial manufacturing systems, through the use of new digital technologies, are revolutionizing the traditional means by which companies operate in terms of productivity and competitiveness. The adoption of technologies related to Industry 4.0 (I4.0) has led to the possibility of digitizing industrial assets to achieve more responsive, reconfigurable and efficient production systems. The Asset Administration Shell (AAS) corresponds to a form of digital representation of a physical asset, such as, a machine or device, that describes its properties, functionalities, and behaviours, as well as guarantee interoperability between different systems. Implementing AAS in the industrial environment allows the creation of a standard for digitalising asset scenarios, which can be used for intelligent and non-intelligent products. This paper explores modelling geometric inspection assets on an automotive assembly line using AAS standards. Once modelled, the AAS of the assets are applied to a new approach for reactive AAS based on a REST API for real-time data transmission to a framework focused on Zero Defects Manufacturing. The implications associated with the asset modelling and the creation of the AAS server are presented and discussed, giving a critical opinion on the current status of the technologies associated with AAS in I4.0.
- Improving the mobile robots indoor localization system by combining SLAM with fiducial markersPublication . Oliveira JĂșnior, Alexandre de; Piardi, Luis; Bertogna, Eduardo Giometti; LeitĂŁo, PauloAutonomous mobile robots applications require a robust navigation system, which ensures the proper movement of the robot while performing their tasks. The key challenge in the navigation system is related to the indoor localization. Simultaneous Localization and Mapping (SLAM) techniques combined with Adaptive Monte Carlo Localization (AMCL) are widely used to localize robots. However, this approach is susceptible to errors, especially in dynamic environments and in presence of obstacles and objects. This paper presents an approach to improve the estimation of the indoor pose of a wheeled mobile robot in an environment. To this end, the proposed localization system integrates the AMCL algorithm with the position updates and corrections based on the artificial vision detection of fiducial markers scattered throughout the environment to reduce the errors accumulated by the AMCL position estimation. The proposed approach is based on Robot Operating System (ROS), and tested and validated in a simulation environment. As a result, an improvement in the trajectory performed by the robot was identified using the SLAM system combined with traditional AMCL corrected with the detection, by artificial vision, of fiducial markers.
- Hands-on learning modules for upskilling in industry 4.0 technologiesPublication . Oliveira JĂșnior, Alexandre de; Assumpção, Heitor Dutra; Queiroz, Jonas; Piardi, Luis; Parra, Javier; LeitĂŁo, PauloThe Industry 4.0 (I4.0) advent is re-shaping the way systems and processes operate by considering Cyber- Physical Systems combined with a plethora of emergent Information and Communication Technologies (ICT), e.g., Internet of Things (IoT), Artificial Intelligence, Cloud Computing and Intelligent Robotics. However, the emergence of such disruptive technologies strongly establishes a demand for upskilling and requalification of active professionals and young undergraduate students. This means that the wide adoption of the 14.0 systems and related tech-nologies is dependent on the efficient implementation of lifelong learning and training initiatives that address these challenges. Having this in mind, this paper describes the implementation of a series of short learning modules and hackathons that relies on a strong hands-on practical experimentation, regarding the upskilling in emergent ICT technologies, particularly focusing on IoT, mobile robotics and Multi-agent Systems. The preliminary efforts contributed to qualify undergraduate students and active professionals in disruptive ICT, with the attendees' feedback illustrating the importance of these kind of short and hands-on learning modules to address towards the continuous demands associated to the diaital transformation.
- Artificial intelligence data-driven petri nets approach for virtualizing digital twinsPublication . Oliveira JĂșnior, Alexandre de; Calvo-Rolle, Jose Luis; LeitĂŁo, PauloVirtualization is one key design principle in Industry 4.0, with the modeling and simulation of the physical assets playing crucial roles in the Digital Twin context. Different approaches can be used to implement the virtual asset models, ranging from simple equations to complex mathematical models. Petri nets formalism is a suitable approach to model and simulate the physical asset operation in the Digital context, particularly those that are event-driven, taking advantage of its inherent robust mathematical foundation. Having this in mind, this paper proposes a Petri nets approach, which considers Artificial Intelligent data-driven analytics associated to timed transitions to support the execution of what-if simulation aiming the monitoring, diagnosis, prediction, and optimization. The proposed approach was tested in an experimental punching machine, allowing the early identification the performance degradation in the Digital Twin and the selection of actions to be implemented in the physical asset to improve its operation.
- Artificial intelligence-based user interaction module for autonomous mobile service robotsPublication . Alcantara, Carlos Boduar; Oliveira JĂșnior, Alexandre de; Costa, Julio; Ricken, Lucas; Mendes, Andre C.; LeitĂŁo, PauloWith the evolution of Artificial Intelligence (AI) technologies, there is a growing demand for Intelligent Personal Assistants (IPAs) that allow fluid communication with humans. However, there are still several challenges to overcome, such as difficulty in understanding nuances in some contexts. Therefore, this study seeks to mitigate these gaps by presenting a modular and scalable architecture for integrating IPAs into autonomous service robots. The architecture allows communication between various robot systems and peripherals with AI mechanisms, including Large Language Model (LLM) and Natural Language Processing, which seek to improve the user experience. The proposed architecture was applied to developing a service robot designed to guide and interact with people in a university environment, incorporating the RASA framework with an LLM for natural language processing and response generation. The paper discusses the adopted technologies, the current state of development, the difficulties encountered, and the analysis of the first feedback from volunteers.
- Sensorial testbed for high-voltage tower inspection with UAVsPublication . Berger, Guido; Oliveira JĂșnior, Alexandre de; Braun, JoĂŁo; Lima, JosĂ©; Pinto, Milena F.; Valente, AntĂłnio; Pereira, Ana I.; Cantieri, Ălvaro R.; Wehrmeister, Marco A.This work presents a methodology for characterizing ultrasonic and LASER sensors aimed at detecting obstacles within the context of electrical inspections by multirotor Unmanned Aerial Vehicles (UAVs). A set of four ultrasonic and LASER sensor models is evaluated against eight target components, typically found in high-voltage towers. The results show that ultrasonic sensor arrays displaced 25 â apart reduce the chances of problems related to crosstalk and angular uncertainty. Within the LASER sensor suite, solar exposure directly affects the detection behavior among lower power sensors. Based on the results obtained, a set of sensors capable of detecting multiple obstacles belonging to a high-voltage tower was identified. In this reasoning, it becomes possible to model sensor architectures for multirotor UAVs to detect multiple obstacles and advance in the state of the art in obstacle avoidance systems by UAVs in inspections of high-voltage towers.
- Remote lab of robotic manipulators through an open access ROS-based platformPublication . Stefanuto, Bruno Matheu Moreira; Piardi, Luis; Oliveira JĂșnior, Alexandre de; Vallim, Marcos; LeitĂŁo, PauloThe research, training, and learning in robotic systems is a difficult task for institutions that do not have an appropriate equipment infrastructure, mainly due to the high investment required to acquire these systems. Possible alternatives are the use of robotic simulation platforms and the creation of remote robotic environments available for different users. The use of the last option surpasses the former one in terms of the possibility to handle real robotic systems during the training process. However, technical challenges appear in the management of the supporting infrastructure to use the robotic systems, namely in terms of access, safety, security, communication, and programming aspects. Having this in mind, this paper presents an approach for the remote operation of real robotic manipulators under a virtual robotics laboratory. To this end, an open access and safe web-based platform was developed for the remote control of robotic manipulators, being validated through the remote control of a real UR3 manipulator. This platform contributes to the research and training in robotic systems among different research centers and educational institutions that have limited access to these technologies. Furthermore, students and researchers can use this educational tool that differs from traditional robotic simulators through a virtual experience that connects real manipulators worldwide through the Internet.