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The easyPET concept proposed here, protected under a patent by the University of Aveiro, aims to realize a simple and affordable small dimension Positron Emission Tomography (PET) scanner. This innovative system is based on a single pair of detectors and a rotating mechanism with two degrees of freedom reproducing the functionalities of an entire PET ring. A 2D imaging prototype has been designed,...
In the present work, a method based on belief space planning, assuming maximum likelihood of the observations, is applied to the planning of manipulation for an underwater robotic arm. The manipulator is rigidly connected to a floating platform, such as a ROV (Remotely Operated Vehicle) or an AUV (Autonomous Underwater Vehicle). The arm and platform motions are statistically independent from the motion...
This paper addresses the problem of designing high-precision bottom-followers for remotely operated vehicles. In the framework of hierarchical control architectures able to uncouple the robot's kinematics (guidance) and dynamics (velocity control), the task of bottom-following is accomplished by suitable guidance task functions, which enable the system to handle unmodeled, i.e. not measured or estimated,...
This paper addresses the problem of designing high precision bottom followers for remotely operated vehicles. In the framework of hierarchical control architectures able to uncouple the robot's kinematics (guidance) and dynamics (velocity control), the task of bottom-following is accomplished by suitable guidance task functions, which enable the system to handle unmodeled, i.e., not measured or estimated,...
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