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The Mirã rover was developed as a cooperation project between LabRom (EESC - USP) and Embrapa Instrumentação. It used an embedded LIBS technology to analyze essential soil nutrient elements for precision agriculture applications, the knowledge of soil components is an important task to know the nutritional variability of the soil, which makes possible to develop strategies to reduce the financial...
Vision-based driving systems are embedded systems that commonly have to consider real time constraints. Proposed systems use general purpose computers to execute designed algorithms based on their processing power and reduced designing time. These computers and other sensors are considerably power consuming and considerably increase the final cost of proposed solutions. Design of specific hardware...
Estimating the localization of an autonomous robot is a key problem in robotics. Monocular cameras have been successfully used to solve this problem, but they suffer with the absence of depth information. It limits measurements made with only monocular cameras to be recoverable only up to a scale. This condition is known as scale ambiguity. In this paper we propose an approach to solve the scale ambiguity...
Energy limitation is one of the most important challenges. Many applications are being developed and one important aspect is the excess of information, frequently redundant, that imposes a great computational cost in data processing and consequently power consummation. Management of all power resources is therefore important for intelligent vehicles and mobile robots. In previous works, we have proposed...
The applications of UAVs (Unmanned Aerial Vehicles) are growing up and becoming part of many daily tasks in many organizations. However, as matter of fact, the use of a UAV does not mean the decreasing of operational complexities and, consequently, the costs of perform its tasks. Some times this high cost is connected to the dependence of well-trained operators and huge remote control facilities to...
The study of the ways in which humans interact with robots is a multidisciplinary field with multiple contributions from electronics, robotics, human-computer interaction, ergonomics and even social sciences. The robotics industry is mainly focused on the development of conventional technologies that improve efficiency and reduce the amount of repetitive work. To achieve this, enterprises must train...
Simulation is an important step of a robotics project. It helps saving time and resources during the project development phase reducing hardware requirements and field tests deployments. Through simulations it is possible to test algorithms in virtually any environment. As complex robots are usually manged by robotics frameworks, a framework-simulator integration is a powerful tool, which allows design...
Robotic manipulation under unstructured environments still is an open challenge to the research community. Lots of effort have been addressed to visual perception and remarkable progress has been achieved in the area. However, the information obtained from vision systems is frequently incomplete and noisy, incapacitating robotic systems to complete their target tasks in some cases. Moreover, little...
This paper presents a control architecture that enables the execution of cooperative tasks with a set of mobile robots. In this architecture, a cooperative task is defined by known subtasks specified for mono-robot tasks and/or group subtasks. The representation of a cooperative task uses the formalism of a Petri net, which allows the definition of a sequential and/or concurrent execution of group...
With the popularization of small Unmanned Aerial Vehicles (UAVs) and their usage diversification among various fields, such as aerial mapping applications, it is important to develop better terrain following techniques that rely solely on the vehicle's sensing capabilities. The objective of this paper is to evaluate whether is possible to gather information about terrain inclination and elevation...
The use of robots in underwater exploration is increasing in the last years. The automation of the monitoring, inspection and underwater maintenance tasks require a good mapping and localization system. One of the key issues of these systems is how to summarize the sensory information in order to recognize an area that has already been visited. This paper proposes a description method of acoustic...
One of the most important tasks in building environment maps with partial information is to find a good alignment between pairs of point clouds representing consecutive frames. RANSAC and ICP are widely used algorithms to align pairs of frames: the former finds an initial transformation which is refined by the latter. Decreasing the alignment error in the first step can reduce the computational cost...
The container loading problem has been widely studied recently, in order to reduce logistical costs. The container's applicability is based on the reduction on losses, theft, damaging of goods and general costs, that such device provides. On the other hand, automated planning research, intends to assist the industrial processes for systematically specifying a set of actions that allows achieving a...
This paper aims at introducing an optimal design methodology for the Stewart Platform robot controlled by a PD position controller. This optimal design method intends to maximize the positioning accuracy by using metaheuristic optimization methods. The structure design variables of the mechanism combined with the gains of the controller are the structure-control design variables. The structure-control...
Important drawbacks of parallel kinematic machines can be partially overcome by the use of redundancy. Despite of some trade off issue, redundancy is a promising solution to achieve improved dynamic performance and energy efficiency. This manuscript describes preliminary numerical results on the rational use of three levels of kinematic redundancy of a 3 (P)R RR parallel planar manipulator. Moreover,...
An important task for mobile robots is autonomous navigation, where the robot travels between a starting point and a target point without the need for human intervention. This task can be described as a planning path problem, whose purpose is to locate sequential segments of state transitions (Cells) from an initial to a final goal. This paper investigates a family of trajectory generation algorithms...
In shipbuilding, welding is a key process. The present paper proposes a VBM (Vision-Based Measurement) system for the automation of intelligent robotic welding applications. The proposed system is based on a single CMOS camera as visual sensor, for the image acquisition, and a FPGA (Field Programmable Gate Array) digital system, able to read the robot signals and adjust the weld pattern and welder...
Challenging ground truth and standardized metrics are a mandatory requirement for the development and evaluation of computer vision algorithms. Despite the significant amount of publications on video based fire detection research it remains difficult to compare different algorithms due to the lack of common evaluation schemes and evaluation datasets. We address both of these issues by presenting a...
Autonomous navigation involves solving problems of perception, localization, planning and control. Based on how these problems can be solved it is possible to have a deliberative, reactive or deliberative-reactive (hybrid) navigation. Additionally, navigation must meet security requirements for both the robot and humans operating in the same workspace. Thus, a navigation system for differential hybrid...
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