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ROSM - Robotic Oil Spill Mitigations

ROSM - Robotic Oil Spill Mitigations

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2019 OCEANS - Marseille, OCEANS Marseille 2019

作者： Dias, A. Mucha, A.P. Santos, T. Pedrosa, D. Amaral, G. Ferreira, H. Oliveira, A. Martins, A. Almeida, J. Almeida, C.M. Ramos, S. Magalhães, C. Carvalho, M.F. Silva, E. ISEP Instituto Superior de Engenharia do Porto Porto Portugal CIIMAR Centro Interdisciplinar de Investigacao Marinha e Ambiental Porto Portugal INESC TEC Institute for Systems and Computer Engineering Technology and Science Porto Portugal

ISBN: (纸本)9781728114507

The overall aim of the ROSM project is the implementation of an innovative solution based on heterogeneous autonomous vehicles to tackle maritime pollution (in particular, oil spills). These solutions will be based on native microbial consortia with bioremediation capacity, and the adaptation of air and surface autonomous vehicles for in-situ release of autochthonous microorganisms (bioaugmentation) and nutrients (biostimulation). By doing so, these systems can be used as the first line of the responder to pollution incidents from several origins that may occur inside ports, around industrial and extraction facilities, or during transport activities, in a fast, efficient and low-cost way. The paper will address the development of a team of autonomous vehicles able to carry, as payload, native organisms to naturally degrade oil spills (avoiding the introduction of additional chemical or biological additives), the development of a multi-robot system able to provide a first line responses to oil spill incidents under unfavourable and harsh conditions with low human intervention, and then a decentralized cooperative planning with the ability to coordinate an efficient oil spill combat. Field tests have been performed in Leixoes Harbour in Porto and Medas, Portugal, with a simulated oil spill and validated the decentralized coordinated task between the autonomous surface vehicle (ASV) ROAZ and the unmanned aerial vehicle (UAV). © 2019 IEEE.

关键词： Bioremediation

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Controller for Real and Simulated Wheelchair With a Multimodal Interface Using Gazebo and ROS

Controller for Real and Simulated Wheelchair With a Multimod...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Ana Beatriz Cruz Armando Sousa Luìs Paulo Reis LIACC Artificial Intelligence and Computer Science Lab Oporto Portugal INESC TEC Institute for Systems and Computer Engineering Technology and Science

ISBN: (数字)9781728170787

ISBN: (纸本)9781728170794

The evolution of intelligent wheelchairs with new systems to control them and help the user to be more independent has been remarkable in recent years. Since these systems have a significant impact on the quality of life of people with disabilities, it is crucial that it is suited for the final user and does not put his life at risk. Initially, this study proposes a 3D motorised wheelchair model with robotic tools to be used in simulation environments and helps the development and validation of new approaches. This model uses Robotic Operating System (ROS) tools to help the addition of sensors and actuators. With the ROS- Nodes, it is easy to add new features and controllers. The Gazebo framework was used to create the simulation environments. After that, following previous work, it is proposed a wheelchair controller that receives commands from a multimodal interface and can control a real and simulated wheelchair at the same time. This work studies new wheelchair models and their respective controllers in a simulated environment and gradually test in real- world to obtain the final model with low costs and minimise engineering costs.

关键词： Wheelchairs Wheels Solid modeling Visualization Mobile robots Robot sensing systems

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LOOM: Interweaving tightly coupled visualization and numeric simulation framework

LOOM: Interweaving tightly coupled visualization and numeric...

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In Situ Infrastructures for Enabling Extreme-Scale Analysis and Visualization, ISAV 2021 - Held in conjunction with the International Conference for High Performance Computing, Networking, Storage and Analysis, SC 2021

作者： Barbosa, Joao Navratil, Paul Paulo Santos, Luis Fussell, Donald University of Minho Braga Portugal INESC TEC - Institute for Systems and Computer Engineering Technology and Science Braga Portugal TACC University of Texas at Austin AustinTX United States University of Texas at Austin AustinTX United States

ISBN: (纸本)9781450387156

Traditional post-hoc high-fidelity scientific visualization (HSV) of numerical simulations requires multiple I/O check-pointing to inspect the simulation progress. The costs of these I/O operations are high and can grow exponentially with increasing problem sizes. In situ HSV dispenses with costly check-pointing I/O operations, but requires additional computing resources to generate the visualization, increasing power and energy consumption. In this paper we present LOOM, a new interweaving approach supported by a task scheduling framework to allow tightly coupled in situ visualization without significantly adding to the overall simulation runtime. The approach exploits the idle times of the numerical simulation threads, due to workload imbalances, to perform the visualization steps. Overall execution time (simulation plus visualization) is minimized. Power requirements are also minimized by sharing the same computational resources among numerical simulation and visualization tasks. We demonstrate that LOOM reduces time to visualization by 3 × compared to a traditional non-interwoven pipeline. Our results here demonstrate good potential for additional gains for large distributed-memory use cases with larger interleaving opportunities. © 2021 ACM.

关键词： Visualization

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Multi-Agent Optimization for Offshore Wind Farm Inspection using an Improved Population-based Metaheuristic

Multi-Agent Optimization for Offshore Wind Farm Inspection u...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Renato Jorge Silva Pedro Nuno Leite Andry Maykol Pinto Center of Robotics and Autonomous Systems (CRAS) Institute for Systems and Computer Engineering Technology and Science (INESC TEC) Porto Portugal

ISBN: (数字)9781728170787

ISBN: (纸本)9781728170794

The use of robotic solutions in tasks such as the inspection and monitorization of offshore wind farms aims to, not only mitigate the involved risks, but also to reduce the costs of operating and maintaining these structures. Performing a complete inspection of the platforms in useful time is crucial. Therefore, multiple agents can prove to be a cost-effective solution. This work proposes a trajectory planning algorithm, based on the Ant Colony metaheuristic, capable of optimizing the number of Autonomous Surface Vehicles (ASVs) to be used, and their corresponding route. Experiments conducted on a simulated environment, representative of the real scenario, proves this approach to be successful in planning a trajectory that is able to select the appropriate number of agents and the trajectory of each agent that avoids collisions and at the same time guarantees the full observation of the offshore structures.

关键词： Trajectory Planning Task analysis Inspection Robots Mathematical model Meters

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Harnessing Parasitic Cavity as Reference for Low Coherence systems

Harnessing Parasitic Cavity as Reference for Low Coherence S...

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2024 IEEE Photonics Conference, IPC 2024

作者： Robalinho, Paulo Rodrigues, A. Novais, S. Lobo Ribeiro, A.B. Silva, S. Frazão, O. Institute for Systems and Computer Engineering Technology and Science Inesc Tec Porto Portugal Faculty of Engineering University of Porto Department of Engineering Physics Portugal University Fernando Pessoa Faculty of Health Sciences R. Carlos da Maia 296 Porto4200-150 Portugal

This work presents an implementation of a reference optical cavity based on parasitic cavities on a low coherence interferometric system. This method allows a maximization of the number of sensors to be implemented wi... 详细信息

ISBN: (纸本)9798350361957

关键词： Optical fibers

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New marker for real-time industrial robot programming by motion imitation

New marker for real-time industrial robot programming by mot...

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2014 IEEE International Conference on Robotics and Automation, ICRA 2014

作者： Ferreira, Marcos Costa, Paulo Rocha, Luis Moreira, A. Paulo Pires, Norberto Dept. of Electrical and Computer Eng. Faculty of Eng. Univ. of Porto Portugal INESC TEC -Institute for Systems and Computer Engineering of Porto Portugal Dept. of Mechanical Eng. Faculty of Science and Technology Univ. of Coimbra Portugal

This paper presents a new marker for robot programming by demonstration through motion imitation. The device is based on high intensity LEDs (light emission diodes) which are captured by a pair of industrial cameras. Using stereoscopy, the marker supplies 6-DoF (degrees of freedom) human wrist tracking with both position and orientation data. We propose a robust technique for camera and stereo calibration which maps camera coordinates directly into the desired robot frame, using a single LED. The calibration and tracking procedures are thoroughly described. The tests show that the marker presents a new robust, accurate and intuitive method for industrial robot programming. The system is able to perform in real-time and requires only a single pair of industrial cameras though more can be used for improved effectiveness and accuracy. © 2014 IEEE.

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Transmissive glucose concentration plasmonic Au sensor based on unclad optical fiber

Transmissive glucose concentration plasmonic Au sensor based...

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Bioengineering (ENBENG), Portuguese Meeting in

作者： Cristina Cunha Ana Sofia Assunção Catarina S. Monteiro Cátia Leitão João P. Mendes Susana Silva Orlando Frazão Susana Novais Department of Physics and Astronomy Faculty of Sciences of the University of Porto INESC TEC-Institute for Systems and Computer Engineering Technology and Science Porto Portugal Physics Department i3N University of Aveiro Aveiro portugal Faculty of Sciences of the University of Porto INESC TEC-Institute for Systems and Computer Engineering Technology and Science Porto Portugal CIQUP Chemistry Research Center Faculty of Sciences of the University of Porto INESC TEC-Institute for Systems and Computer Engineering Technology and Science Porto Portugal INESC TEC-Institute for Systems and Computer Engineering Technology and Science Porto Portugal

Using surface resonance (SPR) as a sensitivity enhancer, this work describes the development of a transmissive multimode optical fiber sensor with a gold (Au) thin film that measures glucose concentration. The fiber's cladding was initially removed, and an Au layer was then sputtered onto its surface to simultaneously excite SPR and reflect light, making the SPR sensor extremely sensitive to changes in the environment's refractive index. A range of glucose concentrations, from 0.0001 to 0.5000 g/ml, were tested on the sensor. A maximum sensitivity of 161.302 nm/(g/mL) was attained for the lowest glucose concentration, while the highest concentration yielded a sensitivity of 312.000 nm/(g/mL). The proposed sensor's compact size, high sensitivity, good stability and practicality make it a promising candidate for a range of applications, including detecting diabetes.

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Detection and Mapping of Monopiles in Offshore Wind Farms using Autonomous Surface Vehicles

Detection and Mapping of Monopiles in Offshore Wind Farms us...

引用

OCEANS

作者： Rafael Claro Renato Silva Andry Pinto INESC TEC - Institute for Systems and Computer Engineering Technology and Science FEUP - Faculty of Engineering University of Porto Porto Portugal

ISBN: (数字)9781728154466

ISBN: (纸本)9781728184098

This paper presents an algorithm for mapping monopiles from Offshore Wind Farms (OWF). The ASV (Au-tonomous Surface Vehicle) surveys the environment, detects and localizes monopiles using situational awareness system based on LiDAR, GPS and IMU (Inertial Measurement Unit) data. The position of the monopile is obtained based on the relative localization between the extrapolated center of the structure that was detected and the ASV. A positive detection of a monopile is referenced to a global positioning frame based on the GPS. Results in a simulator environment demonstrate the ability of this situational awareness system to identify monopiles with a precision of 0.005 m, which is relevant for detecting structural disalignments over time that might be caused by the appearance of scour in the structure's foundation.

关键词： Location awareness Extrapolation Measurement units Laser radar Wind farms Monitoring Global Positioning System

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Evaluation of different bidding strategies for a battery energy storage system performing energy arbitrage – a neural network approach

Evaluation of different bidding strategies for a battery ene...

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International Conference on European Electricity Market, EEM

作者： Pedro Santos Igor Rezende Tiago Soares Vladimiro Miranda Institute for Systems and Computer Engineering Technology and Science (INESC TEC) University of Porto Faculty of Engineering (FEUP) Porto Portugal

The rising potential for battery energy storage systems (BESS) to generate revenue in a market environment is addressed in this work, where a tool based on neural network predictions is proposed. The tool's main objective is predicting, based on historical data, the most lucrative out of three established bidding approaches for the participation of a BESS in the day-ahead energy market and thus aid the strategic bidding process of the BESS operator. Each of these bidding strategies reflects BESS’s operator approach concerning bidding frequency and the tolerated risk of loss of profit from having its bids rejected, leading to the development of a conservative (strategy A), an aggressive (strategy B), and a moderate strategy (strategy C). A case study was then used to test the tool for a full year allowing to ascertain the assertiveness of this tool in predicting the best strategy, which for this case was above 88%.

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Automatic Detection of Polyps Using Deep Learning 12th

Automatic Detection of Polyps Using Deep Learning

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12th International Conference on Mobile Communication and Healthcare, MobiHealth 2023

作者： Oliveira, Francisco Barbosa, Dalila Paçal, Ishak Leite, Danilo Cunha, António UTAD—University of Trás-os-Montes and Alto Douro Vila Real5001-801 Portugal INESC TEC—Institute for Systems and Computer Engineering Technology and Science Porto4200-465 Portugal Igdir University Iğdir Turkey

ISBN: (纸本)9783031606649

Colorectal cancer is a leading health concern worldwide, with late detection being a primary challenge due to its often-asymptomatic nature. Routine examinations like colonoscopies play a pivotal role in early detection. This study harnesses the potential of Deep Learning, specifically convolutional neural networks, in enhancing the accuracy of polyp detection from medical images. Three distinct models, YOLOv5, YOLOv7, and YOLOv8, were trained on the PICCOLO dataset, a comprehensive collection of polyp images. The comparative analysis revealed YOLOv5’s submodel S as the most efficient, achieving an accuracy of 92.2%, a sensitivity of 69%, an F1 score of 74% and a mAP of 76.8%, emphasizing the effectiveness of these networks in polyp detection. © ICST institute for computer sciences, Social Informatics and Telecommunications engineering 2024.

关键词： Convolutional neural networks

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