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International Conference on Control, Decision and Information technologies (CoDIT)

作者： Laiany Brancalião Mariano Alvarez João Coelho Miguel Conde Paulo Costa José Gonçalves Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Bragança Bragança Portugal University of Léon León Spain Institute of Engineering Systems and Computers Technology and Science (INESC TEC) University of Porto Porto Portugal Laboratory for Sustainability and Technology in Mountain Regions (SusTEC) Instituto Politécnico de Bragança Bragança Portugal

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

In this paper it is presented a Hardware-in-the-loop (HIL) mobile robot programming approach, to be applied in a robotics educational context. The motivation to apply this approach is the fact that students can program the robots without access to the robot hardware, but still maintain some important closed loop control critical features, such as a realistic lag time and the possibility for a larger number of students to program at the same time. Therefore, the developed software is applied to the real hardware without any change. The HIL approach was applied to provide a simulation close to reality, once the processing occurs in the real robot processor and the actuation and sensorization inside the simulation, adding to the advantage to test the firmware avoiding damage in the physical robot.

关键词： Context Robot sensing systems Hardware Software Mobile robots Information technology Programming profession Microprogramming

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Prototyping and Control of an Educational Manipulator Robot

Prototyping and Control of an Educational Manipulator Robot

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International Conference on Control, Decision and Information technologies (CoDIT)

作者： João Coelho Laiany Brancalião Mariano Alvarez Paulo Costa José Gonçalves Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Bragança Bragança Portugal University of Léon León Spain Institute of Engineering Systems and Computers Technology and Science (INESC TEC) University of Porto Porto Portugal Laboratory for Sustainability and Technology in Mountain Regions (SusTEC) Instituto Politécnico de Bragança Bragança Portugal

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This article presents the prototyping of an educational manipulator robot, based on the "EEZYbotARM Mk2" robot, tailored for first-year master’s students in the field of robotics. The project encompasses the assembly of the robot arm, computation of both forward and inverse kinematics, and analysis of two path-planning movement algorithms. These features are consolidated into an Arduino library to streamline the process for students to generate instructions for the robot. The "EEZYbotARM Mk2" features a three-degree-of-freedom revolute arm with a gripper that remains parallel to its base at all times, enhancing its suitability for educational applications such as pick-and-place tasks. The article provides detailed descriptions of the materials and methods employed, along with proposed challenges for student engagement.

关键词： Kinematics Manipulators Libraries Information technology Grippers Assembly

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Sagittal Lower Limb Joint Angular Phase-Plane Analysis at Long, Short and No-Countermovement

Sagittal Lower Limb Joint Angular Phase-Plane Analysis at Lo...

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Bioengineering (ENBENG), Portuguese Meeting in

作者： Carlos Rodrigues Miguel Correia João Abrantes Marco Rodrigues Jurandir Nadal C-BER - Centre for Biomedical Engineering Research INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal MovLab - Laboratory of Technologies for Interactions and Interfaces CICANT - Centre for Research in Applied Communication Culture and New Technologies Lisbon Portugal Department of Electronic and Systems Federal University of Pernambuco Recife Brazil Biomedical Engineering Program Federal University of Rio de Janeiro Rio de Janeiro Brazil

This study presents non-invasive subject specific analysis using innovative tools from dynamic systems theory and image processing for sagittal plane anatomical marker tracking and digital filtering for detection of normalized phase differences of lower limb joint angular displacement and angular velocity coordination during long and short countermovement (CM) and muscle stretch-shortening cycle. Applied metrics captured at low-dimensional level (one variable - the phase) differences of CM neuromuscular control of lower limb joint coordination with greater dissimilarity between long and short CM, whereas no CM condition shares higher phase coordination at the hip, knee, ankle.

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A deep learning model for detection of traffic events based on social networks publications

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Procedia computer science 2022年 204卷 91-98页

作者： Sílvio Capela Vítor Pereira Jorge Duque Vítor Filipe School of Science and Technology Universidade de Trás-os-Montes e Alto Douro 5000-801 Vila Real Portugal ISLA - Instituto Politécnico de Gestão e Tecnologia 4400-107 Vila Nova de Gaia Portugal INESC TEC–Institute for Systems and Computer Engineering Technology and Science 4200-465 Porto Portugal

Nowadays, social networks are one of the biggest ways of sharing real time information. These networks, have several groups focused on sharing information about road incidents and other traffic events. The work here presented aims the creation of an AI model capable of identifying publications related to traffic events in a specific road, based on publications shared on social networks. A predictive model was obtained by training a deep learning model for the detection of publications related with road incidents with an average accuracy of 95%. The model deployed as a service is already fully functional and is operating in 24/7 while awaits a final integration with the road management system of a company where it will be used to support the Control Center team in the decision making.

关键词： Deep Learning Model Long-Short Term Memory Natural Language Processing Traffic Management Software

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LiDAR-based Power Assets Extraction based on Point Cloud Data

LiDAR-based Power Assets Extraction based on Point Cloud Dat...

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

作者： M. Amado F. Lopes A. Dias A. Martins ISEP Instituto Superior de Engenharia do Porto Porto Portugal INESC TEC Institute for Systems and Computer Engineering Technology and Science Porto Portugal

The detection and extraction of individual pylons and power lines from high-density point cloud (PC) LiDAR data are a relevant tool for evaluating the power lines utility corridors. Moreover, the presence of high vegetation and hilly terrain is a research challenger in the available methods. The paper presents a novel method for the extraction of pylons and power lines. Two steps compose the proposed approach: a pylon detection step based on top view projection, denoted by DFSS - Detect Filled Square Shapes, and a pylon arms detection step with the DPA - Detect Pylon Arm algorithm. The results show that the proposed method could accurately and automatically extract pylons and the associated power lines, even if the dataset has low quality with downsampling, to reduce the processing time. Field tests were performed with a ground static LiDAR and a point cloud affected by downsampling voxel grid and Gaussian noise to simulate the expected LiDAR data from a UAV.

关键词： Three-dimensional displays Laser radar Shape Gaussian noise Conferences Poles and towers Vegetation mapping

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Organizational Enablers to the Governance of Collaborative University-Industry RD Programs

Organizational Enablers to the Governance of Collaborative U...

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2020 IEEE International Conference on engineering, technology and Innovation, ICE/ITMC 2020

作者： Fernandes, Gabriela Leite, Sara Araujo, Madalena Simoes, Ana Correia University of Coimbra Cemmpre Department of Mechanical Engineering Coimbra Portugal University of Minho Department of Production and Systems Guimarães Portugal Inesc Tec - Institute for Systems and Computer Engineering Technology and Science Porto Portugal

ISBN: (纸本)9781728170374

Governance has a significant impact on the success of programs and projects. However, governance of collaborative university-industry projects and programs in literature, is a rather scarce topic. Based on an ethnographic study of a large university-industry collaboration, this paper proposes a conceptual framework of Organizational Enablers (OEs) to improve the governance of collaborative university-industry RD programs. An exploratory research was carried out, aiming to learn from the experience of program and project managers and other program stakeholders of the case under study. Qualitative data was collected using participant observation and document analysis. The framework highlights nine OEs: 'Established governance policies and values', 'Formal Governance support structures', 'Flexible organization structures', 'Standardization of program and project management practices', 'Different management approaches to fit the project needs', 'Clearly defined roles and responsibilities', 'Different means of communication and interaction', 'Top management Support' and 'Projects strategic alignment within the industry and university roadmaps'. © 2020 IEEE.

关键词： Collaborative programs and projects Governance Organizational Enablers University-industry

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Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications

Graph-SLAM Approach for Indoor UAV Localization in Warehouse...

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

作者： A. Moura J. Antunes A. Dias A. Martins J. Almeida ISEP Instituto Superior de Engenharia do Porto Porto Portugal INESC TEC Institute for Systems and Computer Engineering Technology and Science Porto Portugal

ISBN: (纸本)9781665431989;9781665431996

Unmanned Aerial Vehicles (UAVs) are a key ingredient in the industry and in warehouse logistics digital transformation process, providing the ability to perform automatic cyclic counting and real-time inventory, localize hard-to-find items and reach narrow storage areas. The use of UAVs poses new challenges, such as indoor autonomous localization and navigation, collision avoidance and automated UAV fleet management. This paper addresses the development of a vision-based Graph-SLAM approach for UAV indoor localization without predefined warehouse markers positions. A framework is proposed and developed to support different commercial UAV platforms, allowing the estimation in real-time of the UAV position and attitude. Indoor experimental tests were carried out in order to evaluate the performance of the developed method, comparing the results obtained with an approach based on the pre-mapped markers position indoor localization method.

关键词： Location awareness Visualization Estimation Unmanned aerial vehicles Real-time systems Task analysis Trajectory optimization

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From Controlled to Chaotic: Disparities in Laboratory vs Real-World Stress Detection

From Controlled to Chaotic: Disparities in Laboratory vs Rea...

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International Workshop on Content-Based Multimedia Indexing, CBMI

作者： Simão Ferreira Fátima Rodrigues Johanna Kallio Filipe Coelho Vesa Kyllonen Nuno Rocha Matilde A. Rodrigues Elena Vildjiounaite Center for Translational Health and Medical Biotechnology Research TBIO School of Health Polytechnic Institute of Porto INESC Institute for Systems and Computer Engineering Technology and Science ISEP Institute of Engineering – Polytechnic of Porto VTT Technical Research Centre of Finland Linovt Linovt – Engenharia Software Lda Center for Translational Health and Medical Biotechnology Research TBIO@RISE School of Health of Polytechnic Institute of Porto

ISBN: (数字)9798350378443

ISBN: (纸本)9798350378450

This paper explores the discrepancies between laboratory and real-world stress detection, emphasizing the pronounced differences in data loss, data preprocessing, feature design, and classifier selection. Laboratory studies offer a controlled environment that optimizes data quality, whereas real-world settings introduce chaotic and unpredictable elements, coupled with a diverse range of human behaviours, resulting in substantial data loss and compromised data quality. We discuss the development of stress detectors for two distinct types of data: physiological and behavioural. We also address the specific challenges associated with designing effective stress detection systems for each data type and compare the features and classifiers used in both laboratory and real-world contexts. Additionally, this paper proposes future research directions aimed at crafting stress detectors that are robust and effective in real-life scenarios.

关键词： Privacy Accuracy Protocols Reviews Data integrity Anxiety disorders Refining Detectors Feature extraction Physiology

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WalkTogether – Mobile Application to Enhance Blind People Accessibility: System Design

WalkTogether – Mobile Application to Enhance Blind People A...

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International Conference on Computational science and its Applications (ICCSA)

作者： Tiago Castro J.C. Silva Marisa Pinheiro School of Technology Polytechnic Institute of Cávado and Ave Barcelos Portugal INESC TEC Institute for Systems and Computer Engineering Porto Portugal

ISBN: (纸本)9781665458443

This paper aims to describe an approach to help blind people getting more accessibility when performing common tasks such as using public transport or going shopping. The main objective is to aid blind people when they are disoriented and without having minimally viable alternatives to ask for help in useful time. The design of a mobile application will be described focusing the advantages of using an app by blind people to request face-to-face help from a volunteer. Using a telephone contact, audio, video and sharing coordinates, volunteer in the same geographic area can be automatically asked to help blind people.

关键词： Scientific computing Focusing Blindness Telephone sets Mobile applications Task analysis Audio-visual systems

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Satellite-based InSAR Geodesy and Collocation with GNSS

Satellite-based InSAR Geodesy and Collocation with GNSS

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2023 International Conference on ENTERprise Information systems, CENTERIS 2023 - International Conference on Project MANagement, ProjMAN 2023 - International Conference on Health and Social Care Information systems and technologies, HCist 2023

作者： Papco, Juraj Bakon, Matus Kubica, Lukas Belicova, Gabika Droscak, Branislav Ferianc, Martin Rovnak, Martin Ruiz, Antonio M. Sousa, Joaquim J. Department of Theoretical Geodesy and Geoinformatics Faculty of Civil Engineering Slovak University of Technology in Bratislava Radlinskeho 11 Bratislava813 62 Slovakia Insar.sk Ltd Konstantinova 3 Presov080 01 Slovakia Department of Finance Accounting and Mathematical Methods Faculty of Management and Business University of Presov Konstantinova 16 Presov080 01 Slovakia Department of Engineering School of Sciences and Technology Universidade de Tras-os-Montes e Alto Douro Quinta de Prados Vila Real5000-801 Portugal Geodetic and Cartographic Institute Bratislava Chlumeckeho 4 Bratislava827 45 Slovakia Department of Cartographic Geodetic and Photogrammetry Engineering University of Jaen Campus Las Lagunillas s/n Jaen23071 Spain University of Jaen Campus Las Lagunillas s/n Jaen23071 Spain Research Group RNM-282 Microgeodesia Jaen University of Jaen Campus Las Lagunillas s/n Jaen23071 Spain Institute for Systems and Computer Engineering Technology and Science INESC-TEC Porto4200-465 Portugal

Satellite radar interferometry (InSAR) enables large-scale monitoring of displacement with precision akin to ground-based methods. Using measurements from Sentinel-1 satellites, persistent scatterer networks cover areas up to hundreds of kilometers in size. One of the current challenges for the InSAR community is to tie these networks into a current and country-specific global terrestrial reference system through collocation with other geodetic techniques, especially Global Navigation Satellite systems (GNSS). In this work, an optimal procedure for assessing a suitable collocation properties for InSAR and GNSS techniques is discussed, along with the proposal for the methodology to determine the spatial relationship between the reference points of both techniques. The study analyzes three collocation stations in Slovakia using their radar backscattering characteristics. InSAR achieves an intrinsic accuracy of up to 1 mm but has uncertainties several orders of magnitude larger in 3D space. A collocation of InSAR measurements with GNSS can tie relative InSAR displacement estimates to an absolute reference frame. © 2024 The Author(s). Published by Elsevier B.V.

关键词： Geodesy

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