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

作者： Manuel B. Couto Marcelo R. Petry Abel Mendes Manuel F. Silva CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal FEUP - Faculty of Engineering University of Porto Porto Portugal Flowbotic Coimbra Portugal ISEP - Instituto Superior de Engenharia do Porto Instituto Politécnico do Porto Porto Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

The growing reliance on e-commerce and the demand for efficient intralogistics operations have increased the need for automation, while labour shortages continue to pose significant challenges. When combined with the inherent risks of forklift operation, this circumstance prompted businesses to look for robotic solutions for intralogistics tasks. However, robots are still limited when they come across situations that are outside of their programming scope and often need assistance from humans. To achieve the long-term goal of enhancing intralogistics operation, we propose the development of a virtual reality-based teleoperation system that allows remote operation of robot forklifts with minimal latency. Considering the specificities of the teleoperation process and network dynamics, we conduct detailed modelling to analyse latency factors, optimise system performance, and ensure a seamless user experience. Experimental results on a mobile robot have shown that the proposed teleoperation system achieves an average glass-to-glass latency of 368 ms, with capturing latency contributing to approximately 60% of the total delay. The results also indicate that network os-cillations significantly impact image quality and user experience, emphasising the importance of a stable network infrastructure.

关键词： Radio frequency Visualization 5G mobile communication System performance Robot vision systems Virtual reality Cameras User experience Wireless fidelity Testing

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AR/VR Digital Twin for Simulation and Data Collection of Robotic Environments

AR/VR Digital Twin for Simulation and Data Collection of Rob...

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

作者： João G. Martins Karle Nutonen Paulo Costa Vladimir Kuts Tauno Otto Armando Sousa Marcelo R. Petry CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal ViruTech - Virumaa innovation center of digitalization and green technologies Taltech Virumaa College Kohtla-Jarve Estonia Department of Mechanical and Indusrial Taltech Tallinn Estonia

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Digital twins enable real-time modeling, simulation, and monitoring of complex systems, driving advancements in automation, robotics, and industrial applications. This study presents a large-scale digital twin-testing facility for evaluating mobile robots and pilot robotic systems in a research laboratory environment. The platform integrates high-fidelity physical and environmental models, providing a controlled yet dynamic setting for analyzing robotic behavior. A key feature of the system is its comprehensive data collection framework, capturing critical parameters such as position, orientation, and velocity, which can be leveraged for machine learning, performance optimization, and decision-making. The facility also supports the simulation of discrete operational systems, using predictive modeling to bridge informational gaps when real-time data updates are unavailable. The digital twin was validated through a matrix manufacturing system simulation, with an Augmented Reality (AR) interface on the HoloLens 2 to overlay digital information onto mobile platform controllers, enhancing situational awareness. The main contributions include a digital twin framework for deploying data-driven robotic systems and three key AR/VR integration optimization methods. Demonstrated in a laboratory setting, the system is a versatile tool for research and industrial applications, fostering insights into robotic automation and digital twin scalability while reducing costs and risks associated with real-world testing.

关键词： Service robots Navigation Metaverse Databases Scalability Digital representation Real-time systems Digital twins Mobile robots Robots

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Clinical application and new visualization techniques of 3D-quantitative motion analysis in epileptic seizures characterized by ictal automatic movements

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Epilepsy and Behavior 2025年 170卷 110486-110486页

作者： Loesch-Biffar, Anna Mira Karácsony, Tamás Sattlegger, Leah Vollmar, Christian Rémi, Jan Silva Cunha, João Paulo Noachtar, Soheyl Epilepsy Center Department of Neurology University of Munich Munich Germany Faculty of Engineering (FEUP) University of Porto Porto Portugal Center for Biomedical Engineering Research Institute for Systems’ Engineering and Computers Technology and Science (INESC TEC) Porto Portugal

Purpose: Our aim was to test the capability of the NeuroKinect 3D-method, as a movement visualization technique and quantitative analysis to differentiate ictal movements such as hyperkinetic and focal seizures with manual automatisms. The dataset is extracted from the NeuroKinect dataset, which is a RGB-D-IR dataset of epileptic seizures. The dataset is recorded with Kinect v2 and consists of RGB, Infrared (IR) and depth streams. Quantitative 3D-movement analysis of 20 motor seizures was performed. Velocity, acceleration, jerk, covered distance, displacement and movement extent of Regions of Interests (= ROI: head, right hand, left hand and trunk) were captured. Results: Among the analyzed seizures were 10 hyperkinetic (n = 7: 4 male, 3 female;mean age 39.6 years (SD ± 9.7)) and 10 focal seizures with manual automatisms (n = 10: 2 male, 8 female;mean age 39.2 years (SD ± 17.6)). Hyperkinetic seizures exhibited higher mean velocity in all ROIs (e.g. head = 0.62 ± 0.28 (m/s) vs. 0.12 ± 0.07 (m/s)) as well as higher mean acceleration and mean jerk in most ROIs;these differences were statistically significant. Mean movement extent, covered distance, and displacement for all ROIs were larger for hyperkinetic seizures, however not significantly. The duration of ictal movements (80 s ± 38 s versus 26 s ± 14 s;p = 0.001) was significantly longer in focal seizures with manual automatisms. Conclusions: This new visualization technique allows to reconstruct tracked movement via 3D viewer and supports a 3D movement quantification which is capable to differentiate seizures characterized by movements, which may help to localize the epileptogenic zone. © 2025 The Authors

关键词： 3D motion analysis4 Automotor seizures6 Epilepsy surgery2 Hyperkinetic seizures5 Quantitative digital biomarkers7 Quantitative movement analysis3 Seizure semiology 1

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Prototyping an escape room to enhance interprofessional collaboration in healthcare: Pilot study

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Teaching and Learning in Nursing 2025年第3期20卷 e920-e927页

作者： Cunha, Alberto Campos, Maria Joana Ferreira, Marta Campos Fernandes, Carla Sílvia Faculty of Engineering of the University of Porto Porto Portugal Porto Higher School of Nursing Porto Portugal INESC TEC- Institute of Systems and Computer Engineering Faculty of Engineering of the University of Porto Porto Portugal 4- Porto Higher School of Nursing (ESEP) Porto Portugal HealthRise center Porto Portugal ADITGames association Portugal

Background: During their training, nurses must develop interprofessional collaboration skills, which are essential in clinical settings. Aim: This study aims to describe the development and testing stages of a virtual escape room, named "Lockdown Treatment", to enhance interprofessional collaboration. Methods: The User-Centered Design methodology was used, involving users from requirement gathering to iterative prototyping. Requirements were established through interviews with 6 healthcare professionals, and a prototype was developed and tested for final assessment. Results: The results identified key areas for improvement, particularly in terms of timing and support during the game and demonstrated the effectiveness of the escape room in promoting interdisciplinary collaboration. This study proves that tools like escape rooms can significantly enrich nursing education. Conclusion: It is essential to integrate innovative methods into interprofessional training, making it more engaging and interactive. However, it is crucial that such tools are meticulously planned and validated to ensure their suitability through a rigorous validation process. Future research should evaluate the ‘Lockdown Treatment’ to assess its long-term effectiveness and applicability in clinical practice and patient outcomes. © 2025 The Authors

关键词： Health care technology Interprofessional education Nursing Simulation Team training User-centered design

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Decision-Making Framework For AMR Fleet Size In Manufacturing Environments

Decision-Making Framework For AMR Fleet Size In Manufacturin...

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

作者： Catarina Rema Romão Santos Henrique Piqueiro Diogo Miguel Matos Paulo Moura Oliveirat Pedro Costa Manuel F. Silva Fillipe L. Ribeiro CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Department of Engineering University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal ISEP Polytechnic of Porto rua Dr. António Bernardino de Almeida Porto Portugal JPM Industry Vale de Cambra Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Industry 4.0 is transforming manufacturing environments, with robotics being a key technology that enhances various capabilities. The flexibility of Autonomous Mobile Robots has led to the rise of multi-robot systems in industrial settings. Considering the high cost of these robots, it is essential to determine the best fit of number and type before making any major investments. Simulation and modeling are valuable decision-support tools, allowing the simulation of different setups to address robot fleet sizing issues. This paper introduces a decision-support framework that combines a fleet manager software stack with the FlexSim simulator, helping decision-makers determine the most suitable mobile robots fleet size tailored to their needs. Unlike previous approaches, the developed solution integrates the same real robot coordination software in both simulation and actual deployment, ensuring that tested scenarios accurately reflect real-world conditions. A case study was conducted to evaluate the framework, involving multiple tasks of loading and unloading materials within a warehouse. Five different scenarios with varying fleet sizes were simulated, and their performances assessed. The analysis concluded that, for the case study under consideration, a fleet of three robots was the most suitable, considering relevant key performance indicators. The results confirmed that the developed solution is an effective alternative for addressing the problem and represents a novel technology with no prior state-of-the-art equivalents.

关键词： Service robots Robot kinematics Decision making Dynamic scheduling Software Batteries Software reliability Resource management Mobile robots Autonomous robots

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Laser Engraving for 3D Surfaces: A Robotized Application Case Study 16th

Laser Engraving for 3D Surfaces: A Robotized Application Ca...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Alvarez, Mariano Brancalião, Laiany Carneiro, Jorge Costa, Paulo Coelho, João Paulo Gonçalves, José Instituto Politécnico de Bragança Campus de Santa Apolónia Bragança5300-253 Portugal Instituto Politécnico de Bragança Campus de Santa Apolónia Bragança5300-253 Portugal Faculty of Engineering of the University of Porto Porto4200-465 Portugal University of Léon Campus de Vegazana s/n León24071 Spain GRESTEL – Produtos Cerâmicos S.A. Vagos Portugal INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal

ISBN: (纸本)9783031817236

One of the industry’s most common applications of lasers is engraving, which is generally performed on flat surfaces. However, there are many situations where the object to be engraved has an unevenly curved geometry. In those cases, the light power density will be different along the surface for a fixed head, leading to a poor engraving result. This work deals with this problem by designing a robotic application capable of detecting variations on the object surface and automatically creating a trajectory to engrave on it correctly. This was made possible through a robotic manipulator, a time-of-flight distance sensor, and a data processing algorithm over the measured data. Obtained results were acquired using a custom-made test rig and validated by delivering consistent engraving results on irregular surface shapes. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Robotic assembly

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Classification of endoscopic capsule pathologies using Multiple Instance Learning methods

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Procedia computer Science 2025年 256卷 1116-1124页

作者： Vitor Moreira Eduardo Machado Dalila Barbosa Marta Salgado Geraldo Braz António Cunha University of Trás-os-Montes e Alto Douro 5001-801 Vila Real Portugal INESC TEC – Institute for Systems and Computer Engineering Technology and Science 4200-465 Porto Portugal Centro Hospitalar Universitário de Santo António Porto Portugal Núcleo de Computacão Aplicada — Universidade Federal do Maranhão (UFMA) São Luís MA Brasil

This article presents an investigation into the classification of endoscopic capsule pathologies using Multiple Instance Learning (MIL) methods in conjunction with deep neural network architectures. The primary problem addressed in this study is the accurate and efficient detection of gastrointestinal pathologies, a significant challenge in medical diagnostics that can have a profound impact on patient outcomes. The use of endoscopic capsules is particularly important as they provide a minimally invasive method to capture comprehensive images of the gastrointestinal tract, facilitating early detection of conditions such as ulcers, polyps, bleeding, and Crohn’s disease. Specifically, we explore three variants of MIL - Max, Mean, and Attention - for analysing sets of images captured by the endoscopic capsule. MIL was employed because it effectively handles scenarios where individual image instances are not explicitly labelled but are grouped in bags with known labels, making it suitable for the complex nature of endoscopic data. Furthermore, MIL has not yet been extensively applied in this modality, highlighting the innovative aspect of our approach. In addition, we evaluated the performance of three convolutional neural network architectures - VGG16, ResNet50, and DenseNet121 - in the classification task. The results indicate that the combination of MIL methods and deep neural network architectures offers a promising approach to the detection and classification of gastrointestinal pathologies, with significant improvements in diagnostic accuracy and efficiency.

关键词： Image Classification Medical Imaging Deep Learning Multiple Instance Learning

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Indoor Channel Characterization With Extremely Large Reconfigurable Intelligent Surfaces at 300 GHz

Indoor Channel Characterization With Extremely Large Reconfi...

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European Conference on Antennas and Propagation, EuCAP

作者： Fabio Cardoso Sérgio Matos Luís M. Pessoa George C. Alexandropoulos Department of Information Science and Technology University Institute of Lisbon Portugal Instituto de Telecomunicações Portugal INESC TEC Portugal Faculty of Engineering University of Porto Portugal Department of Informatics and Telecommunications National and Kapodistrian University of Athens Greece Department of Electrical and Computer Engineering University of Illinois Chicago IL USA

ISBN: (数字)9788831299107

ISBN: (纸本)9798350366327

The technology of Reconfigurable Intelligent Surfaces (RISs) is lately being considered as a boosting component for various indoor wireless applications, enabling wave propagation control and coverage extension. However, the incorporation of extremely large RISs, as recently being considered for ultrahigh capacity industrial environments at subTHz frequencies, imposes certain challenges for indoor channel characterization. In particular, such RISs contribute additional multipath components and their large sizes with respect to the signal wavelength lead to near-field propagation. To this end, ray tracing approaches become quite cumbersome and need to be rerun for different RIS unit cell designs. In this paper, we present a novel approach for the incorporation of RISs in indoor multipath environments towards their efficient channel characterization. An 100 × 100 RIS design with 2-bit resolution unit cells realizing a fixed anomalous reflection at 300 GHz is presented, whose radar cross section patterns are obtained via full-wave simulations. It is showcased that the RIS behavior can be conveniently approximated by a three-ray model, which can be efficiently incorporated within available ray tracing tools, and that the far-field approximation is valid for even very small distances from the RIS.

关键词： Wireless communication Indoor communication Radar cross-sections Europe Reconfigurable intelligent surfaces Ray tracing Boosting Antennas and propagation Terahertz communications

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An Energy-Aware RIoT System: Analysis, Modeling and Prediction in the SUPERIOT Framework

arXiv

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arXiv 2025年

作者： Bocus, Mohammud J. Häkkinen, Juha Fontes, Hélder Drzewiecki, Marcin Qiu, Senhui Eder, Kerstin Piechocki, Robert School of Computer Science University of Bristol Bristol United Kingdom Circuits and Systems Research Unit University of Oulu Oulu Finland MpicoSys Embedded Pico Systems Sp. z o. o. Gdynia Poland Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdansk Poland INESC TEC Porto Portugal Faculty of Engineering University of Porto Porto Portugal

his paper presents a comprehensive analysis of the energy consumption characteristics of a Silicon (Si)-based Reconfigurable IoT (RIoT) node developed in the initial phase of the SUPERIOT project, focusing on key operating states, including Bluetooth Low Energy (BLE) communication, Narrow-Band Visible Light Communication (NBVLC), sensing, and E-ink display. Extensive measurements were conducted to establish a detailed energy profile, which serves as a benchmark for evaluating the effectiveness of subsequent optimizations and future node iterations. To minimize the energy consumption, multiple optimizations were implemented at both the software and hardware levels, achieving a reduction of over 60% in total energy usage through software modifications alone. Further improvements were realized by optimizing the E-ink display driving waveform and implementing a very low-power mode for non-communication activities. Based on the measured data, three measurement-based energy consumption models were developed to characterize the energy behavior of the node under: (i) normal, unoptimized operation, (ii) low-power, software-optimized operation, and (iii) very low-power, hardware-optimized operation. These models, validated with new measurement data, achieved an accuracy exceeding 97%, confirming their reliability for predicting energy consumption in diverse configurations. © 2025, CC BY.

关键词： Digital storage

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Indoor Channel Characterization with Extremely Large Reconfigurable Intelligent Surfaces at 300 GHz

arXiv

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arXiv 2025年

作者： Cardoso, Fabio Matos, Sérgio Pessoa, Luís M. Alexandropoulos, George C. Department of Information Science and Technology University Institute of Lisbon Portugal Instituto de Telecomunicações Portugal INESC TEC Portugal Faculty of Engineering University of Porto Portugal Department of Informatics and Telecommunications National and Kapodistrian University of Athens Greece Department of Electrical and Computer Engineering University of Illinois Chicago IL United States

The technology of Reconfigurable Intelligent Surfaces (RISs) is lately being considered as a boosting component for various indoor wireless applications, enabling wave propagation control and coverage extension. However, the incorporation of extremely large RISs, as recently being considered for ultrahigh capacity industrial environments at subTHz frequencies, imposes certain challenges for indoor channel characterization. In particular, such RISs contribute additional multipath components and their large sizes with respect to the signal wavelength lead to near-field propagation. To this end, ray tracing approaches become quite cumbersome and need to be rerun for different RIS unit cell designs. In this paper, we present a novel approach for the incorporation of RISs in indoor multipath environments towards their efficient channel characterization. An 100×100 RIS design with 2-bit resolution unit cells realizing a fixed anomalous reflection at 300 GHz is presented, whose radar cross section patterns are obtained via full-wave simulations. It is showcased that the RIS behavior can be conveniently approximated by a three-ray model, which can be efficiently incorporated within available ray tracing tools, and that the far-field approximation is valid for even very small distances from the RIS. © 2025, CC BY-NC-ND.

关键词： Radar reflection

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