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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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TURTLE — systems and technologies for deep ocean long term presence

TURTLE — Systems and technologies for deep ocean long term ...

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作者： Hugo Ferreira Alfredo Martins José Miguel Almeida António Valente António Figueiredo Batista da Cruz Maurício Camilo Victor Lobo Carlos Pinho Augustin Olivier Eduardo Silva ESEIG - School of Industrial Studies and Management Porto Polytechnic Institute INESC TEC - Institute for Systems Computer Engineering of Porto ISEP-School of Engineering Porto Polytechnic Institute PLY Technologies (Engineering) A Silva Matos Metalomecanica S.A CINAV (Portuguese Navy Research Center) INESC TEC - Institute for Systems and Computer Engineering of Porto

This paper describes the TURTLE project that aim to develop sub-systems with the capability of deep-sea long-term presence. Our motivation is to produce new robotic ascend and descend energy efficient technologies to be incorporated in robotic vehicles used by civil and military stakeholders for underwater operations. TURTLE contribute to the sustainable presence and operations in the sea bottom. Long term presence on sea bottom, increased awareness and operation capabilities in underwater sea and in particular on benthic deeps can only be achieved through the use of advanced technologies, leading to automation of operation, reducing operational costs and increasing efficiency of human activity.

关键词： Vehicles Oceans Robots Underwater vehicles Observatories Shape Instruments

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Adequacy of the long-term operational reserve of a system with wind power and electric vehicles under severe scenarios

Adequacy of the long-term operational reserve of a system wi...

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International Conference on Probabilistic Methods Applied to Power systems (PMAPS)

作者： L. E. Bremermann M. A. da Rosa M. Matos J. A. P. Lopes L. M. Carvalho I. C. Costa INESC TEC - Institute for Systems and Computer Engineering Technology and Science (formerly INESC Porto) Portugal UFSC Federal University of Santa Catarina Brazil Faculty of Engineering University of Porto Portugal

Combining conventional and unconventional generations with hard forecasting properties and consumption variability has made the task of fitting large amounts of wind generation into unit commitment procedures very challenging. In this context, massive integration of electric vehicles in the electric systems, is expected. This paper aims at evaluating the adequacy of a generating system taking into account the electric vehicles and high wind power integration level in its energy mix. This study was conducted on the European project MERGE framework, and the results have shown that the generating system evaluated is reliable. Nevertheless, the simulations carried out for scenarios with adverse weather conditions (dry years) have revealed specific circumstances that might jeopardize the system adequacy.

关键词： Wind power generation Load modeling Reliability Uncertainty Forecasting Wind forecasting Batteries

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Probabilistic stereo egomotion transform

Probabilistic stereo egomotion transform

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hugo Silva Eduardo Silva Alexandre Bernardino INESC TEC (formerly INESC Porto) ISEP/IPP - School of Engineering Polytechnic Institute of Porto Institute for Systems and Robotics IST Lisbon Portugal

In this paper we propose a novel fully probabilistic solution to the stereo egomotion estimation problem. We extend the notion of probabilistic correspondence to the stereo case which allow us to compute the whole 6D motion information in a probabilistic way. We compare the developed approach against other known state-of-the-art methods for stereo egomotion estimation, and the obtained results compare favorably both for the linear and angular velocities estimation.

关键词： Estimation Probabilistic logic Cameras Angular velocity Visualization Robot sensing systems

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Stochastic hierarchical multiobjective routing model in MPLS networks with two service classes: an experimental study on imprecision and uncertainty issues

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Journal of Uncertainty Analysis and Applications 2014年第1期2卷 1-31页

作者： Rita Girão-Silva José Craveirinha João Clímaco Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Institute of Computers and Systems Engineering of Coimbra (INESC-Coimbra) Coimbra Portugal

The paper begins by reviewing a two-level hierarchical multicriteria routing model for Multiprotocol Label Switching networks with two service classes (Quality of Service and Best Effort services) and alternative routing, previously proposed by the authors. The features of the considered resolution heuristic are described. Some key issues raised by its complexity are discussed, as well as the major factors that constitute the sources of imprecision, inaccuracy, and uncertainty of the model and the way in which they are dealt with in the adopted resolution approach. Analytic and stochastic discrete-event simulation experiments are performed for different test networks, including experiments with a dynamic version of the routing method. This case study allows for the evaluation of the inaccuracies intrinsic to the analytic/numerical resolution procedures and of the uncertainty associated with the estimates of the mean of the stochastic traffic flows. An analysis focused on key robustness aspects of the model is also carried out. Primary 90B50; secondary 90B18; 90B15

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Simulation environment for multi-robot cooperative 3D target perception

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8810卷 98-109页

作者： Dias, André Almeida, Jose Dias, Nuno Lima, Pedro Silva, Eduardo INESC TEC INESC Technology and Science ISEP/IPP School of Engineering Porto Portugal Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal

Field experiments with a team of heterogeneous robots require human and hardware resources which cannot be implemented in a straightforward manner. Therefore, simulation environments are viewed by the robotic community as a powerful tool that can be used as an intermediate step to evaluate and validate the developments prior to their integration in real robots. This paper evaluates a novel multi-robot heterogeneous cooperative perception framework based on monocular measurements under the MORSE robotic simulation environment. The simulations are performed in an outdoor environment using a team of Micro Aerial Vehicles (MAV) and an Unmanned Ground Vehicle (UGV) performing distributed cooperative perception based on monocular measurements. The goal is to estimate the 3D target position. © Springer International Publishing Switzerland 2014.

关键词： Ground vehicles

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Reconstruction and generation of virtual heritage sites

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Digital Applications in Archaeology and Cultural Heritage 2014年第3-4期1卷 92-102页

作者： Rodrigues, N. Magalhães, L. Moura, J. Chalmers, A. School of Technology and Management Computer Science and Communication Research Centre Polytechnic Institute of Leiria Leiria Portugal Universidade de Trás-os-Montes e Alto Douro Vila Real Portugal Institute for Systems and Computer Engineering of Porto (INESC Porto) Porto Portugal Digital Laboratory WMG University of Warwick United Kingdom

Traditionally procedural modelling techniques are commonly used to generate new structures and are presently established in several areas such as video games and computer animated movies. However they may also be used in heritage applications to efficiently produce models of non-existing worlds for which there is some kind of knowledge (e.g. floor plans, photographs) to support the reconstruction of realistic environments. Similarly they may also be used to support the generation of distinct possibilities that allow experts to draw some conclusions or conceive different hypotheses about lost worlds. The present paper shows the benefits and constraints that may arise from the use of such techniques in virtual heritage applications. Furthermore, a whole method is proposed, for the reconstruction and generation of virtual heritage traversable house models, provided through the means of a grammar, demonstrated with the reconstruction and generation of several Roman houses from the heritage site of Conimbriga, Portugal. © 2014 Elsevier Ltd. All rights reserved.

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tec4SEA — A modular platform for research, test and validation of technologies supporting a sustainable blue economy

TEC4SEA — A modular platform for research, test and validat...

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作者： Paulo Mónica Alfredo Martins Augustin Olivier Aníbal Matos José Miguel Almeida Nuno Cruz José Carlos Alves Henrique Salgado Luís Pessoa Pedro Jorge Rui Campos Manuel Ricardo Carlos Pinho António Silva Sérgio Jesus Eduardo Silva INESC TEC Institute for Systems and Computer Engineering of Porto ISEP - School of Engineering Porto Polytechnic Institute Porto Portugal Department of Electrical and Computer Engineering University of Porto Porto Portugal Campus de Gambelas University of Algarve Portugal

This paper presents the tec4SEA research infrastructure created in Portugal to support research, development, and validation of marine technologies. It is a multidisciplinary open platform, capable of supporting research, development, and test of marine robotics, telecommunications, and sensing technologies for monitoring and operating in the ocean environment. Due to the installed research facilities and its privileged geographic location, it allows fast access to deep sea, and can support multidisciplinary research, enabling full validation and evaluation of technological solutions designed for the ocean environment. It is a vertically integrated infrastructure, in the sense that it possesses a set of skills and resources which range from pure conceptual research to field deployment missions, with strong industrial and logistic capacities in the middle tier of prototype production. tec4SEA is open to the entire scientific and enterprise community, with a free access policy for researchers affiliated with the research units that ensure its maintenance and sustainability. The paper describes the infrastructure in detail, and discusses associated research programs, providing a strategic vision for deep sea research initiatives, within the context of both the Portuguese National Ocean Strategy and European Strategy frameworks.

关键词： Oceans Optical sensors Robot sensing systems Europe Optical imaging

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Water jet based autonomous surface vehicle for coastal waters operations

Water jet based autonomous surface vehicle for coastal water...

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作者： Diogo Machado Alfredo Martins José Miguel Almeida Hugo Ferreira Guilherme Amaral Bruno Ferreira Anibal Matos Eduardo Silva INESC TEC Institute for Systems and Computer Engineering of Porto ISEP - School of Engineering Porto Polytechnic Institute Porto Portugal ESEIG - Industrial Studies and Management School Porto Polytechnic Institute Porto Portugal Department of Electrical and Computer Engineering University of Porto Porto Portugal

This paper presents the design of low cost, small autonomous surface vehicle for missions in the coastal waters and specifically for the challenging surf zone. The main objective of the vehicle design described in this paper is to address both the capability of operation at sea in relative challenging conditions and maintain a very low set of operational requirements (ease of deployment). This vehicle provides a first step towards being able to perform general purpose missions (such as data gathering or patrolling) and to at least in a relatively short distances to be able to be used in rescue operations (with very low handling requirements) such as carrying support to humans on the water. The USV is based on a commercially available fiber glass hull, it uses a directional waterjet powered by an electrical brushless motor for propulsion, thus without any protruding propeller reducing danger in rescue operations. Its small dimensions (1.5 m length) and weight allow versatility and ease of deployment. The vehicle design is described in this paper both from a hardware and software point of view. A characterization of the vehicle in terms of energy consumption and performance is provided both from test tank and operational scenario tests. An example application in search and rescue is also presented and discussed with the integration of this vehicle in the European ICARUS (7th framework) research project addressing the development and integration of robotic tools for large scale search and rescue operations.

关键词： Vehicles computers Robots Propulsion Global Positioning System Standards Payloads

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Design considerations for LTCC based UWB antennas for space applications

Design considerations for LTCC based UWB antennas for space ...

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IEEE International Conference on Wireless for Space and Extreme Environments (WiSEE)

作者： B. Hussain I. Kianpour V. Grade Tavares H. S. Mendonca G. Miskovic G. Radosavljevic V. V. Petrovic INESC-TEC Faculty of Engineering University of Porto Porto Portugal INESC-TEC Faculty of Engineering University of Porto Porto Portugal Institute of Sensor and Actuator Systems Vienna University of Technolozv Viena Austria TES Electroni Solutions Stuttgart Germany

ISBN: (纸本)9781479956548

This paper presents a planar antenna using low temperature co-fired ceramics (LTCC) substrate for extreme environment applications. An ultra wideband (UWB) elliptical patch antenna was designed and fabricated using an LTCC Ceramtec GC substrate to demonstrate the capabilities of the technology for wideband applications. The simulated results were further validated experimentally. The fabricated antenna provides a peak gain of 5dB over a bandwidth of 4 GHz (3 GHz-7 GHz) with return loss better than -10dB. The radiation pattern is omni-directional in the horizontal plane (θ=900) over the whole frequency range.

关键词： Substrates Antenna measurements Antenna radiation patterns Ultra wideband antennas Metallization Bandwidth

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