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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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From localized to propagating surface plasmon resonances in Au nanoparticle-coated optical fiber sensors and its implications in biosensing

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Photonics Research 2024年第10期12卷 2166-2177页

作者： PAULO S.S.DOS SANTOS JOÃO P.MENDES JORGE PÉREZ-JUSTE I.PASTORIZA-SANTOS JOSÉM.M.M.DE ALMEIDA LUÍS C.C.COELHO INESC TEC–Institute of Systems and Computer Engineering Technology and Scienceand Department of PhysicsFaculty of SciencesUniversity of PortoRua do Campo Alegre4169-007 PortoPortugal Faculty of Engineering University of PortoRua Dr.Roberto Frias4200-465 PortoPortugal CINBIO Universidade de VigoCampus Universitario LagoasMarcosende36310 VigoSpain SERGAS-UVIGO Galicia Sur Health Research Institute(IIS Galicia Sur)36312 VigoSpain Department of Physics School of Science and TechnologyUniversity of Trás-os-Montes e Alto Douro5001-801 Vila RealPortugal

Nanoparticle-based plasmonic optical fiber sensors can exhibit high sensing performance,in terms of refractive index sensitivities(RISs).However,a comprehensive understanding of the factors governing the RIS in this type of sensor remains limited,with existing reports often overlooking the presence of surface plasmon resonance(SPR)phenomena in nanoparticle(NP)assemblies and attributing high RIS to plasmonic coupling or waveguiding ***,using plasmonic optical fiber sensors based on spherical Au nanoparticles,we investigate the basis of their enhanced RIS,both experimentally and *** bulk behavior of assembled Au NPs on the optical fiber was investigated using an effective medium approximation(EMA),specifically the gradient effective medium approximation(GEMA).Our findings demonstrate that the Au-coated optical fibers can support the localized surface plasmon resonance(LSPR)as well as SPR in particular ***,we found that the nanoparticle sizes and surface coverage dictate which effect takes precedence in determining the RIS of the *** data,in line with numerical simulations,revealed that increasing the Au NP diameter from 20 to 90 nm(15%surface coverage)led to an RIS increase from 135 to 6998 nm/RIU due to a transition from LSPR to SPR ***,increasing the surface coverage of the fiber from 9%to 15%with 90 nm Au nanoparticles resulted in anincrease in RIS from 1297(LSPR)to 6998 nm/RIU(SPR).Hence,we ascribe the exceptional performance of these plasmonic optical fibers primary to SPR effects,as evidenced by the nonlinear RIS *** outstanding RIS of these plasmonic optical fibers was further demonstrated in the detection of thrombin protein,achieving very low limits of *** findings support broader applications of high-performance NP-based plasmonic optical fiber sensors in areas such as biomedical diagnostics,environmental monitoring,and chemical analysis.

关键词： fiber surface fibers

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Simulation and Characterization of Magneto-Plasmonic Properties of Ag/Fe Nanostructure in Optical Fibers 28

Simulation and Characterization of Magneto-Plasmonic Propert...

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28th International Conference on Optical Fiber Sensors, OFS 2023

作者： Carvalho, João P.M. Coelho, Luís C.C. Jorge, P.A.S. de Almeida, J.M.M.M. INESC TEC Institute of Systems and Computer Engineering Technology and Science Department of Physics Faculty of Sciences University of Porto Rua do Campo Alegre Porto4169-007 Portugal Department of Physics and Astronomy FCUP Rua do Campo Alegre 687 Porto4150-179 Portugal School of Sciences and Technology Universidade de Trás-os-Montes e Alto Douro Vila Real5000-801 Portugal

Thin films of Ag/Fe were deposited on the core of multimode optical fibers. The deposited film shows sensitivity to both refractive index and MF changes. Simulation work based on TMM formalism confirms experimental re... 详细信息

ISBN: (纸本)9781957171302

关键词： Magnetos

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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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Modular Adaptive Aerial Manipulation under Unknown Dynamic Coupling Forces

arXiv

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arXiv 2024年

作者： Yadav, Rishabh Dev Dantu, Swati Pan, Wei Sun, Sihao Roy, Spandan Baldi, Simone Department of Computer Science The Univerity of Manchester United Kingdom Multi-robot systems group Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Department of Cognitive Robotics Delft Univesrity of Technology Netherlands Robotics Research Center International Institute of Information Technology Hyderabad India School of Mathematics Southeast University Nanjing China

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the existing control approaches either require precise knowledge of the aerial vehicle/manipulator inertial couplings, or neglect the state-dependent uncertainties especially arising during the interaction phase. This work proposes an adaptive control solution to overcome this long standing control challenge without any a priori knowledge of the coupling dynamic terms. Additionally, in contrast to the existing adaptive control solutions, the proposed control framework is modular, that is, it allows independent tuning of the adaptive gains for the vehicle position sub-dynamics, the vehicle attitude sub-dynamics, and the manipulator sub-dynamics. Stability of the closed loop under the proposed scheme is derived analytically, and real-time experiments validate the effectiveness of the proposed scheme over the state-of-the-art approaches. © 2024, CC BY.

关键词： Adaptive control systems

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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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Pallet and Pocket Detection Based on Deep Learning Techniques

Pallet and Pocket Detection Based on Deep Learning Technique...

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Iberian robotics Conference (ROBOT)

作者： Daniele Caldana Artur Cordeiro João Pedro Souza Ricardo B. Sousa Paulo M. Rebelo António Joaquim Silva Manuel F. Silva CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Portugal Faculty of Engineering University of Porto (FEUP) Portugal School of Science and Technology University of Trás-os-Montes e Alto Douro (UTAD) Portugal Seúibal Industrial Complex The Navigator Company Portugal ISEP Polytechnic of Porto Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

The high level of precision and consistency required for pallet detection in industrial environments and logistics tasks is a critical challenge that has been the subject of extensive research. This paper proposes a system for detecting pallets and its pockets using the You Only Look Once (YOLO) v8 Open Neural Network Exchange (ONNX) model, followed by the segmentation of the pallet surface. On the basis of the system a pipeline built on the ROS Action Server whose structure promotes modularity and ease of implementation of heuristics. Additionally, is presented a comparison between the YOLOv5 and YOLOv8 models in the detection task, trained with a customised dataset from a factory environment. The results demonstrate that the pipeline can consistently perform pallet and pocket detection, even when tested in the laboratory and with successive 3D pallet segmentation. When comparing the models, YOLOv8 achieved higher average metric values, with YOLOv8m providing better detection performance in the laboratory setting.

关键词： YOLO Measurement Three-dimensional displays Pipelines Neural networks Production facilities Servers Pallets Robots Logistics

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Navigation Stack for Robots Working in Steep Slope Vineyard

Navigation Stack for Robots Working in Steep Slope Vineyard

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Intelligent systems Conference, IntelliSys 2020

作者： Santos, Luís C. Aguiar, André S. Santos, Filipe N. Valente, António Ventura, José Boa Sousa, Armando J. INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal UTAD - University of Trás-os-Montes e Alto Douro Vila Real Portugal FEUP - Faculty of Engineering of University of Porto Porto Portugal

ISBN: (纸本)9783030551797

Agricultural robotics is nowadays a complex, challenging, and relevant research topic for the sustainability of our society. Some agricultural environments present harsh conditions to robotics operability. In the case of steep-slope vineyards, there are several robotic challenges: terrain irregularities, characteristics of illumination, and inaccuracy/unavailability of the Global Navigation Satellite System. Under these conditions, robotics navigation, mapping, and localization become a challenging task. Performing these tasks with safety and accuracy, a reliable and advanced Navigation stack for robots working in a steep slope vineyard is required. This paper presents the integration of several robotic components, path planning aware of robot centre of gravity and terrain slope, occupation grid map extraction from satellite images, a localization and mapping procedure based on high-level visual features reliable under GNSS signals blockage/missing, for steep-slope robots. © 2021, Springer Nature Switzerland AG.

关键词： Mapping

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Face Liveness Detection Competition (LivDet-Face) - 2024

Face Liveness Detection Competition (LivDet-Face) - 2024

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IEEE International Joint Conference on Biometrics (IJCB)

作者： Lambert Igene Afzal Hossain Mohammad Zahir Uddin Chowdhury Humaira Rezaie Ayden Rollins Jesse Dykes Rahul Vijaykumar Alain Komaty Sébastien Marcel Stephanie Schuckers Juan E. Tapia Carlos Aravena Daniel Schulz Banafsheh Adami Nima Karimian Diogo Nunes João Marcos Nuno Gonçalves Lovro Sikošek Borut Batagelj Aleksandr Alenin Alhasan Alkhaddour Anton Pimenov Artem Tregubov Igor Avdonin Maxim Kazantsev Mikhail Pozigun Vasiliy Pryadchenko Nima Schei David Pabon Manuela Tiedemann Clarkson University USA Idiap Research Institute Switzerland Hochschule Darmstadt (HDA) Darmstadt Germany West Virginia University Morgantown USA Institute of Systems and Robotics University of Coimbra Portugal Faculty of Computer and Information Science University of Ljubljana Ljubljana ID R&D Inc Barcelona Spain Hummingbirds AI Florida USA DERMALOG Identification Systems GmbH Hamburg Germany

ISBN: (数字)9798350364132

ISBN: (纸本)9798350364149

Imagine a world where a copy of your face could trick the most advanced security systems. This isn’t science fiction; it’s a real challenge today. LivDet-Face is a competition that aims to advance the detection of attacks at the biometric sensor, known as Presentation Attack Detection (PAD). This international contest is a key benchmark in biometric security, offering an unbiased look at the latest innovations in face PAD and demonstrating progress over time in detecting and preventing sophisticated attacks. Through the International Joint Conference on Biometrics (IJCB) platform, LivDet-Face 2024 provides a standardized evaluation process, access to advanced Presentation Attack Instruments (PAI), and a comprehensive dataset of bona fide face images. The competition had two main categories: algorithms and systems. A total of sixteen algorithms and one system were submitted for this year’s competition. Anonymous submissions topped both image and video subcategories with an ACER of 4.93% and 4.13%, respectively. In the systems category, Team Dermalog, despite being the sole submission, achieved an impressive ACER of 3.12%.

关键词： Training Biometrics Technological innovation Three-dimensional displays Two-dimensional displays Benchmark testing Three-dimensional printing Silicon Security Faces

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface

Optical Evanescent Field for Direct Observation of Sub-100nm...

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robotics, Engineering, science, and Technology (RESTCON), International Conference on

作者： Panart Khajornrungruang Thitipat Permpatdechakul Keisuke Suzuki Aran Blattler Yutaka Terayama Daiki Goto Pipat Phaisalpanumas Natthaphon Bun-Athuek Amornphun Phunopas Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Mechanical Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Mechanical Information Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Mechanical Science and Technology Course Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Industiral Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Mechanical Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes.

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