ISEP - DM - Engenharia de Sistemas Computacionais Críticos
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Browsing ISEP - DM - Engenharia de Sistemas Computacionais Críticos by advisor "Severino, Ricardo Augusto Rodrigues da Silva"
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- Towards the simulation of cooperative perception applications by leveraging distributed sensing infrastructuresPublication . Oliveira, Miguel Ferreira; Severino, Ricardo Augusto Rodrigues da SilvaWith the rapid development of Automated Vehicles (AV), the boundaries of their function alities are being pushed and new challenges are being imposed. In increasingly complex and dynamic environments, it is fundamental to rely on more powerful onboard sensors and usually AI. However, there are limitations to this approach. As AVs are increasingly being integrated in several industries, expectations regarding their cooperation ability is growing, and vehicle-centric approaches to sensing and reasoning, become hard to integrate. The proposed approach is to extend perception to the environment, i.e. outside of the vehicle, by making it smarter, via the deployment of wireless sensors and actuators. This will vastly improve the perception capabilities in dynamic and unpredictable scenarios and often in a cheaper way, relying mostly in the use of lower cost sensors and embedded devices, which rely on their scale deployment instead of centralized sensing abilities. Consequently, to support the development and deployment of such cooperation actions in a seamless way, we require the usage of co-simulation frameworks, that can encompass multiple perspectives of control and communications for the AVs, the wireless sensors and actuators and other actors in the environment. In this work, we rely on ROS2 and micro-ROS as the underlying technologies for integrating several simulation tools, to construct a framework, capable of supporting the development, test and validation of such smart, cooperative environments. This endeavor was undertaken by building upon an existing simulation framework known as AuNa. We extended its capabilities to facilitate the simulation of cooperative scenarios by incorporat ing external sensors placed within the environment rather than just relying on vehicle-based sensors. Moreover, we devised a cooperative perception approach within this framework, showcasing its substantial potential and effectiveness. This will enable the demonstration of multiple cooperation scenarios and also ease the deployment phase by relying on the same software architecture.
- Variable pitch system for UAV proprotorsPublication . Rijo, Carlos André Pinto Ramos; Severino, Ricardo Augusto Rodrigues da SilvaUnmanned Aerial Vehicles (UAVs) have gained significant attention in diverse applications, prompting a surge in research and development. Current Vertical Take-Off and Landing (VTOL) UAVs rely on fixed-pitch proprotors which makes them face limitations in performance and maneuverability. This thesis addresses these challenges by proposing the development of a stand-alone Variable Pitch Proprotor (VPP) system capable of real-time pitch adjustments during different flight phases. The research delves into the fundamentals of VTOL flight performance, variable proprotor impact, control subsystems, power management, firmware strategies and short-range wireless communication protocols. Studying and analyzing existing solutions and technologies in these domains is conducted. The subsequent stages involve designing the subsystem architecture, implementing it on a mechanical prototype, and evaluating the system’s performance and limitations in various settings. This Thesis will contribute to enhance UAVs stability, maneuverability, and energy efficiency, towards to the advancement of Urban Air Mobility (UAM).