ISEP - LSA - Laboratório de Sistemas Autónomos
Permanent URI for this community
LSA is a R&D unit from ISEP the Engineering School of Porto Polytechnic. It conducts research in autonomous systems and related areas such as navigation, control and coordination of multiple robots.The laboratory activity is developed in four lines of work:
R&D programs;
Educational project;
Dissemination projects;
Strategic positioning projects for the school ISEP/IPP.
Browse
Browsing ISEP - LSA - Laboratório de Sistemas Autónomos by Author "Almeida, J. M."
Now showing 1 - 5 of 5
Results Per Page
Sort Options
- ISePorto Robotic Soccer Team: A New Player GenerationPublication . Cerqueira, V.; Dias, André; Matos, Nuno; Almeida, J. M.; Martins, A.; Silva, E. P.This paper describes the recent modifications in ISePorto MSL robotic football team and future improvements concerning the development and evolution of the team. The robot was substantially redesigned in order to achieve high reliability, allow better control and coordination capabilities and substantial increase in perception. New mechanical and hardware redesign is presented. Motion control subsystems, new vision hardware sensor and overall architecture are described. The team redesign is done for preparation for participating in the Robocup 2004. The main goal is to achieve not only an important evolution in the team control and coordination but also increased overall reliability.
- Marine Operations with the SWORDFISH Autonomous Surface VehiclePublication . Ferreira, Hugo; Martins, R.; Marques, E.; Pinto, J.; Martins, A.; Almeida, J. M.; Sousa, J. B.; Silva, E. P.This paper describes the design and development of the Swordfish Autonomous Surface Vehicle (ASV) system. The work focuses the sensors, actuators, communications and C4I of an unmanned vehicle for marine operations. SWORDFISH is an autonomous surface vehicle used as the central communications link between air, undersea, and terrestrial robotic vehicles of a network centric operation. It is used as a test bed platform for deployment and testing of advanced control and operational concepts for multi-vehicles systems. This new unmanned marine vehicle was done in the context of the PISCIS project. The PISCIS project concerns the development, test and evaluation of new vehicles and new concepts of operation for networked vehicle systems in oceanographic data collection. The PISCIS system includes two autonomous underwater vehicles, the Swordfish ASV, an acoustic navigation system, acoustic and radio communications and a distributed command and control system.
- A Real Time Vision System for Autonomous Systems: Characterization during a Middle Size MatchPublication . Silva, H.; Almeida, J. M.; Lima, L.; Martins, A.; Silva, E. P.This paper propose a real-time vision framework for mobile robotics and describes the current implementation. The pipeline structure further reduces latency and allows a paralleled hardware implementation. A dedicated hardware vision sensor was developed in order to take advantage of the proposed architecture. The real-time characteristics and hardware partial implementation, coupled with low energy consumption address typical autonomous systems applications. A characterization of the implemented system in the Robocup scenario, during competition matches, is presented.
- ROAZ Autonomous Surface Vehicle Design and ImplementationPublication . Ferreira, Hugo; Martins, A.; Dias, A.; Almeida, C.; Almeida, J. M.; Silva, E. P.The design of an Autonomous Surface Vehicle for operation in river and estuarine scenarios is presented. Multiple operations with autonomous underwater vehicles and support to AUV missions are one of the main design goals in the ROAZ system. The mechanical design issues are discussed. Hardware, software and implementation status are described along with the control and navigation system architecture. Some preliminary test results concerning a custom developed thruster are presented along with hydrodynamic drag calculations by the use of computer fluid dynamic methods.
- Swordfish: an Autonomous Surface Vehicle for Network Centric OperationsPublication . Ferreira, H.; Martins, R.; Marques, E.; Pinto, J.; Martins, A. O.; Almeida, J. M.; Sousa, J. B.; Silva, E. P.The design and development of the swordfish autonomous surface vehicle (ASV) system is discussed. Swordfish is an ocean capable 4.5 m long catamaran designed for network centric operations (with ocean and air going vehicles and human operators). In the basic configuration, Swordfish is both a survey vehicle and a communications node with gateways for broadband, Wi-Fi and GSM transports and underwater acoustic modems. In another configuration, Swordfish mounts a docking station for the autonomous underwater vehicle Isurus from Porto University. Swordfish has an advanced control architecture for multi-vehicle operations with mixed initiative interactions (human operators are allowed to interact with the control loops).