Browsing by Author "Martins, A."
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- Air and Underwater Survey of water enclosed spaces for VAMOS! ProjectPublication . Almeida, J.; Ferreira, A.; Matias, B.; Dias, A.; Martins, A.; Silva, F; Oliveira, J.; Sousa, P.; Moreira, M.; Miranda, T.; Almeida, C.; Silva, E.This paper addresses a three-dimensional (3D) reconstruction of a flooded open pit mine with an autonomous surface vehicle (ASV) and unmanned aerial vehicle (UAV). The ROAZ USV and the Otus UAV were used to provide the underwater bathymetric map and aerial 3D reconstruction based from image data. This work was performed wihtin the context of the European researcj project VAMOS with the objective of developing robotic tools for efficient underwater mining
- Autonomous bathymetry for risk assessment with ROAZ robotic surface vehiclePublication . Ferreira, H.; Almeida, C.; Martins, A.; Almeida, J.; Dias, N.; Dias, A.; Silva, E.The use of unmanned marine robotic vehicles in bathymetric surveys is discussed. This paper presents recent results in autonomous bathymetric missions with the ROAZ autonomous surface vehicle. In particular, robotic surface vehicles such as ROAZ provide an efficient tool in risk assessment for shallow water environments and water land interface zones as the near surf zone in marine coast. ROAZ is an ocean capable catamaran for distinct oceanographic missions, and with the goal to fill the gap were other hydrographic surveys vehicles/systems are not compiled to operate, like very shallow water rivers and marine coastline surf zones. Therefore, the use of robotic systems for risk assessment is validated through several missions performed either in river scenario (in a very shallow water conditions) and in marine coastlines.
- ISEP/INESC TEC Aerial Robotics Team for Search and Rescue Operations at the EuRathlon Challenge 2015Publication . Sousa, P.; Ferreira, A.; Moreira, M.; Santos, T.; Martins, A.; Dias, A.; Almeida, J.; Silva, E.This paper presents the autononomous aerial vehicle OTUS and its application to search and rescue scenarios, namely the participation on the EuRathlon 2015 competition. The OTUS robot was developed at INESC TEC/ ISEP for research in cooperative aerial robotics and applications in complex and dynamic environments. The system was validated in this challenging scenario and was able to win the Grand Challenge scenario in
- 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.
- Psicologia da Educação no Instituto Superior de Engenharia do Porto: Projecto Caminhos de BolonhaPublication . Costa-Lobo, Cristina; Alves, Gustavo R.; Carvalho, C.; Delerue-Matos, Cristina; Duarte, Marina; Ferreira, P.; Martins, A.; Mendes, J.; Neves, Maria C.; Oliveira, Paulo C.; Viegas, Maria C.Este artigo apresenta a síntese da intervenção em Psicologia da Educação no Instituto Superior de Engenharia do Porto, no âmbito do Projecto Caminhos de Bolonha. O objectivo que norteia as actividades deste Projecto tem sido, desde o seu início, o apoio do Conselho Científico do ISEP na operacionalização do projecto de modernização e inovação do processo ensino aprendizagem no ISEP, induzido pela adesão ao processo de Bolonha.
- 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.