Percorrer por autor "Soares Almeida, José Miguel"
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- Real-time vision system for mobile roboticsPublication . Silva, H. M.; Martins, A.; Soares Almeida, José Miguel; Oliveira Lima, Luís Carlos; Silva, E. P.; Patacho, A.This paper describes a real-time vision architecture for mobile robotics. It is integrated in the research program on mobile robotics pursued at the Autonomous Systems Lab ISEP-IPP. The implemented architecture is characterized by: low computational cost, low latency, low power, highly modularity, configurability, adaptability and scalability. A new method using run length encoding (RLE) colour transition allows real-time edge determination at low computational cost. A 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 of autonomous systems applications.
- Roaz autonomous surface vehicle design and implementationPublication . Martins, A.; Ferreira, Hugo; Dias, A.; Almeida, C.; Silva, E. P.; Soares Almeida, José MiguelThe design of an Autonomous Surface Vehicle for operation in fiver 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.
- Traction characterization in the robocup middle size leaguePublication . Dias, André; Soares Almeida, José Miguel; Martins, Alfredo; Silva, EduardoIn this work the problem of traction af mobile wheeled robots for the particular case of Robocup MSL league was.analyzed. In particular the slip occurrence in differential drive DC electrical powered mobile robots was studied. Traction loss was characterized for the set of possible game events ranging from excessive acceleration, centripetal force effects, to collisions (either to fixed obstacles ar by external players). The traction analysis was performed with measurements of electrical current on each motor and odometry and inertial data. An approach to overall traction control relying in electrical current data coupled with motion data, is envisioned. This approach does not depend on apriori knowledge of the operating surface or robot motor model.
- TURTLE – A robotic autonomous deep sea landerPublication . Silva, Eduardo; Martins, Alfredo; Soares Almeida, José Miguel; Ferreira, Hugo; Valente, António; Camilo, Maurício; Figueiredo, António; Pinheiro, CláudiaThis paper presents a new concept for a deep sea lander system combining both sea bottom permanence characteristics with autonomous repositioning functionalities and efficient ascent/descent motion in the water column. The TURTLE hybrid lander is a particular type of autonomous underwater vehicle designed to act as sea bottom fixed observation node or in operations of transport equipment to the deep sea. The paper discusses the general concept of operation and applications and also presents the developed prototype. This system was developed under a dual use EDA (European Defense Agency) project and with national and European funds. Considered as one of the dual use (civil and military) success stories, the demonstrator was equipped to sensors allowing both seismographic data gathering and acoustic monitoring applications.
- UAV Trials for Multi-Spectral Imaging Target Detection and Recognition in Maritime EnvironmentPublication . Silva, Hugo; Soares Almeida, José Miguel; Lopes, Flávio; Ribeiro, J.P.; Freitas, Sara; Amaral, Guilherme; Almeida, Carlos; Martins, Alfredo; Silva, EduardoThis paper addresses the use of heterogeneous sensors for target detection and recognition in maritime environment. An Unmanned Aerial Vehicle payload was assembled using hyperspectral, infrared, electro-optical, AIS and INS information to collect synchronized sensor data with vessel ground-truth position for conducting air and sea trials. The data collected is used to develop automated robust methods for detect and recognize vessels based on their exogenous physical characteristics and their behaviour across time. Data Processing preliminary results are also presented.