Luis Flores

A multi-robot system for landmine detection

This paper describes the development of a multi-robot system for area reduction in humanitarian demining. In spite of the specific requirements imposed to the work being carried out by the humanitarian demining domain, the results being achieved can also be used in other domains such as surveillance and remote monitoring. A multi-agent based architecture is responsible for coordinating a progressive stochastic analysis of the terrain. The all-terrain navigation used by the mobile robots is attained by a novel embodied reactive obstacle avoidance method. A control mission software has been developed to plan, configure and supervise the operations. Highly compliant legged and wheeled platforms have been developed accomplishing low-cost all-terrain robots. Digital signal processing algorithms have been applied for landmine detection using the payload sensors

Shopfloor integration and multiagent based supervision

This paper describes an integrated hardware and software solution for supervision and software maintenance system for industrial robot controllers integrated in welding lines. The methodology that has been applied to integrate a system comprising more than 200 industrial robot controllers is presented and some implementational issues about the developed infrastructure is also shown. The multiagent architecture required to fulfill the requirements of the industrial shop floor is described.

Multiagents applied to humanitarian demining

The complexity associated to Humanitarian Demining becomes very high due to its broad set of activities, which beyond the already complex of landmine removal, includes other socio-economic supporting activities. Hence, more complex computer based supporting systems are required. The main goal of this article is to describe potential applications of multi-agent systems to the Humanitarian Demining domain, covering areas such as: knowledge-based systems, collaborative networks, agent-based modelling and multi-agent robotic systems. This is the result of the work being carried out by the Portuguese company IntRoSys, whose main research objective is the development of tools and methods to support humanitarian demining.

Meteo: A Telephone-Based Portuguese Conversation System in Weather Domain

Dialog systems using speech technology are in expansion all over the world being used for different domains. The main reason for this growing, apart from the motivation on speech and human-machine interaction research, is the potential for mass access to information. In this paper we describe the work done for the development of a conversation system in a weather domain applied to the European Portuguese language.

Control System Software Design Methodology for Automotive Industry

As automated manufacturing systems become more and more complex, the need for new methodologies to improve the design and development of industrial monitoring and control solutions is becoming peremptory. Programmable Logic Controllers (PLCs) dominates the application domain meaning that they are established as the most popular industrial controllers used in factory and shop floor. Although the capabilities of these controllers have strongly improved in the last decades, their historical background as the easy understand by the electricians who had previously worked on electrical systems has meant that the de-facto standard for the implementation of control and monitoring solution for these devices remains the ladder logic. However, to face the globalization challenges, the manufacturing companies needs to improve their productivity by reducing the costs, delivering high-quality of products with high variety and improving their responsiveness to changing market condition. Moreover productivity gains can also be achieved by reducing the life-cycle costs of manufacturing production systems implying the using of more flexible and agile approaches. In this scenario, the proposed methodology aims to provide a homogeneous and optimum process that, starting from a set of mechanical specifications and behavioural models of machines, enable the generation of industrial logic automatically ensuring the same structure and naming standard in every project and the quality of the code.

Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team

This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling.

An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats

This paper presents an aerial-ground field robotic team, designed to collect and transport soil and biota samples in estuarine mudflats. The robotic system has been devised so that its sampling and storage capabilities are suited for radionuclides and heavy metals environmental monitoring. Automating these time-consuming and physically demanding tasks is expected to positively impact both their scope and frequency. The success of an environmental monitoring study heavily depends on the statistical significance and accuracy of the sampling procedures, which most often require frequent human intervention. The bird’s-eye view provided by the aerial vehicle aims at supporting remote mission specification and execution monitoring. This paper also proposes a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Preliminary field trials in real estuarine mudflats show the ability of the robotic system to successfully extract and transport soil samples for offline analysis.

ARES-III: A versatile multi-purpose all-terrain robot

This paper presents ARES-III, a multi-purpose service robot for robust operation in all-terrain outdoor environments. Currently in pre-production phase, ARES-III is aimed to fulfil the requirements of a robotic platform that is able to support the development of real world applications in surveillance, agriculture, environmental monitoring, and other related domains. These demanding scenarios motivate a design focused on the reliability of the mechanical platform, the scalability of the control system, and the flexibility of its self-diagnosis and error recovery mechanisms. These are key features of ARES-III often disregarded in current commercial and research platforms. First, a comprehensive set of field trials demonstrated the ability of the ARES-III chassis, made of durable materials and with no-slip quasi-omnidirectional kinematic characteristics, to perform robustly in rough terrain. Second, supported by a control system fully compliant with the wide spread Robot Operating System (ROS), the scalability of ARES-III is enforced. Finally, the integration of active self-diagnosis and error recovery mechanisms in ARES-III control system fosters long lasting operation.

Object oriented software engineering for programmable logical controllers: a successful implementation

Control systems development for the automotive industry is done pretty much the same today as it was 15 years ago. Therefore, the usefulness of a high level structured approach for Control Systems Engineering is undeniable. This paper describes how object-oriented programming (OOP) or the frame paradigm can be used to program PLCs even though using their old fashioned programming abstract model. To prove the validity of the proposal a real industrial implementation is shown.

Tratamento das afecções da aorta com a primeira geração de stents auto-expansíveis

INTRODUCTION: The authors describe the implantation of an endovascular self-expanding stents grafts at 33 months of follow-up. The use can be a new alternative for the treatment of descending aortic dissections and aneurysms disease. MATERIAL AND METHODS: From April 1998 to November 2000 (32 months), 37 endovascular stent grafts were implanted, 21 in acute dissections type B, 7 in acute dissections type A and 9 in chronic dissections type B and aneurysms ones. The age varied between 39 and 79 years (mean=57.94 ± 1.91 years), considering that 64.86% were male patients. The patients were submitted to median esternotomy, extracorporeal circulation (ECC), with deep hipothermia (18-20oC), total circulatory arrest (TCA), and retrograde cerebral perfusion (RCP). The transverse aorta was incised and the stent was implanted in the descending proximal aorta with the aid sometimes of aortoscopy. The times of ECC, aortic clamping, TCA, RCP, rewarming, mechanic ventilation, hospitalization, trans and post-operative bleeding, blood replacement, events curve and survival curve were analyzed. RESULTS: The hospital mortality (30 days) was 13.51%; 32 have been followed up from 1 to 33 months, 70.7% are free of events and survival curve with 63.19% (33 months). CONCLUSIONS: The implant of self-expanding intraluminal stent grafts presented has lower hospital mortality in the acute phase and follow-up in acute aortic dissections type B (10%) than clinical treatment (IRAD). In spite of the small sample the procedure is promising and needs longer follow-up.