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Pedro Miguel Baptista Torres has been an Adjunct Professor at the Polytechnic Institute of Castelo Branco (IPCB), Portugal, since August 2015. He holds a PhD in Mechanical Engineering, speciality of surgical robotics, from the Technical University of Lisbon from 2015. He completed his Bachelor and Degree in Electrical and Telecommunications Engineering in 2005 and 2007 respectively, by the Polytechnic Institute of Castelo Branco (IPCB). At the research level he works in the areas of electronics, automation and robotics, machine vision, machine learning / deep learning, cyber-physical systems, IoT and IIoT.
The paper presents an approach for the retrofitting of industrial looms on the shop floor of a textile industry. This is a real case study, where there was a need to update the equipment, providing the machines with communication features aligned with the concept of Industry 4.0. The work was developed within the scope of the research project PRODUTECH-SIF: Solutions for the Industry of the Future. Temperature, Inductive, Acoustic and 3-axis Accelerometers sensors were installed in different parts of the machines for monitorization. Data acquisition and processing is done by a SmarBox developed on a cRIO 9040 from National Instruments. A SmartBox processes data from one to four looms, allowing these old machines to have communication capacity and to be monitored remotely through the factory plant’s MES/ERP. Communication can be done through the OPC UA or MQTT architecture, both protocols aligned with the new trends for industrial communications. The sensor data will be used to feed production and manufacturing KPIs and for predictive maintenance. The approach presented in this paper allows industries with legacy equipment to renew and adapt to new market trends, improving productivity rates and reduced maintenance costs.
Pedro Torres; Rogério Dionísio; Sérgio Malhão; Luís Neto; Gil Gonçalves. Machinery Retrofiting for Industry 4.0. Recent Advances in Computational Mechanics and Simulations 2021, 213 -220.
AMA StylePedro Torres, Rogério Dionísio, Sérgio Malhão, Luís Neto, Gil Gonçalves. Machinery Retrofiting for Industry 4.0. Recent Advances in Computational Mechanics and Simulations. 2021; ():213-220.
Chicago/Turabian StylePedro Torres; Rogério Dionísio; Sérgio Malhão; Luís Neto; Gil Gonçalves. 2021. "Machinery Retrofiting for Industry 4.0." Recent Advances in Computational Mechanics and Simulations , no. : 213-220.
This experimental study focuses on the comparison between two different sensors for vibration signals: a magnetoresistive sensor and an accelerometer as a calibrated reference. The vibrations are collected from a variable speed inductor motor setup, coupled to a ball bearing load with adjustable misalignments. To evaluate the performance of the magnetoresistive sensor against the accelerometer, several vibration measurements are performed in three different axes: axial, horizontal and vertical. Vibration velocity measurements from both sensors were collected and analyzed based on spectral decomposition of the signals. The high cross-correlation coefficient between spectrum vibration signatures in all experimental measurements shows good agreement between the proposed magnetoresistive sensor and the reference accelerometer performances. The results demonstrate the potential of this type of innovative and non-contact approach to vibration data collection and a prospective use of magnetoresistive sensors for predictive maintenance models for inductive motors in Industry 4.0 applications.
Rogerio Dionisio; Pedro Torres; Armando Ramalho; Ricardo Ferreira. Magnetoresistive Sensors and Piezoresistive Accelerometers for Vibration Measurements: A Comparative Study. Journal of Sensor and Actuator Networks 2021, 10, 22 .
AMA StyleRogerio Dionisio, Pedro Torres, Armando Ramalho, Ricardo Ferreira. Magnetoresistive Sensors and Piezoresistive Accelerometers for Vibration Measurements: A Comparative Study. Journal of Sensor and Actuator Networks. 2021; 10 (1):22.
Chicago/Turabian StyleRogerio Dionisio; Pedro Torres; Armando Ramalho; Ricardo Ferreira. 2021. "Magnetoresistive Sensors and Piezoresistive Accelerometers for Vibration Measurements: A Comparative Study." Journal of Sensor and Actuator Networks 10, no. 1: 22.
Constant search for efficiency and productivity has led to innovation on the factory shop floor, representing an evolution of the current production systems combined with new technologies of industrial automation and information technology. This work presents a versatile gateway for experimental demonstration of Industrial IoT technologies in a loom machine, allowing sensing, monitoring and data acquisition that was not originally available. We have implemented an approach, based on the OPC UA communication protocol for real time applications, and OPC UA to MQTT conversion mechanism. Raspberry Pi’s platform act as an OPC UA server. From the measurements, data stored in a cloud server can be accessed remotely with improved security and visualized from a computer dashboard. One of the conclusions that can be drawn is that the proposed gateway allows data to be stored and easily monitored from a smartphone application or a computer web interface.
Rogerio Dionisio; Sergio Malhao; Pedro Torres. Development of a Smart Gateway for a Label Loom Machine using Industrial IoT Technologies. International Journal of Online and Biomedical Engineering (iJOE) 2020, 16, 6 -14.
AMA StyleRogerio Dionisio, Sergio Malhao, Pedro Torres. Development of a Smart Gateway for a Label Loom Machine using Industrial IoT Technologies. International Journal of Online and Biomedical Engineering (iJOE). 2020; 16 (4):6-14.
Chicago/Turabian StyleRogerio Dionisio; Sergio Malhao; Pedro Torres. 2020. "Development of a Smart Gateway for a Label Loom Machine using Industrial IoT Technologies." International Journal of Online and Biomedical Engineering (iJOE) 16, no. 4: 6-14.
Industry 4.0 paradigm is a reality in the digitization of industrial processes and physical assets, as well as their integration into digital ecosystems with several suppliers of the value chain. In particular, Industry 4.0 is the technological evolution of embedded systems applied to Cyber-Physical Systems (CPSs). With this, a shift from the current paradigm of centralization to a more decentralized production, supported by Industrial Internet of Things (IIoT), is implied. The work reported in this paper focuses on the development of smart devices (SmartBoxes), based on low-cost hardware such as Raspberry Pi and also platforms certified for industrial applications, such as NI CompactRIO. Both platforms adopted the OPC-UA architecture to collect data from the shop-floor and convert it into OPC-UA Data Access standard for further integration in the proposed CPPS. Tests were also performed with the MQTT protocol for monitorization. Each SmartBox is capable of real-time applications that run on OPC-UA and MQTT, allowing easy interaction between supervisory systems and physical assets.
Pedro Torres; Rogerio Dionisio; Sérgio Malhão; Luis Neto; Ricardo Ferreira; Helena Gouveia; Hélder Castro. Cyber-Physical Production Systems supported by Intelligent Devices (SmartBoxes) for Industrial Processes Digitalization. 2019 IEEE 5th International forum on Research and Technology for Society and Industry (RTSI) 2019, 73 -78.
AMA StylePedro Torres, Rogerio Dionisio, Sérgio Malhão, Luis Neto, Ricardo Ferreira, Helena Gouveia, Hélder Castro. Cyber-Physical Production Systems supported by Intelligent Devices (SmartBoxes) for Industrial Processes Digitalization. 2019 IEEE 5th International forum on Research and Technology for Society and Industry (RTSI). 2019; ():73-78.
Chicago/Turabian StylePedro Torres; Rogerio Dionisio; Sérgio Malhão; Luis Neto; Ricardo Ferreira; Helena Gouveia; Hélder Castro. 2019. "Cyber-Physical Production Systems supported by Intelligent Devices (SmartBoxes) for Industrial Processes Digitalization." 2019 IEEE 5th International forum on Research and Technology for Society and Industry (RTSI) , no. : 73-78.
An important scheduling function of manufacturing systems is controlled order release. While there exists a broad literature on order release, reported release procedures typically use simple sequencing rules and greedy heuristics to determine which jobs to select for release. While this is appealing due to its simplicity, its adequateness has recently been questioned. In response, this study uses an integer linear programming model to select orders for release to the shop floor. Using simulation, we show that optimisation has the potential to improve performance compared to ‘classical’ release based on pool sequencing rules. However, in order to also outperform more powerful pool sequencing rules, load balancing and timing must be considered at release. Existing optimisation-based release methods emphasise load balancing in periods when jobs are on time. In line with recent advances in Workload Control theory, we show that a better percentage tardy performance can be achieved by only emphasising load balancing when many jobs are urgent. However, counterintuitively, emphasising urgency in underload periods leads to higher mean tardiness. Compared to previous literature we further highlight that continuous optimisation-based release outperforms periodic optimisation-based release. This has important implications on how optimised-based release should be designed.
Nuno O. Fernandes; Matthias Thürer; Tatiana M. Pinho; Pedro Torres; Sílvio Carmo-Silva. Workload control and optimised order release: an assessment by simulation. International Journal of Production Research 2019, 58, 3180 -3193.
AMA StyleNuno O. Fernandes, Matthias Thürer, Tatiana M. Pinho, Pedro Torres, Sílvio Carmo-Silva. Workload control and optimised order release: an assessment by simulation. International Journal of Production Research. 2019; 58 (10):3180-3193.
Chicago/Turabian StyleNuno O. Fernandes; Matthias Thürer; Tatiana M. Pinho; Pedro Torres; Sílvio Carmo-Silva. 2019. "Workload control and optimised order release: an assessment by simulation." International Journal of Production Research 58, no. 10: 3180-3193.
Constant search for efficiency and productivity has led to innovation on the factory shop floor, representing an evolution of the current production systems combined with new technologies of industrial automation and information technology. This work presents an experimental demo of a smartbox for Industry 4.0 scenarios, allowing sensing, monitoring and data acquisition. We have tested two different approaches, depending on the communication protocol used for real time applications: OPC UA or MQTT. Raspberry Pi’s platform act as an OPC UA server or MQTT broker, respectively. From the measurements, data stored in a cloud server can be accessed remotely with improved security and visualized from a computer dashboard. One of the conclusions that can be drawn is that both protocols allow data from the smartbox to be stored and easily monitored from a smartphone application or a computer web interface. MQTT is a good option in communications requiring very low bandwidth. However, there is a lack of suitable libraries to program alarm features for OPC UA Servers.
Sérgio Malhão; Rogerio Dionisio; Pedro Torres. Industrial IoT Smartbox for the Shop Floor. 2019 5th Experiment International Conference (exp.at'19) 2019, 258 -259.
AMA StyleSérgio Malhão, Rogerio Dionisio, Pedro Torres. Industrial IoT Smartbox for the Shop Floor. 2019 5th Experiment International Conference (exp.at'19). 2019; ():258-259.
Chicago/Turabian StyleSérgio Malhão; Rogerio Dionisio; Pedro Torres. 2019. "Industrial IoT Smartbox for the Shop Floor." 2019 5th Experiment International Conference (exp.at'19) , no. : 258-259.
This book chapter proposes a description of smart gateways and cyber-physical systems (CPS) for the industrial internet of things (I-IOT). It also presents a case study where a smart gateway is developed to be used in different types of industrial equipment for the shop floor. The case study is developed under the specifications of different industries in the region of Castelo Branco. It is a proof that the 4th industrial revolution will be the engine for SME innovation, independence of the regions and their financial strength. It is also proof that the cooperation between universities, industries and startups can evolve to break barriers and add value in the improvement of regional industries competitiveness. Topics that will be addressed on the chapter can be used for developers, students, researchers and enthusiasts to learn topics related to I-IOT, such as data acquisitions systems, wired and wireless communication devices and protocols, OPC servers and LabVIEW programming.
Eva Masero; Pedro Miguel Baptista Torres; Rogério Pais Dionísio. Smart Gateways for IOT-Factory Integration. Advances in Logistics, Operations, and Management Science 2019, 149 -170.
AMA StyleEva Masero, Pedro Miguel Baptista Torres, Rogério Pais Dionísio. Smart Gateways for IOT-Factory Integration. Advances in Logistics, Operations, and Management Science. 2019; ():149-170.
Chicago/Turabian StyleEva Masero; Pedro Miguel Baptista Torres; Rogério Pais Dionísio. 2019. "Smart Gateways for IOT-Factory Integration." Advances in Logistics, Operations, and Management Science , no. : 149-170.
The present paper describes the state of the art related to IIoT Devices and Cyber-Physical systems and presents a use case related to predictive maintenance. Industry 4.0 is the boost for smart manufacturing and demands flexibility and adaptability of all devices/machines in the shop floor. The machines must become smart and interact with other machines inside and outside the industries/factories. The predictive maintenance is a key topic in this industrial revolution. The reason is based on the idea that smart machines must be capable to automatically identify and predict possible faults and actuate before they occur. Vibrations can be problematic in electrical motors. For this reason, we address an experimental study associated with an automatic classification procedure, that runs in the smart devices to detect anomalies. The results corroborate the applicability and usefulness of this machine learning algorithm to predict vibration faults.
Eva Masero Rubio; Rogério Pais Dionísio; Pedro Miguel Baptista Torres. Industrial IoT Devices and Cyber-Physical Production Systems: Review and Use Case. Lecture Notes in Electrical Engineering 2018, 292 -298.
AMA StyleEva Masero Rubio, Rogério Pais Dionísio, Pedro Miguel Baptista Torres. Industrial IoT Devices and Cyber-Physical Production Systems: Review and Use Case. Lecture Notes in Electrical Engineering. 2018; ():292-298.
Chicago/Turabian StyleEva Masero Rubio; Rogério Pais Dionísio; Pedro Miguel Baptista Torres. 2018. "Industrial IoT Devices and Cyber-Physical Production Systems: Review and Use Case." Lecture Notes in Electrical Engineering , no. : 292-298.
Predicting short-term cellular load in LTE networks is of great importance for mobile operators as it assists in the efficient managing of network resources. Based on predicted behaviours, the network can be intended as a proactive system that enables reconfiguration when needed. Basically, it is the concept of self-organizing networks that ensures the requirements and the quality of service. This paper uses a dataset, provided by a mobile network operator, of collected downlink throughput samples from one cell in an area where cell congestion usually occurs and a Deep Neural Network (DNN) approach to perform short-term cell load forecasting. The results obtained indicate that DNN performs better results when compared to traditional approaches.
Pedro Torres; Hugo Marques; Paulo Marques; Jonathan Rodriguez. Using Deep Neural Networks for Forecasting Cell Congestion on LTE Networks: A Simple Approach. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2018, 276 -286.
AMA StylePedro Torres, Hugo Marques, Paulo Marques, Jonathan Rodriguez. Using Deep Neural Networks for Forecasting Cell Congestion on LTE Networks: A Simple Approach. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering. 2018; ():276-286.
Chicago/Turabian StylePedro Torres; Hugo Marques; Paulo Marques; Jonathan Rodriguez. 2018. "Using Deep Neural Networks for Forecasting Cell Congestion on LTE Networks: A Simple Approach." Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering , no. : 276-286.
The concept of smart cities grew with the need to rethink the use of urban spaces based on the constant technological advances and respecting sustainability. Today the urbanism and the methodologies to think about the city are changing, as citizens want more access to digital information on almost everything. Therefore, cities need to be planned and equipped with infrastructures that enable connectivity between the citizens’ devices and the digital information. This challenge raises technological problems, such as traffic management, in an attempt to guarantee fair network access to all users. Solutions based on wireless resource management and self-organizing networks are key when design the connectivity for these smart cities. This paper presents a study on forecasting the daily load of Wi-Fi city hotspots, taking also in consideration the weather conditions. This is particularly interesting to predict the network load and resource requirements needed to ensure proper quality of service is provided to the hotspot users. The study was performed in a Wi-Fi hotspot located in the city of Castelo Branco, Portugal. The results show the ARIMA model is capable of identifying and forecasting seasonality events for one week in advance including its capability to correlate the number of hotspot users with weather conditions.
Hugo Marques; Pedro M. B. Torres; Rogério Dionísio; Jonathan Rodriguez. Load Forecasting in WiFi Access Points over the LTE Network. Inventive Computation and Information Technologies 2017, 20, 132 -137.
AMA StyleHugo Marques, Pedro M. B. Torres, Rogério Dionísio, Jonathan Rodriguez. Load Forecasting in WiFi Access Points over the LTE Network. Inventive Computation and Information Technologies. 2017; 20 ():132-137.
Chicago/Turabian StyleHugo Marques; Pedro M. B. Torres; Rogério Dionísio; Jonathan Rodriguez. 2017. "Load Forecasting in WiFi Access Points over the LTE Network." Inventive Computation and Information Technologies 20, no. : 132-137.
In line with 4th industrial revolution (Industry 4.0), the mechatronics and related areas are fundamental to boost the developments of industry digitalization. However, it should not be forgotten that artificial intelligence (AI) has a great preponderance on the development of autonomous and intelligent systems incorporating the advances in mechatronics systems. It is common in different industries the need to identify and recognize products or objects for different purposes such as counts, quality control, selection of objects, among others. For these reasons, pattern recognition is increasingly being used in systems on the shop floor, usually implemented in computer vision systems with image processing in real time. This work focuses on automatic detection and text recognition in unstructured images for use on shop floor mechatronic systems with vision systems, to identify and recognize patterns in products. Unstructured images are images that does not have a pre-defined image model or is not organized in a predefined manner. Which means that there is no predefined calibration model, the system must identify and learn by itself to recognize the text patterns. The techniques of character recognition, also known as OCR (Optical Character Reader), are not new in the industry, however the use of machine learning algorithms together with the existing techniques of OCR, allow endow the systems of greater intelligence in the patterns recognition. The results achieved throughout the paper, demonstrates that it is possible to identify and recognize text in objects based on unstructured images with a high level of accuracy and that these algorithms can be used in real time applications.
Pedro M. B. Torres. Text Recognition for Objects Identification in the Industry. Inventive Computation and Information Technologies 2017, 126 -131.
AMA StylePedro M. B. Torres. Text Recognition for Objects Identification in the Industry. Inventive Computation and Information Technologies. 2017; ():126-131.
Chicago/Turabian StylePedro M. B. Torres. 2017. "Text Recognition for Objects Identification in the Industry." Inventive Computation and Information Technologies , no. : 126-131.
This paper discusses the design of a navigation system developed to assist surgeons in the procedures of Hip Resurfacing prosthesis surgeries. In conventional surgery, mechanical jigs are used to obtain a correct alignment for the metal prosthesis, however it is a very time consuming process. In order to solve this problem emerges a new robotic system, named HipRob. The system is composed by a pre-operative sub-system for planning the prosthesis correct alignment and a flexible robot to be co-manipulated by the surgeon during the drilling procedures on the femur head. The real-time navigation of this robotic system is based on the registration between the femur model, constructed from the CT scan, and the surface constructed with ultrasound images, acquired during the surgical procedures. Experimental results, performed in a femur phantom, show that the robot location errors are around 2 mm.
P. M. B. Torres; P. J. S. Gonçalves; J. M. M. Martins. Robotic System Navigation Developed for Hip Resurfacing Prosthesis Surgery. Mechanical Engineering and Materials 2017, 173 -183.
AMA StyleP. M. B. Torres, P. J. S. Gonçalves, J. M. M. Martins. Robotic System Navigation Developed for Hip Resurfacing Prosthesis Surgery. Mechanical Engineering and Materials. 2017; ():173-183.
Chicago/Turabian StyleP. M. B. Torres; P. J. S. Gonçalves; J. M. M. Martins. 2017. "Robotic System Navigation Developed for Hip Resurfacing Prosthesis Surgery." Mechanical Engineering and Materials , no. : 173-183.
Pedro Torres; Paulo Marques; Hugo Marques; Rogerio Dionisio; Tiago Alves; Luis Pereira; Jorge Ribeiro. Data analytics for forecasting cell congestion on LTE networks. 2017 Network Traffic Measurement and Analysis Conference (TMA) 2017, 1 .
AMA StylePedro Torres, Paulo Marques, Hugo Marques, Rogerio Dionisio, Tiago Alves, Luis Pereira, Jorge Ribeiro. Data analytics for forecasting cell congestion on LTE networks. 2017 Network Traffic Measurement and Analysis Conference (TMA). 2017; ():1.
Chicago/Turabian StylePedro Torres; Paulo Marques; Hugo Marques; Rogerio Dionisio; Tiago Alves; Luis Pereira; Jorge Ribeiro. 2017. "Data analytics for forecasting cell congestion on LTE networks." 2017 Network Traffic Measurement and Analysis Conference (TMA) , no. : 1.
Purpose – The purpose of this paper is to present a robotic motion compensation system, using ultrasound images, to assist orthopedic surgery. The robotic system can compensate for femur movements during bone drilling procedures. Although it may have other applications, the system was thought to be used in hip resurfacing (HR) prosthesis surgery to implant the initial guide tool. The system requires no fiducial markers implanted in the patient, by using only non-invasive ultrasound images. Design/methodology/approach – The femur location in the operating room is obtained by processing ultrasound (USA) and computer tomography (CT) images, obtained, respectively, in the intra-operative and pre-operative scenarios. During surgery, the bone position and orientation is obtained by registration of USA and CT three-dimensional (3D) point clouds, using an optical measurement system and also passive markers attached to the USA probe and to the drill. The system description, image processing, calibration procedures and results with simulated and real experiments are presented and described to illustrate the system in operation. Findings – The robotic system can compensate for femur movements, during bone drilling procedures. In most experiments, the update was always validated, with errors of 2 mm/4°. Originality/value – The navigation system is based entirely on the information extracted from images obtained from CT pre-operatively and USA intra-operatively. Contrary to current surgical systems, it does not use any type of implant in the bone to track the femur movements.
P.M.B. Torres; Paulo Gonçalves; Jorge Martins. Robotic motion compensation for bone movement, using ultrasound images. Industrial Robot: the international journal of robotics research and application 2015, 42, 466 -474.
AMA StyleP.M.B. Torres, Paulo Gonçalves, Jorge Martins. Robotic motion compensation for bone movement, using ultrasound images. Industrial Robot: the international journal of robotics research and application. 2015; 42 (5):466-474.
Chicago/Turabian StyleP.M.B. Torres; Paulo Gonçalves; Jorge Martins. 2015. "Robotic motion compensation for bone movement, using ultrasound images." Industrial Robot: the international journal of robotics research and application 42, no. 5: 466-474.
Paulo J.S. Gonçalves; Pedro M.B. Torres. Knowledge representation applied to robotic orthopedic surgery. Robotics and Computer-Integrated Manufacturing 2015, 33, 90 -99.
AMA StylePaulo J.S. Gonçalves, Pedro M.B. Torres. Knowledge representation applied to robotic orthopedic surgery. Robotics and Computer-Integrated Manufacturing. 2015; 33 ():90-99.
Chicago/Turabian StylePaulo J.S. Gonçalves; Pedro M.B. Torres. 2015. "Knowledge representation applied to robotic orthopedic surgery." Robotics and Computer-Integrated Manufacturing 33, no. : 90-99.
Robotic and computer-assisted technology are increasingly being developed for use in surgery to aid surgeons in providing more precision and accuracy, especially during procedures requiring fine movements. Moreover, reproducibility is another important aspect to be considered to achieve better results. This paper presents a navigation system developed to assist orthopaedic surgery with application in open loop control of the robots used for femur drilling procedures. Although it may have other applications, the system was thought to be used in Hip Resurfacing (HR) prosthesis surgery to implant the initial guide tool. The navigation system does not require any marker implanted in the patient, unlike current systems. The location of the bone in the operating room is obtained through the information from ultrasound (US) images and Computer Tomography (CT) images, obtained respectively in the intra-operative and pre-operative scenarios. During the surgery the bone position and orientation is obtained through a registration process between the US and CT, using an optical measurement system (Polaris) to measure the 3D position of passive markers attached to the US probe and to the drill. The system description, image processing, calibration procedures and results with real experiments are presented and described to illustrate the system in operation.
Pedro M. B. Torres; Paulo J. S. Gonçalves; Jorge M. M. Martins. New Approach to the Open Loop Control for Surgical Robots Navigation. Lecture Notes in Electrical Engineering 2015, 321, 627 -636.
AMA StylePedro M. B. Torres, Paulo J. S. Gonçalves, Jorge M. M. Martins. New Approach to the Open Loop Control for Surgical Robots Navigation. Lecture Notes in Electrical Engineering. 2015; 321 ():627-636.
Chicago/Turabian StylePedro M. B. Torres; Paulo J. S. Gonçalves; Jorge M. M. Martins. 2015. "New Approach to the Open Loop Control for Surgical Robots Navigation." Lecture Notes in Electrical Engineering 321, no. : 627-636.
Intelligent Robots can take advantage of a distributed, web-based information system deployed in the cloud to perform high level tasks. This paper proposes a robotic control framework suited to be used by low-cost robots, performing teloperated and/or autonomous tasks. The first part is dedicated to the development of an Android based robot control framework. This framework connects to specific low-level controllers that were developed for multicopters, wheeled/tracked mobile robots. The second part is dedicated to “place” the Android based robot in the cloud. There, the robot can perform Cloud based highly automated cognitive tasks in order to optimize their use and take best advantage of previous knowledge models, e.g., objects databases or 3D world models. Also, the robot can be controlled remotely using a classical teleoperation mode, using wifi networks. First experiments are presented when a tracked robot is performing surveillance tasks, while its state can be changed to teleoperation/videoconferencing mode, while interacting with a reasoning engine in the Cloud.
Paulo Gonçalves; F.M.S. Santos; P.M.B. Torres. Towards a low-cost framework for Intelligent Robots. 2014 Sixth World Congress on Nature and Biologically Inspired Computing (NaBIC 2014) 2014, 244 -249.
AMA StylePaulo Gonçalves, F.M.S. Santos, P.M.B. Torres. Towards a low-cost framework for Intelligent Robots. 2014 Sixth World Congress on Nature and Biologically Inspired Computing (NaBIC 2014). 2014; ():244-249.
Chicago/Turabian StylePaulo Gonçalves; F.M.S. Santos; P.M.B. Torres. 2014. "Towards a low-cost framework for Intelligent Robots." 2014 Sixth World Congress on Nature and Biologically Inspired Computing (NaBIC 2014) , no. : 244-249.
Surgical navigation is a crucial concept in computer assisted surgery. The use of robots in the surgery room largely benefits from this concept’s recent developments, namely with the use of non-invasive and radiation free imaging systems, like ultrasound (US). This paper presents the algorithms and software tools developed for US based orthopaedic surgery navigation. In the second part of the paper are presented the algorithms and software tools developed for controlling a robotic manipulator, that can be used both in simulation and in a real scenario. The paper also presents the developed simulation scenario, for a surgical procedure in Hip Resurfacing, e.g., the first drill of the femur head. For navigation, the system, during surgery, acquires a 3D US bone surface from a sequence of US images. This bone surface will then be registered to the pre-operative bone model, for a precise knowledge of the bone position and orientation. This registration is performed in two steps. The first, a global registration before the surgical procedure, to exactly register the bone. The second is to locally register the femur, which is faster and more suitable for tracking the bone movements. The measured bone movement is used by the robot manipulator to update its drilling position and orientation.
P. J. S. Gonçalves; P. M. B. Torres; F. Santos; R. Antonio; N. Catarino; J. M. M. Martins. A Vision System for Robotic Ultrasound Guided Orthopaedic Surgery. Journal of Intelligent & Robotic Systems 2014, 77, 327 -339.
AMA StyleP. J. S. Gonçalves, P. M. B. Torres, F. Santos, R. Antonio, N. Catarino, J. M. M. Martins. A Vision System for Robotic Ultrasound Guided Orthopaedic Surgery. Journal of Intelligent & Robotic Systems. 2014; 77 (2):327-339.
Chicago/Turabian StyleP. J. S. Gonçalves; P. M. B. Torres; F. Santos; R. Antonio; N. Catarino; J. M. M. Martins. 2014. "A Vision System for Robotic Ultrasound Guided Orthopaedic Surgery." Journal of Intelligent & Robotic Systems 77, no. 2: 327-339.
The paper presents a survey of the efforts and methods presented by the research community to represent knowledge to be used, in a machine readable format, in the biomedical field. From the surveyed ontologies, the base ontologies for the conceptual model of the Ontology for Robotic Orthopaedic Surgery (OROSU), are defined. Methods for merging the base ontologies to obtain the OROSU, are discussed, while the under development framework is briefly presented.
Paulo J. S. Gonçalves; Pedro M. B. Torres. A Survey on Biomedical Knowledge Representation for Robotic Orthopaedic Surgery. Advances in Intelligent Systems and Computing 2014, 274, 259 -268.
AMA StylePaulo J. S. Gonçalves, Pedro M. B. Torres. A Survey on Biomedical Knowledge Representation for Robotic Orthopaedic Surgery. Advances in Intelligent Systems and Computing. 2014; 274 ():259-268.
Chicago/Turabian StylePaulo J. S. Gonçalves; Pedro M. B. Torres. 2014. "A Survey on Biomedical Knowledge Representation for Robotic Orthopaedic Surgery." Advances in Intelligent Systems and Computing 274, no. : 259-268.
Surgical navigation is a crucial concept in computer assisted surgery. The use of robots in the surgery room largely benefits from this concept recent developments, namely with the use of non-invasive and radiation free imaging systems, like ultrasound (US). This paper presents the algorithms and software tools developed for US based orthopedic surgery navigation. In the second part of the paper are presented the algorithms and software tools developed for controlling a robotic manipulator, that can be used both in simulation and in a real scenario. The paper also presents the developed simulation scenario, for a surgical procedure in Hip Resurfacing, e.g., the first drill of the femur head. For navigation, the system, during surgery, acquires a 3D US bone surface from a sequence of US images. This bone surface will then be registered to the pre-operative bone model, for a precise knowledge of the bone position and orientation. The measured bone movement is used by the simulation tool to control the robot manipulator drilling trajectory.
Paulo Gonçalves; P. M. B. Torres; F. Santos; R. Antonio; N. Catarino; Jorge Martins. On the development and simulation of a robotic ultrasound guided system for orthopedic surgical procedures. 2013 13th International Conference on Autonomous Robot Systems 2013, 1 -6.
AMA StylePaulo Gonçalves, P. M. B. Torres, F. Santos, R. Antonio, N. Catarino, Jorge Martins. On the development and simulation of a robotic ultrasound guided system for orthopedic surgical procedures. 2013 13th International Conference on Autonomous Robot Systems. 2013; ():1-6.
Chicago/Turabian StylePaulo Gonçalves; P. M. B. Torres; F. Santos; R. Antonio; N. Catarino; Jorge Martins. 2013. "On the development and simulation of a robotic ultrasound guided system for orthopedic surgical procedures." 2013 13th International Conference on Autonomous Robot Systems , no. : 1-6.