Alfredo Martins
International Student Exchange Programs
Publications 83
#1Michael Bleier (University of Würzburg)H-Index: 1
#2Carlos AlmeidaH-Index: 15
Last.Klaus Shcilling (University of Würzburg)H-Index: 16
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Abstract. The project Viable Alternative Mine Operating System (iVAMOS!) develops a novel underwater mining technique for extracting inland mineral deposits in flooded open-cut mines. From a floating launch and recovery vessel a remotely-operated underwater mining vehicle with a roadheader cutting machine is deployed. The cut material is transported to the surface via a flexible riser hose. Since there is no direct intervisibility between the operator and the mining machine, the data of the sens...
#1Fábio AzevedoH-Index: 1
#2André DiasH-Index: 7
Last.Eduardo A. SilvaH-Index: 21
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The effective monitoring and maintenance of power lines are becoming increasingly important due to a global growing dependence on electricity. The costs and risks associated with the traditional foot patrol and helicopter-based inspections can be reduced by using UAVs with the appropriate sensors. However, this implies developing algorithms to make the power line inspection process reliable and autonomous. In order to overcome the limitations of visual methods in the presence of poor light and n...
#1Fábio Azevedo (International Student Exchange Programs)H-Index: 1
#2André Dias (International Student Exchange Programs)H-Index: 7
Last.Eduardo Silva (International Student Exchange Programs)H-Index: 8
view all 8 authors...
The growing dependence of modern-day societies on electricity increases the importance of effective monitoring and maintenance of power lines. Endowing UAVs with the appropriate sensors for inspecting power lines, the costs and risks associated with the traditional foot patrol and helicopter-based inspections can be reduced. However, this implies the development of algorithms to make the inspection process reliable and autonomous. Visual methods are usually applied to locate the power lines and ...
#1Alfredo Martins (P.PORTO: Polytechnic Institute of Porto)H-Index: 9
#2José Almeida (P.PORTO: Polytechnic Institute of Porto)H-Index: 3
Last.Eduardo Silva (P.PORTO: Polytechnic Institute of Porto)H-Index: 8
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This paper presents the perception system designed for the underwater mine exploration UNEXMIN robot.This autonomous underwater vehicle was designed in the context of the European H2020 UNEXMIN project to explore flooded underground minesThe presented work addresses the sensor choice and placement options, the characterization of the system with results obtained in test tank and on field missions in mines. The perception software and computational architecture is also discussed with details on i...
Oct 1, 2018 in IROS (Intelligent Robots and Systems)
#1José Miguel Almeida (International Student Exchange Programs)H-Index: 7
#2Alfredo Martins (International Student Exchange Programs)H-Index: 9
Last.Andreas Nüchter (University of Würzburg)H-Index: 32
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This paper presents the positioning, navigation and awareness (PNA) system developed for the Underwater Robotic Mining System of the !VAMOS! project [1]. It describes the main components of the !VAMOS! system, the PNA sensors in each of those components, the global architecture of the PNA system, and its main subsystems: Position and Navigation, Realtime Mine Modeling, 3D Virtual reality HMI and Real-time grade system. General results and lessons learn during the first mining field trial in Lee ...
#1Davide Grande (Polytechnic University of Milan)
#2Luca Bascetta (Polytechnic University of Milan)H-Index: 14
Last.Alfredo MartinsH-Index: 9
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This paper presents the modeling and simulation of a spherical autonomous underwater vehicle. The robot was developed under the European Union H2020 innovation action UNEXMIN for the exploration of underground flooded mines, and is a small spherical robot with thrusters and an internal pendulum for pitch control. A model of the vehicle is presented, initially without the pendulum, then an extended formulation is derived accounting for a multibody dynamic description of the system. Experimental i...