Browsing by Author "Teodoro, Pedro"
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- Design of an Underactuated USV CatamaranPublication . Assunção, Mário; Teodoro, Pedro; Marat-Mendes, Rosa; Franco, VictorThe Sea2Future program was developed at ENIDH, since 2018, and it has involved the construction of an unmanned surface vehicle (USV) with the participation of students and teachers of this educational institution. This firstUSV, with two hulls, referred to as USV-enautica1, included a control system which allows it to carry out several functions autonomously and it was used to study the composite construction, the propulsion command and control architectures, the navigation algorithms, and the control systems. The challenge of designing a lightweight hull suitable for coastal and open ocean navigation is described and the implemented solution for the microcontroller and software operation, the sensors, the navigation, and the control systems are explained. The USV has successfully demonstrated its ability to be operated remotely, which is necessary to validate the hydrodynamic parameters, and afterwards the aim of autonomous operation.
- Fractional Order Image Processing of Medical ImagesPublication . Bento, Tiago; Valério, Duarte; Teodoro, Pedro; Martins, JorgeTo perform a robot-assisted surgery of a prosthesis implantation on a patient’s femur, we may need to get the femoral head-neck orientation for the application. We can extract that information from Computed Tomography scans, using image processing. In image processing, edge detection often makes use of integer-order differentiation operators (e.g. Canny and LoG operators). This paper shows that introducing non-integer (fractional) differentiation to edge detectors (Fractional Canny, Fractional LoG, Fractional Derivative operators) can improve automatic edge detection results.
- Instigating Maritime Studies via Rapid Prototyping and Robotics: A Case From the Smartboat InitiativePublication . Teodoro, Pedro; Marat-Mendes, R.; Assunção, Mário; Alves, Nuno; Sanguino, Beatriz; Gaspar, Henrique M.A case on rapid prototyping is presented in this work to exemplify the use of learn, make and share activities to promote maritime studies. SMARTBOAT is an initiative from the Escola Superior Náutica Infante D. Henrique, in Portugal, where students are invited to interact with computer-aided design modelling, additive manufacturing and programming. Such initiative is paramount to instigate and promote higher education studies in science, technology, engineering, art, and mathematics (STEAM). The initiative is presented and discussed, with its main steps and schemes. A step forward is later discussed by the ongoing collaboration with the Norwegian University of Science and Technology (NTNU, Norway), which intend to combine the Portuguese case with recent advancements in robotics and digital twin, such as remote operation via internet of things protocols and web-based tools. The work ends with a discussion on the results and future works on autonomous shipping, as well as a call for the development and sharing of similar initiatives.
- Non-rigid registration of 3D ultrasound for neurosurgery using automatic feature detection and matchingPublication . Machado, I.; ToewsJie, M.; Unadkat, L.; Essayed, W.; George, E.; Teodoro, Pedro; Carvalho, H.; Martins, J.; Golland, P.; Pieper, S.; Frisken, S.; Golby, A.; WellsIII, W.
- Real-time GPS indoor for USV tracking using lookup tablePublication . Vieira, Fábio; Teodoro, Pedro; Jorge, Pedro MendesThis study introduces an approach that utilizes Lookup Tables (LUT) to enable real-time tracking of an Unmanned Surface Vehicle (USV) in an indoor setting, using a fish-eye camera. The proposed method streamlines image processing and achieves O(1) complexity, significantly reducing application run time. The paper also outlines the process of calibrating the fish-eye camera to correct image distortion, computing the homography matrix for re-projection, and obtaining a virtual top view of the camera’s field of view. The paper provides a detailed explanation of the replacement of the undistortion and re-projection steps with the new LUT method. Experimental results demonstrate a significant enhancement in the process’s run time, making it feasible for real-time tracking, regardless of the image size.