José Alexandre Gonçalves

Abstract
The accurate measurement of joint angles during patient rehabilitation is crucial for informed decision making by physiotherapists. Presently, visual inspection stands as one of the prevalent methods for angle assessment. Although it could appear the most straightforward way to assess the angles, it presents a problem related to the high susceptibility to error in the angle estimation. In light of this, this study investigates the possibility of using a new approach to angle calculation: a hybrid approach leveraging both a camera and LiDAR technology, merging image data with point cloud information. This method employs AI-driven techniques to identify the individual and their joints, utilizing the cloud-point data for angle computation. The tests, considering different exercises with different perspectives and distances, showed a slight improvement compared to using YOLO v7 for angle calculation. However, the improvement comes with higher system costs when compared with other image-based approaches due to the necessity of equipment such as LiDAR and a loss of fluidity during the exercise performance. Therefore, the cost-benefit of the proposed approach could be questionable. Nonetheless, the results hint at a promising field for further exploration and the potential viability of using the proposed methodology.

Abstract
Angle assessment is crucial in rehabilitation and significantly influences physiotherapists' decision-making. Although visual inspection is commonly used, it is known to be approximate. This work aims to be a preliminary study about using the AI image-based to assess upper limb joint angles. Two main frameworks were evaluated: MediaPipe and Yolo v7. The study was performed with 28 participants performing four upper limb movements. The results showed that Yolo v7 achieved greater estimation accuracy than Mediapipe, with MAEs of around 5 degrees and 17 degrees, respectively. However, even with better results, Yolo v7 showed some limitations, including the point of detection in only a 2D plane, the higher computational power required to enable detection, and the difficulty of performing movements requiring more than one degree of Freedom (DOF). Nevertheless, this study highlights the detection capabilities of AI approaches, showing be a promising approach for measuring angles in rehabilitation activities, representing a cost-effective and easy-to-implement solution.

Abstract
As robots have limited power sources. Energy optimization is essential to ensure an extension for their operating periods without needing to be recharged, thus maximizing their uptime and minimizing their running costs. This paper compares the energy consumption of different mobile robotic platforms, including differential, omnidirectional 3-wheel, omnidirectional 4-wheel, and Mecanum platforms. The comparison is based on the RobotAtFactory 4.0 competition that typically takes place during the Portuguese Robotics Open. The energy consumption from the batteries for each platform is recorded and compared. The experiments were conducted in a validated simulation environment with dynamic and friction models to ensure that the platforms operated at similar speeds and accelerations and through a 5200 mAh battery simulation. Overall, this study provides valuable information on the energy consumption of different mobile robotic platforms. Among other findings, differential robots are the most energy-efficient robots, while 4-wheel omnidirectional robots may offer a good balance between energy efficiency and maneuverability.

Abstract
The energy storage batteries, employed in solar systems installed on lampposts, are usually placed in devices such as switchboards fixed at an elevation near the top of the column. However, this storage solution becomes inefficient, because it is not possible to guarantee the control of the working temperature of the batteries, due to the low thermal insulation capacity of these storage devices. In this sense, an underground compartment made of concrete, steel plate and rock wool were created, embedded in the foundation of the lamppost, with the purpose of using geothermal energy to maintain an adequate temperature inside the compartment. To verify the temperature inside the battery storage compartment, a thermal analysis was performed, where heat transfer by conduction, convection and radiation was considered. Analyses were performed in steady state, and later, transient state, considering the initial temperatures of the thermal study in the previous steady state. With a storage volume of 1m3 and the base of the compartment at a depth of 2m, it was verified that it is possible to use geothermal energy to cool or heat, depending on the season, a system through geothermal energy. Considering a typical day in July, with room temperature of 35oC, a reduction of approximately 8oC was obtained inside the storage compartment, compared to the ambient temperature.

Abstract
When people move around a town, at some point in their journey they need to cross the road using a dedicated crosswalk. However, crossing is not always done safely due to weather conditions, lack of visibility or distraction. The VALLPASS project, aims to install two lampposts in opposite positions to the direction of crossing, with various functionalities and technological innovations, creating a luminous tunnel for the safe passage of pedestrians. To verify the mechanical resistance of the lighting poles, numerical simulations were performed using the finite element method, where the boundary conditions considered the criteria defined by the European standard EN-40 "Lighting Columns". This standard specifies the loads acting on the column, namely the horizontal forces due to the action of wind according to standard NP EN 1991-1-4:2010 and the vertical forces due to the self-weight of the entire structure. Considering a lighting pole with a square lower section and a cylindrical upper section, with a total height of 7 meters and with a support structure for photovoltaic panels, according to the static analysis performed, a maximum combination of axial and bending stresses of 138.74MPa, was obtained in the connection zone between the square section and the pole shaft. The maximum displacement of 6.9cm, was obtained at the free ends of the photovoltaic panel support structure and a minimum factor of safety of 1.64 in the zone where the combination of axial and bending stresses is more severe.