Abstract
Path planning for mobile robotics in unknown environments or with moving obstacles requires re-planning paths based on information gathered from the surroundings. Moving obstacles and real time constraints require fast computing to navigate and make decisions in a mobile robot. This paper addresses an optimization approach to compute, with real time constraints, the optimal path for a mobile robot based on a dynamically simplified A* search algorithm with a commitment on the available time.

Abstract
The localization systems are becoming more and more required in the actual flexible manufacturing systems based on mobile robots. There are several approaches to localize a mobile robot such as laser scanners reflective beacons, image mapping, lightning based systems, Ultra-wideband time-of-flight trilateration, odometry and fusion sensor data algorithms. During the development phase of a localization methodology, it is necessary to evaluate the proposed system: it is used a ground truth system. Ground truth systems are precise (usually based on reflective beacons) but expensive. This paper presents a low-cost ground truth system based on a standard low-cost laser scanner that, coupled with the presented algorithm, allows to localize the robot in the field and thus evaluate other localization systems. Results of the precision of the developed system are presented and validates the approach. Copyright

Abstract
Mobile robotic applications are increasing in several areas not only in industries but also service robots. The Industry 4.0 promoted even more the digitalization of factories that opened space for smart-factories implementation. Robotic competitions are a key to improve research and to motivate learning. This paper addresses a new competition proposal, the Robot@Factory Lite, in the scope of the Portuguese Robotics Open. Beyond the competition, a reference robot with all its components is proposed and a simulation environment is also provided. To minimize the gap between the simulation and the real implementation, an Hardware-in-the-loop technique is proposed that allows to control the simulation with a real Arduino board. Results show the same code, and hardware, can control both simulation model and real robot.

Abstract
Cable-driven robots have received some attention by the scientific community and, recently, by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites. In this context, this research presents an extension of a cable-driven robot called SPIDERobot, that was developed for automated construction of architectural projects. The proposed robot is formed by a rotating claw and a set of four cables, enabling four degrees of freedom. In addition, this paper proposes a new Vision-Guided Path-Planning System (V-GPP) that provides a visual interpretation of the scene: the position of the robot, the target and obstacles location; and optimizes the trajectory of the robot. Moreover, it determines a collision-free trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene. A set of experiments make possible to validate the contribution of V-GPP to the SPIDERobot while operating in realistic working conditions, as well as, to evaluate the interaction between the V-GPP and the motion controlling system. The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment. The V-GPP system localizes the robot with a precision of 0.006 m, detects the targets and successfully generates a path that takes into account the displacement of cables. Therefore, the results demonstrate that the SPIDERobot can be scaled up to real working conditions.

Abstract
The actual control quality standards require manufacturers to increase the inspection process. Instead of a sampling method, all items should be inspected and different equipment with different characteristics in the inspection cell need an adaptive system and the control quality cells should be enhanced. The presented work describes a self-adaptable robotized inspection cell for HMI consoles. which comprises the image acquisition system with controlled illumination and a force feedback sensor manipulated by a collaborative robot. The developed robotized cell is capable of detecting different HMI consoles and adapting the inspection routines of the manipulator robot according to the specific console. Moreover, the flexibility of the collaborative robot allows to adapt the camera positioning, lighting, and distance in a way that future HMI consoles can be inspected based on learning strategies.

Abstract
In microcirculation, the cell-free layer (CFL) is a well-known physiological phenomenon that plays an important role in reducing the flow resistance and in balancing nitric oxide (NO) production by endothelial cells and NO scavenging by red blood cells. To better understand this phenomenon, several blood flow studies have been performed in simple geometries at both in vivo and in vitro environments. However, to date little information is available regarding the effects imposed by a complex branching network on the CFL.The present study shows the CFL layer variation at a microchannel network.The images were captured using a high-speed video microscopy system and the thickness of the CFL was measured using both manual and automatic image analysis techniques. Using this methodology, it was possible to visualise the in vitro blood flowing through the network and to identify several flow phenomena that happen in microcirculation. Overall, the results have shown that the concentration of cells and the geometrical configuration of the network have a major impact on the CFL thickness. In particular, the thickness of the CFL decreases as the fluid flows through a microchannel network composed with successive smaller channels. It was also clear that, for the full length of the network, the CFL thickness tends to decrease with the increase of the concentration of cells. The automatic method developed becomes inaccurate for high haematocrit and needs be calibrated by manual methods for Hcts bigger than 10%. The results obtained from this study could help the development and validation of multiscale numerical models able to take into account the CFL for simulating microvascular blood flow.