Publications, posters and oral presentations

2019

Design optimization of a ducted-drone to perform inspection operations.
João Vilaça, Alberto Vale and Filipe Cunha
ROBOT'2019: Fourth Iberian Robotics Conference, Porto, Portugal.
(accepted for publication)

Path planning and space occupation for remote maintenance operations of transportation in DEMO.
Alberto Vale, José Dias
Fusion Engineering and Design Vol. 146, Part A, (2019) 325-328.
DOI: 10.1016/j.fusengdes.2018.12.057

Optimal Visual Markers Placement for Marker-Based Localization of UAVs in Indoor Environments.
Jorge Cordeiro
MSc Thesis, June 2019, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Rodrigo Ventura.

Radioactive hot-spot detection using unmanned aerial vehicle surveillance.
D. Macedo, A. Vale, Y. Brouwer, B. Gonçalves, H. Fernandes
Advancements in Nuclear Instrumentation Measurement Methods and their Applications (ANIMMA2019), 17-21 June, 2019
(accepted for oral presentation)

Designing for Remote Handling: the case-study of the ITER Plasma Position Reflectometry in-vessel antennas.
A. Vale, F. Afonso, F. Mourão, P. Varela
Journal of Instrumentation Vol. 14 (2019) C07003-C07003.
DOI: 10.1088/1748-0221/14/07/C07003

Design and development of the ITER CTS diagnostic.
S. Korsholm, B. Gonçalves, H. Gutierrez, E. Henriques, V. Infante, T. Jensen, M. Jessen, E. Klinkby, A. Larsen, F. Leipold, A. Lopes, R. Luis, V. Naulin, S. Nielsen, E. Nonbøl, J. Rasmussen, M. Salewski, M. Stejner, A. Taormina, A. Vale, C. Vidal, L. Sanchez, R. Ballester, V. Udintsev
20th Joint Workshop on Electron Cyclotron Emission and Electron Cyclotron Resonance Heating (EC20), EPJ Web Conf., Volume 203, 2019
DOI: 10.1051/epjconf/201920303002

2018

Design of duct-drones.
João Vilaça
MSc Thesis, December 2018, Instituto Superior Técnico and Portuguese Air Force Academy,
supervised by Alberto Vale and Filipe Cunha.

Outdoor Multi-Sensor Navigation of an Unmanned Ground Vehicle.
David Dias
MSc Thesis, December 2018, Instituto Superior Técnico, Portugal,
supervised by Pedro Lima and Alberto Vale.

Radioactive hot-spot detection using unmanned aerial vehicle surveillance.
Duarte Macedo
MSc Thesis, November 2018, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Horácio Fernandes.

Nuclear and Thermal Analysis of a Reflectometry Diagnostics Concept for DEMO.
R. Luís, R. Moutinho, L. Prior, P. B. Quental, A. Lopes, H. Policarpo, N. Velez, A. Vale, A. Silva, and A. Malaquias.
IEEE Transactions on Plasma Science Vol. 46 (2018) 1939-9375.
DOI: 10.1109/TPS.2017.2780922

Integration Concept of the Reflectometry Diagnostic for the Main Plasma in DEMO.
A. Malaquias, A. Silva, R. Moutinho, R. Luis, A. Lopes, P. B. Quental, L. Prior, N. Velez, H. Policarpo, A. Vale, W. Biel, J. Aubert, M. Reungoat, F. Cismondi, and T. Franke
IEEE Transactions on Plasma Science Vol. 46 (2018) 451-457.
DOI: 10.1109/TPS.2017.2784785

Remote inspection with multicopters, radiological sensors and SLAM techniques.
Henrique Carvalho, Alberto Vale, Rúben Marques, Rodrigo Ventura, Yoeri Brouwer and Bruno Gonçalves
Advancements in Nuclear Instrumentation Measurement Methods and their Applications (ANIMMA2017), 19-23 June, 2017.
EPJ Web of Conferences 170, 07014 (2018)
DOI: 10.1051/epjconf/201817007014

2017

Mobile Robot Localization Using On-board and Off-board Laser Range Finders and Reflective Markers.
Henrique Carvalho.
MSc Thesis, November 2017, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Rodrigo Ventura.

Logistics Management of Multiple Mobile Robots in Confined Spaces.
Victor Zatta.
MSc Thesis, November 2017, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Rodrigo Ventura.

Assessment of navigation technologies for automated guided vehicle in nuclear fusion facilities.
Alberto Vale, Rodrigo Ventura, Pedro Lopes, Isabel Ribeiro
Robotics and Autonomous Systems Vol. 97 (2017) 153-170.
DOI: 10.1016/j.robot.2017.08.006

Application of unmanned aerial vehicles for radiological inspection.
Alberto Vale, Rodrigo Ventura, Paulo Carvalho
Fusion Engineering and Design Vol. 124 (2017) 492-495.
DOI: 10.1016/j.fusengdes.2017.06.002

FFMECA and recovery strategies for ex-vessel remote maintenance systems in DEMO.
Alberto Vale
Fusion Engineering and Design Vol. 124 (2017) 619-622.
DOI: 10.1016/j.fusengdes.2017.02.101

2016

Assessment of navigation technologies for autonomous vehicles in nuclear fusion facilities.
Alberto Vale, Isabel Ribeiro, Rodrigo Ventura, Pedro Lopes
Oral presentation in the 29th Symposium on Fusion Technology (SOFT2016), Prague, Czech Republic, 5-9 September 2016.

FFMECA and recovery strategies for ex-vessel remote maintenance systems in DEMO.
Alberto Vale
Presentation as poster in the 29th Symposium on Fusion Technology (SOFT2016), Prague, Czech Republic, 5-9 September 2016.

Assessment of unmanned aerial vehicles for reactor inspection.
Paulo Carvalho, Alberto Vale, Rodrigo Ventura
Presentation as poster in the 29th Symposium on Fusion Technology (SOFT2016), Prague, Czech Republic, 5-9 September 2016.

Human machine interface to manually drive rhombic like vehicles such as transport casks in ITER.
Pedro Lopes, Alberto Vale, Rodrigo Ventura.
Proceedings of the 9th IFAC Intelligent Autonomous Vehicles Symposium (IAV2016), vol. 49, pp 248-253, Leipzig, Germany, 29 June - 1 July 2016.
DOI: 10.1016/j.ifacol.2016.07.750

2015

Overview of progress on the European DEMO remote maintenance strategy.
Oliver Crofts, Antony Loving, Daniel Iglesias, Matti Coleman, Mikko Siuko, Martin Mittwollen, Vicente Queral, Alberto Vale, Eric Villedieu.
Fusion Engineering and Design Vol. 109–111 Part B (2015) 1392 - 1398.
DOI: 10.1016/j.fusengdes.2015.12.013

Human machine interface to manually drive rhombic like vehicles such as transport casks in ITER.
Pedro Lopes.
MSc Thesis, November 2015, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Rodrigo Ventura.

Assessment of ex-vessel transportation in Remote Maintenance Systems of DEMO.
Alberto Vale.
Fusion Engineering and Design Vol. 98-99 (2015) 1660-1663.
DOI: 10.1016/j.fusengdes.2015.06.158

A Multi-Purpose Rescue Vehicle and a Human-Robot Interface architecture for remote assistance in ITER.
João Soares, Alberto Vale, Rodrigo Ventura.
Fusion Engineering and Design Vol. 98-99 (2015) 1656-1659.
DOI: 10.1016/j.fusengdes.2015.06.148

Calibration of laser range finders for mobile robot localization in ITER.
Tiago Sousa, Alberto Vale, Rodrigo Ventura.
Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO2015), 541-549, Alsace, France, 21-23 July 2015.
DOI: 10.5220/0005536505410549

Calibration of multiple laser range finders for mobile robot localization in ITER.
Tiago Sousa.
MSc Thesis, June 2015, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Rodrigo Ventura.

Human machine interface to manually drive rhombic like vehicles such as transport casks in ITER.
Pedro Lopes, Alberto Vale, Rodrigo Ventura.
4th International Conference on Advancements in Nuclear Instrumentation Measurement Methods and their Applications (ANIMMA2015), 1-8, Lisbon, Portugal, 20-24 April 2015.
DOI: 10.1109/ANIMMA.2015.7465513

Book chapter: Motion Planning of Large Scale Vehicles for Remote Material Transportation.
Alberto Vale and Isabel Ribeiro.
Book title: Motion and Operation Planning of Robotic Systems, Springer International Publishing, vol. 29 (2015) 249-292.
DOI: 10.1007/978-3-319-14705-5_9

Performance analysis of Fast Marching-based motion planning for autonomous mobile robots in ITER scenarios.
Javier V. Gomez, Alberto Vale, Santiago Garrido, Luis Moreno.
In Robotics and Autonomous Systems, vol. 63, 36-49 (2015).
DOI: 10.1016/j.robot.2014.09.016

2014

Patent PT106574: Driving and steering wheel system for omnidirectional vehicles.
Inventors: Alberto Vale, Ricardo Oliveira, Rodrigo Ventura
International classification B60B 19/12 (2006.01). Applicant: Instituto Superior Técnico. Filled on October 2012 and issued on October 2032. Published in 2014.

Assessment of ex-Vessel Movers in Remote Maintenance Systems of DEMO.
Alberto Vale
Presented as a poster in the 28th Symposium on Fusion Technology (SOFT2014), San Sebastian, Spain, 29 September - 3 October 2014.

Human-Robot Interface Architecture for a Multi-Purpose Rescue Vehicle for Remote Assistance.
João Soares, Rodrigo Ventura, Alberto Vale
Presented as a poster in the 28th Symposium on Fusion Technology (SOFT2014), San Sebastian, Spain, 29 September - 3 October 2014.

Human-Robot Interface Architecture for a Multi-Purpose Rescue Vehicle for remote handling in ITER.
João Soares.
MSc Thesis, October 2014, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Rodrigo Ventura.

Trajectory optimization for autonomous mobile robots in ITER.
Alberto Vale, Daniel Fonte, Filipe Valente, Isabel Ribeiro.
In Robotics and Autonomous Systems, vol. 62, 871-888 (2014).
DOI: 10.1016/j.robot.2014.01.007

Simulating Trajectories for Remote Handling Vehicles Carrying Activated Components.
Alberto Vale was interviewed by the Mathworks and the user story was published on the Mathworks website, 92157v00, 2014.

2013

Flexible path optimization for the Cask and Plug Remote Handling System in ITER.
Alberto Vale, Daniel Fonte, Filipe Valente, João Ferreira, Isabel Ribeiro, Carmen Gonzalez.
Fusion Engineering and Design, vol. 88 (2013) 1900–1903.
DOI: 10.1016/j.fusengdes.2013.02.095

Localization of Cask and Plug Remote Handling System in ITER using multiple Video Cameras.
João Ferreira, Alberto Vale, Isabel Ribeiro
Fusion Engineering and Design, vol. 88 (2013) 1992–1996.
DOI: 10.1016/j.fusengdes.2012.10.008

Logistics management for storing multiple cask plug and remote handling systems in ITER.
Rodrigo Ventura, João Ferreira, Iulian Filip, Alberto Vale.
Fusion Engineering and Design, vol. 88 (2013) 2062–2066.
DOI: 10.1016/j.fusengdes.2013.02.036

Motion planning and localization approaches for mobile robot navigation in ITER.
A. Vale, F. Valente, I. Ribeiro, J. Ferreira, R. Ventura.
Robótica Magazine, number 91, 2nd trimester, 2013.
ISSN: 0874-9019.

Path Following Control of Rhombic Like Vehicles: Performance Assessment with Dynamic Vehicle Model.
Nuno Silva, Alberto Vale and Luca Baglivo
Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO2013), vol. 2, 48-57, Reykjavik, Iceland, SciTePress, 29-31 July 2013.
DOI: 10.5220/0004439500480057

Comparison of different approaches for mobile robot localization using onboard laser range finder.
Mattia Tavernini, Alberto Vale, João Ferreira, Luca Baglivo and Mariolino De Cecco
Accepted to the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO2013).

Vehicle localization system using off-board range sensor network.
J. Ferreira, A. Vale, R. Ventura
Proceedings of the 8th IFAC Intelligent Autonomous Vehicles Symposium (IAV2013), vol. 8, part 1, pp 102-107, Gold Coast, Australia, 26-28 June 2013.
DOI: 10.3182/20130626-3-AU-2035.00032

Four New Path Following Controllers for Rhombic Like Vehicles.
Nuno Silva, Luca Baglivo, Alberto Vale, Mariolino De Cecco
Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), 3204-3211, Karlsruhe, Germany, May 6-10, 2013.
DOI: 10.1109/ICRA.2013.6631023

Fast Marching in motion planning for rhombic like vehicles operating in ITER.
Javier V. Gómez, Alberto Vale, Filipe Valente, João Ferreira, Santiago Garrido and Luis Moreno
Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), 5513-5518, Karlsruhe, Germany, May 6-10, 2013.
DOI: 10.1109/ICRA.2013.6631371

Bringing the Power of the Sun to Earth: Portuguese Contribution.
Bruno Gonçalves, Alberto Vale, Carlos Silva
Técnica 01, Engineering Magazine, March 2013.
ISSN 0040-1714.

2012

Chapter: Performance Study of the FM2 Planning Method for Remote Handling Operations in ITER.
J. V. Gómez, S. Garrido, L. Moreno, A. Vale, F. Valente, J. Ferreira.
Book: 2nd Workshop on Fusion Technologies and the Contribution of TECHNOFUSIÓN. Sección de Publicaciones de la UC3M 2012.
ISBN: 978-84-695-6616-9.

Localization of Cask and Plug Remote Handling System in ITER using multiple Video Cameras.
João Ferreira, Alberto Vale, Isabel Ribeiro
Presented as a poster in the 27th Symposium on Fusion Technology (SOFT2012), Liège, Belgium, 24 - 28 September 2012.

Logistics Management for Parking Multiple Cask Plug and Remote Handling Systems in ITER.
Rodrigo Ventura, João Ferreira, Iulian Filip, Alberto Vale
Presented as a poster in the 27th Symposium on Fusion Technology (SOFT2012), Liège, Belgium, 24 - 28 September 2012.

Flexible Path Optimization for the Cask and Plug Remote Handling System in ITER.
Alberto Vale, Daniel Fonte, Filipe Valente, João Ferreira, Isabel Ribeiro, Carmen Gonzalez
Presented as a poster in the 27th Symposium on Fusion Technology (SOFT2012), Liège, Belgium, 24 - 28 September 2012.

Motion planning and localization approaches for mobile robot navigation in ITER.
A. Vale, F. Valente, I. Ribeiro, J. Ferreira and R. Ventura
Proceedings Robótica'2012, pages 75-80, Guimarães, Portugal. Best presentation award.
ISBN: 978-972-98603-4-8. (PDF)

2011

The Remote Handling Systems for ITER.
I. Ribeiro, C. Damiani, A. Tesini, S. Kakudate, M. Siuko, C. Neri.
Fusion Engineering and Design, 86 (2011) 471–477.
DOI: 10.1016/j.fusengdes.2011.01.138

Optimized Trajectories of the Transfer Cask System in ITER.
Filipe Valente, Alberto Vale, Daniel Fonte, Isabel Ribeiro.
Fusion Engineering and Design, vol. 86 (2011) 1967–1970.
DOI: 10.1016/j.fusengdes.2010.12.027

Mobile Robot Navigation for Remote Handling operations in ITER.
Alberto Vale, Isabel Ribeiro
III Workshop de Robótica: Robótica Experimental, 28-29 Noviembre 2011. Escuela Superior de Ingenieros de la Universidad de Sevilla, España. (PDF)

Motion Planning for a Rhombic-Like Vehicle Operating in ITER Scenarios.
Daniel Fonte.
MSc Thesis, June 2011, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Miguel Ayala Botto.
Best master thesis award from the Portuguese Robotics Society in 2011. (PDF)

Path Optimization of Rhombic-Like Vehicles: An Approach Based on Rigid Body Dynamic.
Daniel Fonte, Filipe Valente, Alberto Vale, Isabel Ribeiro.
Proceedings of the 15th IEEE International Conference on Advanced Robotics (ICAR 2011), 106-111, Tallinn, Estonia, June 20-23, 2011.
DOI: 10.1109/ICAR.2011.6088557

Behavior of Digital and Analog Controller Devices for Manual Driving of Rhombic like Vehicles.
João Bivar, Alberto Vale.
Proceedings of the 19th IEEE Mediterranean Conference on Control and Automation (MED 2011), 1065-1070, Corfu, Greece, June 20-23 2011.
DOI: 10.1109/MED.2011.5983033

2010

Sensor Network and Localization methods for a mobile robot.
João Ferreira.
MSc Thesis, December 2010, Instituto Superior Técnico, Portugal,
supervised by Alberto Vale and Rodrigo Ventura. Honorable mention from the Portuguese Robotics Society award in 2010. (PDF)

The Remote Handling Systems for ITER.
I. Ribeiro, C. Damiani, A. Tesini, S. Kakudate, M. Siuko, C. Neri.
Presented as an invited plenary tak in the 26th Symposium on Fusion Technology (SOFT2010), Porto, Portugal, 27 September - 1 October 2010. (PDF)

ITER Transfer Cask System: status of design, issues and future development.
C. González, C. Damiani, J-P Friconneau, A. Tesini, I. Ribeiro, A. Vale.
Fusion Engineering and Design, 85 (2010), 2295-2299.
DOI: 10.1016/j.fusengdes.2010.09.010

Optimized Trajectories of the Transfer Cask System in ITER.
Filipe Valente, Alberto Vale, Daniel Fonte, Isabel Ribeiro.
Presented as a poster in the 26th Symposium on Fusion Technology (SOFT2010), Porto, Portugal, 27 September - 1 October 2010. (PDF)

Optimizing range finder sensor network coverage in Indoor Environment.
J. Ferreira, A. Vale, R. Ventura.
7th Symposium on Intelligent Autonomous Vehicles (IAV2010), 282-287, Italy, September 2010.
DOI: 10.3182/20100906-3-IT-2019.00050

A motion planning methodology for rhombic-like vehicles for ITER remote handling operations.
D. Fonte, F. Valente, A. Vale, I. Ribeiro.
7th Symposium on Intelligent Autonomous Vehicles (IAV2010), 443-448, Italy, September 2010.
DOI: 10.3182/20100906-3-IT-2019.00077

Challenges of the Transfer Cask System Operation in ITER.
Ribeiro I., Vale A., Ruibanys P., Queral V..
Highlighting Portuguese Science - Associate Laboratories' Review, July, 2010, pp.70-71. (PDF)

From CAD to a ITER Tokamak Building Maquette: Support to Remote Handling Operations.
Pedro Diogo and Alberto Vale.
CIENCIA 2010, 4-7 July 2010, Lisbon Congress Center, Lisboa, Portugal.

2009

ITER Transfer Cask System: status of design, issues and future development.
C. González, C. Damiani, J-P Friconneau, A. Tesini, I. Ribeiro, A. Vale.
Presented as a poster in the 9th International Symposium on Fusion Nuclear Technology, China, October 2009.

1998

Geometric Feasibility of the ITER Air Cushion Remote Handling Casks and Extensions to Free Roaming Navigation.
Isabel Ribeiro, Pedro Lima, Pedro Aparício.
Technical Report, RT-402-98, Institute for Systems and Robotics, Instituto Superior Técnico, June 1998. (PDF)

1997

Active Docking of a Transport Cask Vehicle Subject to 6 Degrees of Freedom Misalignments.
Isabel Ribeiro, Pedro Lima, Pedro Aparício, Renato Ferreira.
Proceedings of the 17th IEEE/NPSS Symposium on Fusion Engineering, San Diego, USA, October 1997, pp. 973-976. (PDF)

Conceptual Study on Flexible Guidance and Navigation for ITER Remote Handling Transport Casks.
Isabel Ribeiro, Pedro Lima, Pedro Aparício, Renato Ferreira.
Proceedings of the 17th IEEE/NPSS Symposium on Fusion Engineering, San Diego, USA, October 1997, pp. 969-972. (PDF)

Conceptual Study on Flexible Guidance and Navigation for ITER Remote Handling Transport Casks.
Isabel Ribeiro, Pedro Lima, Pedro Aparício, Renato Ferreira.
Technical Report, RT-401-97, Institute for Systems and Robotics, Instituto Superior Técnico, April 1997.