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About

Born at Porto, Portugal, November 7, 1962, graduated with a degree in Electrical Engineering  from the University of Porto in 1986. He then pursued graduate studies at the University of Porto, completing a M.Sc. degree in Electrical Engineering - Systems in 1991 and a Ph.D. degree in Electrical Engineering in 1998. From1986 to 1998 he also worked as an assistant lecturer in the Electrical Engineering Department of the University of Porto. He is currently an Associated Professor in Electrical Engineering, developing his research within the Robotic and Intelligent Systems Centre of INESC TEC (Centre Coordinator). His main research areas are Process Control and Robotics.

Interest
Topics
Details

Details

049
Publications

2022

A kinesthetic teaching approach for automating micropipetting repetitive tasks

Authors
Rocha, C; Dias, J; Moreira, AP; Veiga, G; Costa, P;

Publication
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY

Abstract

2022

Analysis of a Fast Control Allocation approach for nonlinear over-actuated systems

Authors
Santos, MF; Honorio, LM; Moreira, APGM; Garcia, PAN; Silva, MF; Vidal, VF;

Publication
ISA TRANSACTIONS

Abstract
Autonomous Robots with multiple directional thrusters are normally over-actuated systems that require nonlinear control allocation methods to map the forces that drive the robot's dynamics and act as virtual control variables to the actuators. This process demands computational efforts that, sometimes, are not available in small robotic platforms. The present paper introduces a new control allocation approach with fast convergence, high accuracy, and dealing with complex nonlinear problems, especially in embedded systems. The adopted approach divides the desired nonlinear system into coupled linear problems. For that purpose, the Real Actions (RAs) and Virtual Control Variables (VCVs) are broke in two or more sets each. While the RA subsets are designed to linearize the system according to different input subspaces, the VCV is designed to be partially coupled to overlap the output subspaces. This approach generates smaller linear systems with fast and robust convergence used sequentially to solve nonlinear allocation problems. This methodology is assessed in mathematical tutorial cases and over-actuated UAV simulations.

2022

Augmented Reality for Human-Robot Collaboration and Cooperation in Industrial Applications: A Systematic Literature Review

Authors
Costa, GD; Petry, MR; Moreira, AP;

Publication
SENSORS

Abstract
With the continuously growing usage of collaborative robots in industry, the need for achieving a seamless human-robot interaction has also increased, considering that it is a key factor towards reaching a more flexible, effective, and efficient production line. As a prominent and prospective tool to support the human operator to understand and interact with robots, Augmented Reality (AR) has been employed in numerous human-robot collaborative and cooperative industrial applications. Therefore, this systematic literature review critically appraises 32 papers' published between 2016 and 2021 to identify the main employed AR technologies, outline the current state of the art of augmented reality for human-robot collaboration and cooperation, and point out future developments for this research field. Results suggest that this is still an expanding research field, especially with the advent of recent advancements regarding head-mounted displays (HMDs). Moreover, projector-based and HMDs developed approaches are showing promising positive influences over operator-related aspects such as performance, task awareness, and safety feeling, even though HMDs need further maturation in ergonomic aspects. Further research should focus on large-scale assessment of the proposed solutions in industrial environments, involving the solution's target audience, and on establishing standards and guidelines for developing AR assistance systems.

2022

Active Perception Fruit Harvesting Robots - A Systematic Review

Authors
Magalhaes, SA; Moreira, AP; dos Santos, FN; Dias, J;

Publication
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

Abstract

2022

A survey on localization, mapping, and trajectory planning for quadruped robots in vineyards

Authors
Ferreira, J; Moreira, AP; Silva, M; Santos, F;

Publication
2022 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract

Supervised
thesis

2021

3D Reconstruction of Civil Infrastructures from UAV Lidar point clouds

Author
Leonardo Gomes Ribeiro

Institution
UP-FEUP

2021

ForestMP: Multimodal perception system for robotics in forestry applications

Author
Daniel Queirós da Silva

Institution
UP-FEUP

2021

NRfinder: A pipeline for the characterization of the number and type of nuclear receptors in a genomic sequence

Author
Marcos António Pereira Domingues

Institution
UP-FCUP

2021

Efficiency and Financial Sustainability of Water Supply and Sanitation Services in Brazilian Municipalities

Author
Marco Tourinho Gama

Institution
UP-FEUP

2021

Hand-free interaction framework for virtual reality applications

Author
Pedro Miguel Ermida Monteiro

Institution
UTAD