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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.

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Details

Details

048
Publications

2022

A kinesthetic teaching approach for automating micropipetting repetitive tasks

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

Publication
The International Journal of Advanced Manufacturing Technology

Abstract

2021

Robust human position estimation in cooperative robotic cells

Authors
Amorim, A; Guimares, D; Mendona, T; Neto, P; Costa, P; Moreira, AP;

Publication
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

Abstract
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a major concern when humans and robots share the same workspace. Many times, this is due to the lack of a reliable estimation of the human pose in space which is the primary input to calculate the human-robot minimum distance (required for safety and collision avoidance) and HRI/C featuring machine learning algorithms classifying human behaviours / gestures. Each sensor type has its own characteristics resulting in problems such as occlusions (vision) and drift (inertial) when used in an isolated fashion. In this paper, it is proposed a combined system that merges the human tracking provided by a 3D vision sensor with the pose estimation provided by a set of inertial measurement units (IMUs) placed in human body limbs. The IMUs compensate the gaps in occluded areas to have tracking continuity. To mitigate the lingering effects of the IMU offset we propose a continuous online calculation of the offset value. Experimental tests were designed to simulate human motion in a human-robot collaborative environment where the robot moves away to avoid unexpected collisions with de human. Results indicate that our approach is able to capture the human's position, for example the forearm, with a precision in the millimetre range and robustness to occlusions.

2021

Reconfigurable Grasp Planning Pipeline with Grasp Synthesis and Selection Applied to Picking Operations in Aerospace Factories

Authors
de Souza, JPC; Costa, CM; Rocha, LF; Arrais, R; Moreira, AP; Pires, EJS; Boaventura Cunha, J;

Publication
Robotics and Computer-Integrated Manufacturing

Abstract

2021

Autonomous wheelchair for patient’s transportation on healthcare institutions

Authors
Baltazar, AR; Petry, MR; Silva, MF; Moreira, AP;

Publication
SN Applied Sciences

Abstract
AbstractThe transport of patients from the inpatient service to the operating room is a recurrent task in a hospital routine. This task is repetitive, non-ergonomic, time consuming, and requires the labor of patient transporters. In this paper is presented a system, named Connected Driverless Wheelchair, that can receive transportation requests directly from the hospital information management system, pick up patients at their beds, navigate autonomously through different floors, avoid obstacles, communicate with elevators, and drop patients off at the designated operating room. As a result, a prototype capable of transporting patients autonomously in hospital environments was obtained. Although it was impossible to test the final developed system at the hospital as planned, due to the COVID-19 pandemic, the extensive tests conducted at the robotics laboratory facilities, and our previous experience in integrating mobile robots in hospitals, allowed to conclude that it is perfectly prepared for this integration to be carried out. The achieved results are relevant since this is a system that may be applied to support these types of tasks in the future, making the transport of patients more efficient (both from a cost and time perspective), without unpredictable delays and, in some cases, safer.

2021

Extrinsic sensor calibration methods for mobile robots: A short review

Authors
Sousa, RB; Petry, MR; Moreira, AP;

Publication
Lecture Notes in Electrical Engineering

Abstract
Data acquisition is a critical task for localisation and perception of mobile robots. It is necessary to compute the relative pose between onboard sensors to process the data in a common frame. Thus, extrinsic calibration computes the sensor’s relative pose improving data consistency between them. This paper performs a literature review on extrinsic sensor calibration methods prioritising the most recent ones. The sensors types considered were laser scanners, cameras and IMUs. It was found methods for robot–laser, laser–laser, laser–camera, robot–camera, camera–camera, camera–IMU, IMU–IMU and laser–IMU calibration. The analysed methods allow the full calibration of a sensory system composed of lasers, cameras and IMUs. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

Supervised
thesis

2021

Programming Robots by Demonstration using Augmented Reality

Author
Inês de Oliveira Soares

Institution
UP-FEUP

2021

Evaluation of the influence and impacts of an augmented reality application as a tool to support production in the context of industry 4.0

Author
Gabriel de Moura Costa

Institution
UP-FEUP

2021

Trustable Intelligent Decision Support for Enhancing Indusrial Digital Twins

Author
Flávia Georgina da Silva Pires

Institution
UP-FEUP

2021

Multi-sensor approach for Power Lines Inspection with an Unmanned Aerial Vehicle

Author
Tiago André Miranda dos Santos

Institution
UP-FEUP

2021

A User-centric Approach to Locomotion Supporting Systems

Author
Diana Alves Lobo Guimarães

Institution
UP-FEUP