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About

Germano Veiga is a Mechanical Engineer with a PhD in Mechanical Engineering (Robotics and Automation) (2010) by the University of Coimbra.
In 2005 he was an invited researcher at the University of Lund, Sweden, and was a researcher (2002-2011) and Invited Professor (2007-2011) at the University of Coimbra.
He is now Senior Researcher at INESC TEC, in Porto, and from 2016 is Auxiliar Professor at the Faculty of Engineering of the University of Porto.
His research interests are mostly focused on future industrial robotics including, plug-and-produce technologies,
robot programming, mobile manipulators and Human Robot Interfacing. During his PhD studies Germano was part of the FP6 SMErobot team (2005-2009) and later became member of the Exec. Committee of the FP7 ECHORD project (2009-2012)
More recently Germano became the coordinator of the INESC-TEC team participating in the projects FP7-CARLoS, FP7-STAMINA, FP7-SMErobotics, H2020-ColRobot.
Since January 2017 he is the Coordinator of the H2020 ScalABLE4.0 project.

Interest
Topics
Details

Details

026
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

Using Simulation to Evaluate a Tube Perception Algorithm for Bin Picking

Authors
Leao, G; Costa, CM; Sousa, A; Reis, LP; Veiga, G;

Publication
ROBOTICS

Abstract
Bin picking is a challenging problem that involves using a robotic manipulator to remove, one-by-one, a set of objects randomly stacked in a container. In order to provide ground truth data for evaluating heuristic or machine learning perception systems, this paper proposes using simulation to create bin picking environments in which a procedural generation method builds entangled tubes that can have curvatures throughout their length. The output of the simulation is an annotated point cloud, generated by a virtual 3D depth camera, in which the tubes are assigned with unique colors. A general metric based on micro-recall is proposed to compare the accuracy of point cloud annotations with the ground truth. The synthetic data is representative of a high quality 3D scanner, given that the performance of a tube modeling system when given 640 simulated point clouds was similar to the results achieved with real sensor data. Therefore, simulation is a promising technique for the automated evaluation of solutions for bin picking tasks.

2021

Force control heuristics for surpassing pose uncertainty in mobile robotic assembly platforms

Authors
Moutinho, D; Rebelo, P; Costa, C; Rocha, L; Veiga, G;

Publication
2021 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract

2021

A* Based Routing and Scheduling Modules for Multiple AGVs in an Industrial Scenario

Authors
Santos, J; Rebelo, PM; Rocha, LF; Costa, P; Veiga, G;

Publication
ROBOTICS

Abstract
A multi-AGV based logistic system is typically associated with two fundamental problems, critical for its overall performance: the AGV’s route planning for collision and deadlock avoidance; and the task scheduling to determine which vehicle should transport which load. Several heuristic functions can be used according to the application. This paper proposes a time-based algorithm to dynamically control a fleet of Autonomous Guided Vehicles (AGVs) in an automatic warehouse scenario. Our approach includes a routing algorithm based on the A* heuristic search (TEA*—Time Enhanced A*) to generate free-collisions paths and a scheduling module to improve the results of the routing algorithm. These modules work cooperatively to provide an efficient task execution time considering as basis the routing algorithm information. Simulation experiments are presented using a typical industrial layout for 10 and 20 AGVs. Moreover, a comparison with an alternative approach from the state-of-the-art is also presented.

2021

On the development of a collaborative robotic system for industrial coating cells

Authors
Arrais, R; Costa, CM; Ribeiro, P; Rocha, LF; Silva, M; Veiga, G;

Publication
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY

Abstract

Supervised
thesis

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

2020

Implementação da estruturação automática de programas PLC de controlo de transportadores seguindo a metodologia do grupo Korber na Consoveyo S.A.

Author
Paulo André Vaz Lopes

Institution
UP-FEUP

2020

Desenvolvimento de uma solução de bin-picking robotizada

Author
Nuno Alexandre Moreira do Rosário

Institution
UP-FEUP

2020

Force based robotized assembly – mobile manipulator use case

Author
Duarte Alão Magalhães Silva Moutinho

Institution
UP-FEUP

2020

Open Scalable Production System: An Industry 4.0 Framework for Cyber-Physical Systems

Author
Rafael Lirio Arrais

Institution
UP-FEUP