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About

About

Hugo Costelha started to work at Polytechnic Institute of Leiria, School of Technology and Management (IPLeiria\ESTG) in 2007. In 2010 he concluded his PhD in Electrical and Computer Engineering from Instituto Superior Técnico, Technical University of Lisbon, with the thesis "Robotic Tasks Modelling and Analysis Based on Discrete Event Systems". In 2012 he joined the ROBIS group at INESCTEC. Since 2013 he is an Adjunct Professor at IPLeiria\ESTG, focusing in the field of applied industrial robotics and field robotics, and working mainly in projects in partnership with companies.

Interest
Topics
Details

Details

  • Name

    Hugo Costelha
  • Role

    External Research Collaborator
  • Since

    01st June 2012
  • Nationality

    Portugal
  • Contacts

    +351220413317
    hugo.costelha@inesctec.pt
Publications

2023

CNC Machines Integration in Smart Factories using OPC UA?

Authors
Martins, A; Lucas, J; Costelha, H; Neves, C;

Publication
JOURNAL OF INDUSTRIAL INFORMATION INTEGRATION

Abstract
This paper examines the idea of Industry 4.0 from the perspective of the molds industry, a vital industry in today's industrial panorama. Several technologies, particularly in the area of machining equipment, have been introduced as a result of the industry's constant modernization. This technological diversity makes automatic interconnection with production management software extremely difficult, as each brand and model requires different, mostly proprietary, interfaces and communication protocols. In the methodology presented in this paper, a development of monitoring solutions for machining devices is defined supporting the leading equipment and operations used by molds industry companies. OPC UA is employed for high-level communication between the various systems for a standardized approach. The approach combines various machine interfaces on a single system to cover a significant subset of machining equipment currently used by the molds industry, as a key result of this paper and given the variety of monitoring systems and communication protocols. This type of all-in-one approach will provide production managers with the information they need to monitor and improve the complete manufacturing process.

2021

Developing an OPC UA Server for CNC Machines

Authors
Martins, A; Lucas, J; Costelha, H; Neves, C;

Publication
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON INDUSTRY 4.0 AND SMART MANUFACTURING (ISM 2020)

Abstract
This paper addresses the concept of Industry 4.0 from the perspective of the molds industry, a key industry in today's industrial panorama. With its constant modernization, several technologies have been introduced, in particular regarding machining equipment. With each brand and model requiring different (proprietary) interfaces and communication protocols, this technological diversity renders the automatic interconnection with production management software extremely challenging. In this paper a methodology to build monitoring solutions for machining devices is defined, based on the main equipment and operations used by molds industry companies. For a standardized approach, OPC UA is used for high-level communication between the various systems. As a key result of this paper, and given the variety of monitoring systems and communication protocols, the developed approach combines various different machine interfaces on a single system, in order to cover a relevant subset of machining equipment currently in use by the molds industry. This kind of all-in-one approach will give production managers access to the information needed for a continuous monitoring and improvement of the entire production process. (C) 2021 The Authors. Published by Elsevier B.V.

2021

Laying Ground for Automated Manhole Inspection: A Review

Authors
Jorge, F; Costelha, H; Neves, C;

Publication
Advances in Science, Technology and Innovation

Abstract
Although advances have been made in reducing the time needed for manhole inspection, the procedure is still mostly done manually, with workers having to enter and visually assess the areas being inspected. There is also a growing need to have these structures inspected regularly, in order to prevent casualties and services interruption, as well as the higher cost of rebuilding instead of repairing these structures, which is possible only if pathologies are identified at early stages. This situation renders the task a good target for automation. This paper reviews a set of existing manhole, tunnel and duct inspection systems to ascertain the main features required for the task, as well as the technologies currently used. Most of the present-day solutions are rather expensive and cumbersome, requiring the deployment of relatively heavy equipment and specialized personnel to operate them. With the recent development of laser range sensors and depth (RGBD) cameras with small form factors and weights, the development of solutions with higher portability and lower cost become feasible. Such a solution could improve considerably the rate at which manholes are inspected, and the technology could be used to generate textured models to be analyzed and reported by a remotely located specialist, both online and offline. The work presented here lays the ground for the development of such a system in our research group who has been working on low-cost systems for the generation of 3D textured models for automated inspection. © 2021, Springer Nature Switzerland AG.

2020

Supporting the Design, Commissioning and Supervision of Smart Factory Components through their Digital Twin

Authors
Martins, A; Costelha, H; Neves, C;

Publication
2020 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2020)

Abstract
In a context of greater complexity of Smart Factories, the commissioning time for automated systems needs to be shortened. The use of virtual commissioning tools is a good contribution to achieve this goal. Ideally, those tools should be part of a virtual engineering environment sharing same virtual model, the digital twin, through the complete lifecycle of the automated system, namely the project, simulation, implementation and execution/monitoring/supervision and, eventually decommissioning phases. Such vision includes a digital twin with a broader use, which is consistent with the real system and one that can be used after the early design and commissioning phases. Finding a complete set of tools able to comply with the above requirements can be extremely challenging. In this paper we explore the use of the ABB RobotStudio software combined with the OPC UA standard with this vision in mind. Methodologies were defined to integrate both new generation and legacy equipment, as well as robot controllers and guidelines for equipment development. A key result of this work is the development of a set of virtual engineering tools and methodologies based on OPC UA and implemented using RobotStudio in order to accomplish the complete lifecycle support of an automated system, from the project and simulation phases, to the monitoring and supervision phases, suitable for integration in Industry 4.0 factories. Results are described for a test scenario with different devices.

2020

Monocular Camera Calibration for Autonomous Driving - a comparative study

Authors
Martins, PF; Costelha, H; Bento, LC; Neves, C;

Publication
2020 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2020)

Abstract
Autonomous driving is currently a widely researched topic worldwide. With a large research effort being taken by industrial research units in the automotive sector, it is no longer exclusive to academic research labs. Essential to this ongoing effort towards level-5 vehicle autonomy, are the sensors used for tracking and detection, mainly lasers, radars and cameras. Most of the cameras for automotive application systems use wide-angle or fish-eye lens, which present high distortion levels. Cameras need to be calibrated for correct perception, particularly for capturing geometry features, or for distance-based calculations. This paper describes a case-study concerning monocular camera calibration for a small scale autonomous driving vehicle vision system. It describes the fundamentals on camera calibration and implementation, with results given for different lenses and distortion models. The aim of the paper is not only to provide a detailed and comprehensive review on the application of these calibration methods, but to serve also as a reference document for other researchers and developers starting to use monocular vision in their robotic applications.

Supervised
thesis

2019

Analisys of an RGBD Camera for Manhole Inspection

Author
Filipe Castanheira Jorge

Institution
IES_Outra

2019

HAPTIC DEVICES FOR ADVANCED INTERACTION WITH MULTIMEDIA SYSTEMS

Author
Bruno Miguel Lopes e Silva

Institution
IES_Outra

2017

Sistema de Alinhamento de Garrafas usando Visão

Author
Filipe Caetano

Institution
IPLeiria

2016

AGV para ambiente interior

Author
Cristiano Justino

Institution
IPLeiria

2016

PN-RTE - Petri Net Robotic Task Execution

Author
Pedro Santos

Institution
Outra