Cookies Policy
The website need some cookies and similar means to function. If you permit us, we will use those means to collect data on your visits for aggregated statistics to improve our service. Find out More
Accept Reject
  • Menu
About
Download Photo HD

About

Electrical engineering formation with an emphasis on electronic systems and a master in electrical engineering from the Federal University of Juiz de Fora, his training allowed him to have competence in the area of ??digital and analogue electronics. However, the central area of ??expertise is robotics in which he is since 2012 as a researcher and promoted his master's degree. He is currently R&D and develops research in the robotics area at the Institute of Systems and Computer Engineering, Technology and Science - INESC TEC. He has experience in several R&D projects that he developed in Brazil and Portugal. Expertise areas, experience and skills include the creation of firmware, middleware and software, embedded systems, control techniques and artificial and computational intelligence. Development of robots, autonomous unmanned aerial vehicles, autonomous systems, robotic manipulators, industrial robotics and sensing (computer vision and 3D perception).

Interest
Topics
Details

Details

002
Publications

2019

AdaptPack Studio: Automatic Offline Robot Programming Framework for Factory Environments

Authors
Castro, A; Souza, JP; Rocha, L; Silva, MF;

Publication
19th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2019

Abstract
The brisk and dynamic environment that factories are facing, both as an internal and an external level, requires a collection of handy tools to solve emerging issues in the industry 4.0 context. Part of the common challenges that appear are related to the increasing demand for high adaptability in the organizations' production lines. Mechanical processes are becoming faster and more adjustable to the production diversity in the Fast Moving Consumer Goods (FMCG). Concerning the previous characteristics, future factories can only remain competitive and profitable if they have the ability to quickly adapt all their production resources in response to inconstant market demands. Having previous concerns in focus, this paper presents a fast and adaptative framework for automated cells modeling, simulation and offline robot programming, focused on palletizing operations. Established as an add-on for the Visual Components (VC) 3D manufacturing simulation software, the proposed application allows performing fast layout modeling and automatic offline generation of robot programs. Furthermore, A* based algorithms are used for generating collision-free trajectories, discretized both in the robot joints space and in the Cartesian space. The software evaluation was tested inside the VC simulation world and in the real-world scenario. Results have shown to be concise and accurate, with minor displacement inaccuracies due to differences between the virtual model and the real world. © 2019 IEEE.

2019

Converting Robot Offline Programs to Native Code Using the AdaptPack Studio Translators

Authors
Souza, JP; Castro, A; Rocha, L; Relvas, P; Silva, MF;

Publication
19th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2019

Abstract
The increase in productivity is a demand for modern industries that need to be competitive in the actual business scenario. To face these challenges, companies are increasingly using robotic systems for end-of-line production tasks, such as wrapping and palletizing, as a mean to enhance the production line efficiency and products traceability, allowing human operators to be moved to more added value operations. Despite this increasing use of robotic systems, these equipments still present some inconveniences regarding the programming procedure, as the time required for its execution does not meet the current industrial needs. To face this drawback, offline robot programming methods are gaining great visibility, as their flexibility and programming speed allows companies to face the need of successive changes in the production line set-up. However, even with a great number of robots and simulators that are available in market, the efforts to support several robot brands in one software did not reach the needs of engineers. Therefore, this paper proposes a translation library named AdaptPack Studio Translator, which is capable to export proprietary codes for the ABB, Fanuc, Kuka, and Yaskawa robot brands, after their offline programming has been performed in the Visual Components software. The results presented in this paper are evaluated in simulated and real scenarios. © 2019 IEEE.

2018

Direct-DRRT*: A RRT improvement proposal

Authors
Coelho, FO; Carvalho, JP; Pinto, MF; Marcato, AL;

Publication
13th APCA International Conference on Control and Soft Computing, CONTROLO 2018 - Proceedings

Abstract
The present work aims at the development of a new heuristic approach named Direct-DRRT . This new algorithm is an improvement of the DRRT* method, which is the fusion between RRT * and DRRT. This improvement aims at the mobile robot autonomous planning considering less memory and computational time for a route design. The results show the efficiency of our approach compared to the other methods, presenting less processing time and a signification reduced number of nodes and paths. © 2018 IEEE.

2018

EKF and computer vision for mobile robot localization

Authors
Coelho, FO; Carvalho, JP; Pinto, MF; Marcato, AL;

Publication
13th APCA International Conference on Control and Soft Computing, CONTROLO 2018 - Proceedings

Abstract
The autonomous robotic system accurate localization is a challenging step in robot navigation field once the mobile device should avoid dangerous situations, such as unsafe conditions and collisions. In this context, the present paper proposes a localization method using the Extended Kalman Filter (EKF) to fuse the information coming from two different sensors (i.e. odometry and computer vision). The localization results present with known and unknown starting points and are tested in a simulated environment. © 2018 IEEE.

2018

EKF design for online trajectory prediction of a moving object detected onboard of a UAV

Authors
Pinto, MF; Coelho, FO; De Souza, JPC; Melo, AG; Marcato, ALM; Urdiales, C;

Publication
13th APCA International Conference on Control and Soft Computing, CONTROLO 2018 - Proceedings

Abstract
The applications with Unmanned Aerial Vehicles have increased in the last decades due to their economic and technical feasibility. Moreover, several tasks require online objects tracking as well as the object position knowledge in the real-world with algorithms execution onboard. An example of such task is the video surveillance with human activity recognition. In this paper, we propose a new approach using Extended Kalman Filter to estimate and to predict the object real-world coordinates. This research shows that the results were up to 30% better compared to the results without data processing. © 2018 IEEE.