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About

About

Electrical engineering formation with an emphasis on electronic systems and a master's in electrical engineering from the Federal University of Juiz de Fora, his training allowed him to have competence in the area of digital and analog 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).

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Publications

2022

Industrial robot programming by demonstration using stereoscopic vision and inertial sensing

Authors
de Souza, JPC; Amorim, AM; Rocha, LF; Pinto, VH; Moreira, AP;

Publication
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION

Abstract
Purpose The purpose of this paper is to present a programming by demonstration (PbD) system based on 3D stereoscopic vision and inertial sensing that provides a cost-effective pose tracking system, even during error-prone situations, such as camera occlusions. Design/methodology/approach The proposed PbD system is based on the 6D Mimic innovative solution, whose six degrees of freedom marker hardware had to be revised and restructured to accommodate an IMU sensor. Additionally, a new software pipeline was designed to include this new sensing device, seeking the improvement of the overall system's robustness in stereoscopic vision occlusion situations. Findings The IMU component and the new software pipeline allow the 6D Mimic system to successfully maintain the pose tracking when the main tracking tool, i.e. the stereoscopic vision, fails. Therefore, the system improves in terms of reliability, robustness, and accuracy which were verified by real experiments. Practical implications Based on this proposal, the 6D Mimic system reaches a reliable and low-cost PbD methodology. Therefore, the robot can accurately replicate, on an industrial scale, the artisan level performance of highly skilled shop-floor operators. Originality/value To the best of the authors' knowledge, the sensor fusion between stereoscopic images and IMU applied to robot PbD is a novel approach. The system is entirely designed aiming to reduce costs and taking advantage of an offline processing step for data analysis, filtering and fusion, enhancing the reliability of the PbD system.

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

Robotic grasping: from wrench space heuristics to deep learning policies

Authors
de Souza, JPC; Rocha, LF; Oliveira, PM; Moreira, AP; Boaventura Cunha, J;

Publication
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

Abstract

2021

Low-Cost and Reduced-Size 3D-Cameras Metrological Evaluation Applied to Industrial Robotic Welding Operations

Authors
de Souza, JPC; Rocha, LF; Filipe, VM; Boaventura Cunha, J; Moreira, AP;

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

Abstract

2020

Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Authors
Coelho, FO; Pinto, MF; Souza, JPC; Marcato, ALM;

Publication
ROBOTICA

Abstract
In recent years, mobile robots have become increasingly frequent in daily life applications, such as cleaning, surveillance, support for the elderly and people with disabilities, as well as hazardous activities. However, a big challenge arises when the robotic system must perform a fully autonomous mission. The main problems of autonomous missions include path planning, localisation, and mapping. Thus, this research proposes a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the artificial potential fields algorithm as the online planner. The experimental design covers three scenarios with an increasing degree of accuracy in respect of the real world. Additionally, an extensive evaluation of the proposed methodology is reported.