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About

José Lima (male) received the M.Sc. and PhD in Electrical and Computer Engineering on Faculty of Engineering of University of Porto, Portugal in 2001 and 2009. He joined the Polytechnic Institute of Bragança in 2002, and currently he is a Professor in the Electrical Engineering Department of that school. He is also a senior researcher in Centre for Robotics in Industry and Intelligent Systems group of the INESC-TEC (Institute for Systems and Computer Engineering of Porto, Portugal). He has published more than 60 papers in international scientific journals and conference proceedings. In addition, he participated in some autonomous mobile robotics competitions and applications. Moreover, his research interests are in the field of robotics and automation: simulation, path planning, image processing, localization, navigation, obstacle avoidance and perception. He participated in some national and FP7 funded projects such as Produtech, Grace, Arum, Carlos, Stamina and ColRobot.

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Details

Details

004
Publications

2020

Honeycomb map: A bioinspired topological map for indoor search and rescue unmanned aerial vehicles

Authors
da Rosa, R; Wehrmeister, MA; Brito, T; Lima, JL; Pinheiro Nunes Pereira, AIPN;

Publication
Sensors (Switzerland)

Abstract
The use of robots to map disaster-stricken environments can prevent rescuers from being harmed when exploring an unknown space. In addition, mapping a multi-robot environment can help these teams plan their actions with prior knowledge. The present work proposes the use of multiple unmanned aerial vehicles (UAVs) in the construction of a topological map inspired by the way that bees build their hives. A UAV can map a honeycomb only if it is adjacent to a known one. Different metrics to choose the honeycomb to be explored were applied. At the same time, as UAVs scan honeycomb adjacencies, RGB-D and thermal sensors capture other data types, and then generate a 3D view of the space and images of spaces where there may be fire spots, respectively. Simulations in different environments showed that the choice of metric and variation in the number of UAVs influence the number of performed displacements in the environment, consequently affecting exploration time and energy use. © 2020 by the authors. Licensee MDPI, Basel, Switzerland.

2020

Path Planning Aware of Robot’s Center of Mass for Steep Slope Vineyards

Authors
Santos, L; Santos, F; Mendes, J; Costa, P; Lima, J; Reis, R; Shinde, P;

Publication
Robotica

Abstract
SummarySteep slope vineyards are a complex scenario for the development of ground robots. Planning a safe robot trajectory is one of the biggest challenges in this scenario, characterized by irregular surfaces and strong slopes (more than 35°). Moving the robot through a pile of stones, spots with high slope or/and with wrong robot yaw may result in an abrupt fall of the robot, damaging the equipment and centenary vines, and sometimes imposing injuries to humans. This paper presents a novel approach for path planning aware of center of mass of the robot for application in sloppy terrains. Agricultural robotic path planning (AgRobPP) is a framework that considers the A* algorithm by expanding inner functions to deal with three main inputs: multi-layer occupation grid map, altitude map and robot’s center of mass. This multi-layer grid map is updated by obstacles taking into account the terrain slope and maximum robot posture. AgRobPP is also extended with algorithms for local trajectory replanning during the execution of a trajectory that is blocked by the presence of an obstacle, always assuring the safety of the re-planned path. AgRobPP has a novel PointCloud translator algorithm called PointCloud to grid map and digital elevation model (PC2GD), which extracts the occupation grid map and digital elevation model from a PointCloud. This can be used in AgRobPP core algorithms and farm management intelligent systems as well. AgRobPP algorithms demonstrate a great performance with the real data acquired from AgRob V16, a robotic platform developed for autonomous navigation in steep slope vineyards.

2020

Wireless Sensor Network for Ignitions Detection: An IoT approach

Authors
Brito, T; Pereira, AI; Lima, J; Valente, A;

Publication
Electronics

Abstract
Wireless Sensor Networks (WSN) can be used to acquire environmental variables useful for decision-making, such as agriculture and forestry. Installing a WSN on the forest will allow the acquisition of ecological variables of high importance on risk analysis and fire detection. The presented paper addresses two types of WSN developed modules that can be used on the forest to detect fire ignitions using LoRaWAN to establish the communication between the nodes and a central system. The collaboration between these modules generate a heterogeneous WSN; for this reason, both are designed to complement each other. The first module, the HTW, has sensors that acquire data on a wide scale in the target region, such as air temperature and humidity, solar radiation, barometric pressure, among others (can be expanded). The second, the 5FTH, has a set of sensors with point data acquisition, such as flame ignition, humidity, and temperature. To test HTW and 5FTH, a LoRaWAN communication based on the Lorix One gateway is used, demonstrating the acquisition and transmission of forest data (simulation and real cases). Even in internal or external environments, these results allow validating the developed modules. Therefore, they can assist authorities in fighting wildfire and forest surveillance systems in decision-making.

2020

Using a Collaborative Robot to the Upper Limb Rehabilitation

Authors
de Azevedo Fernandes, L; Lima, JL; Leitão, P; Nakano, AY;

Publication
Advances in Intelligent Systems and Computing

Abstract
Rehabilitation is a relevant process for the recovery from dysfunctions and improves the realization of patient’s Activities of Daily Living (ADLs). Robotic systems are considered an important field within the development of physical rehabilitation, thus allowing the collection of several data, besides performing exercises with intensity and repeatedly. This paper addresses the use of a collaborative robot applied in the rehabilitation field to help the physiotherapy of upper limb of patients, specifically shoulder. To perform the movements with any patient the system must learn to behave to each of them. In this sense, the Reinforcement Learning (RL) algorithm makes the system robust and independent of the path of motion. To test this approach, it is proposed a simulation with a UR3 robot implemented in V-REP platform. The main control variable is the resistance force that the robot is able to do against the movement performed by the human arm. © 2020, Springer Nature Switzerland AG.

2020

Low Cost Binaural System Based on the Echolocation

Authors
Moreira, TFM; Lima, J; Costa, P; Cunha, M;

Publication
Advances in Intelligent Systems and Computing

Abstract
Ultrasonic sensors offers attractive features at an affordable cost. The main problem faced by the use of these devices is that the data obtained are not so easy to interpret, restricting their efficiency. This paper describes a binaural sensor system that is able to determine the coordinates of an object or a target in a two-dimensional space, focusing on mathematical and signal processing techniques to provide accurate measurements and increase the system reliability. The proposed work consists only of low cost components, which aims to demonstrate that improvement is possible. Experimental tests, performed in different scenarios, reported good accuracy and repeatability of the measurements. © 2020, Springer Nature Switzerland AG.

Supervised
thesis

2016

Task Scheduling for Multiples Robots in an Industrial Environment

Author
Vítor Emanuel dos Santos Lousas Alves da Mota

Institution
UP-FEUP

2016

Desenvolvimento de um protótipo de um simulador de bloqueio do plexo braquial

Author
Stéphanie Coelho Monteiro

Institution
IPB

2016

Sistema Inteligente de Gestão de Energia Elétrica - Automação de uma habitação

Author
Pedro Gonçalo Guedes Lopes Praça

Institution
IPB

2016

Projeto, modelo e construção de um manipulador com elevado grau de redundância

Author
Joaquim Manuel Costa Alves Duarte Ribeiro

Institution
UP-FEUP

2016

Sistema de Gestão de Energia Elétrica - DataLogger

Author
João Pedro Moreira da Cunha

Institution
IPB