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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.

Interest
Topics
Details

Details

006
Publications

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

Optimal Sensors Positioning to Detect Forest Fire Ignitions

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

Publication
Proceedings of the 9th International Conference on Operations Research and Enterprise Systems, ICORES 2020, Valletta, Malta, February 22-24, 2020.

Abstract
Forests have been harassed by fire in recent years. Whether by human action or for other reasons, the burned area has increased harming fauna and flora. It is fundamental to detect an ignition early in order to firefighters fight the fire minimizing the fire impacts. The proposed Forest Monitoring System aims to improve the nature monitoring and to enhance the existing surveillance systems. A set of innovative operations is proposed that will allow to identify a forest ignition and also will monitor the fauna. For that, a set of sensors are being developed and placed in the forest to transmit data and identify forest fire ignition. This paper addresses a methodology that identifies the optimal positions to place the developed sensors in order to minimize the fire hazard. Some preliminary results are shown by a stochastic algorithm that spread points to position the sensor modules in areas with a high risk of fire hazard. Copyright

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

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.

2020

An Industry 4.0 Approach for the Robot@Factory Lite Competition

Authors
Lima, J; Oliveira, V; Brito, T; Goncalves, J; Pinto, VH; Costan, P; Torrico, C;

Publication
2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020

Abstract
The Robot@Factory Lite (R@FL) is a competition held at the Portuguese Robotics Open that aims to present a problem inspired by the deployment of autonomous mobile robots on a factory shop floor. This paper proposes an approach to transform this competition according to the Industry 4.0 concept using the Wi-Fi to attribute orders to the mobile robot. The main contribution of this paper is to address a Supply Chain Management (SPM) of the ERP (Enterprise Resource Planning) that will inform the tasks to the robot so that it can schedule. It is presented a new hardware architecture that should be able to read the information of the parts through Wi-Fi in a client-server methodology. It also includes encoders that allow to feedback the wheels rotation and can be used to estimate the odometry. © 2020 IEEE.

Supervised
thesis

2016

Sistema de Gestão de Energia Elétrica - DataLogger

Author
João Pedro Moreira da Cunha

Institution
IPB

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

Task Scheduling for Multiples Robots in an Industrial Environment

Author
Vítor Emanuel dos Santos Lousas Alves da Mota

Institution
UP-FEUP

2016

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

Author
Joaquim Manuel Costa Alves Duarte Ribeiro

Institution
UP-FEUP