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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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Topics
Details

Details

006
Publications

2021

Micromouse 3D simulator with dynamics capability: a Unity environment approach

Authors
Zawadniak, PVF; Piardi, L; Brito, T; Lima, J; Costa, P; Monteiro, ALR; Costa, P; Pereira, AI;

Publication
SN APPLIED SCIENCES

Abstract
The micromouse competition has been gaining prominence in the robotic atmosphere, due to the challenging and multidisciplinary characteristics provided by the teams' duels, being a gateway for those who intend to deepen their studies in autonomous robotics. In this context, this paper presents a realistic micromouse simulator developed with Unity software, a widely game engine with dynamics and 3D development platform used. The developed simulator has hardware-in-the-loop capabilities, aims to be simple to use, it can be customizable, and designed to be as similar as possible to the real robot configurations. In this way, the proposed simulator requires few modifications to port the microcontroller code to a real robot. Therefore, the framework presented in this work allows the user to simulate the development of new algorithm strategies dedicated to competition and also hardware updates. The simulation supports several mazes, from previous competitions and has the possibility to add different mazes elaborated by the user. Thus, the features and functionality of the simulator can serve to accelerate the project's development of the beginning and advanced competitors, using real models to reduce the gap between the mouse robot behavior in the simulation and the reality. The developed simulation environment is available to the community.

2021

Multi AGV Coordination Tolerant to Communication Failures

Authors
Matos, D; Costa, P; Lima, J; Costa, P;

Publication
Robotics

Abstract
Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot’s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot’s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results.

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.

Supervised
thesis

2016

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

Author
Stéphanie Coelho Monteiro

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

Task Scheduling for Multiples Robots in an Industrial Environment

Author
Vítor Emanuel dos Santos Lousas Alves da Mota

Institution
UP-FEUP

2016

Sistema de Gestão de Energia Elétrica - DataLogger

Author
João Pedro Moreira da Cunha

Institution
IPB

2016

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

Author
Pedro Gonçalo Guedes Lopes Praça

Institution
IPB