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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

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.

2021

Optimum Sensors Allocation for a Forest Fires Monitoring System

Authors
Azevedo, BF; Brito, T; Lima, J; Pereira, AI;

Publication
FORESTS

Abstract
Every year forest fires destroy millions of hectares of land worldwide. Detecting forest fire ignition in the early stages is fundamental to avoid forest fires catastrophes. In this approach, Wireless Sensor Network is explored to develop a monitoring system to send alert to authorities when a fire ignition is detected. The study of sensors allocation is essential in this type of monitoring system since its performance is directly related to the position of the sensors, which also defines the coverage region. In this paper, a mathematical model is proposed to solve the sensor allocation problem. This model considers the sensor coverage limitation, the distance, and the forest density interference in the sensor reach. A Genetic Algorithm is implemented to solve the optimisation model and minimise the forest fire hazard. The results obtained are promising since the algorithm could allocate the sensor avoiding overlaps and minimising the total fire hazard value for both regions considered.

2021

Design, Modeling, and Control of an Autonomous Legged-Wheeled Hybrid Robotic Vehicle with Non-Rigid Joints

Authors
Pinto, VH; Soares, IN; Rocha, M; Lima, J; Goncalves, J; Costa, P;

Publication
Applied Sciences

Abstract
This paper presents a legged-wheeled hybrid robotic vehicle that uses a combination of rigid and non-rigid joints, allowing it to be more impact-tolerant. The robot has four legs, each one with three degrees of freedom. Each leg has two non-rigid rotational joints with completely passive components for damping and accumulation of kinetic energy, one rigid rotational joint, and a driving wheel. Each leg uses three independent DC motors—one for each joint, as well as a fourth one for driving the wheel. The four legs have the same position configuration, except for the upper hip joint. The vehicle was designed to be modular, low-cost, and its parts to be interchangeable. Beyond this, the vehicle has multiple operation modes, including a low-power mode. Across this article, the design, modeling, and control stages are presented, as well as the communication strategy. A prototype platform was built to serve as a test bed, which is described throughout the article. The mechanical design and applied hardware for each leg have been improved, and these changes are described. The mechanical and hardware structure of the complete robot is also presented, as well as the software and communication approaches. Moreover, a realistic simulation is introduced, along with the obtained results.

2021

Environment Monitoring Modules with Fire Detection Capability Based on IoT Methodology

Authors
Brito, T; Azevedo, BF; Valente, A; Pereira, AI; Lima, J; Costa, P;

Publication
Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering - Science and Technologies for Smart Cities

Abstract

Supervised
thesis

2016

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

Author
Pedro Gonçalo Guedes Lopes Praça

Institution
IPB

2016

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

Author
Stéphanie Coelho Monteiro

Institution
IPB

2016

Sistema de Gestão de Energia Elétrica - DataLogger

Author
João Pedro Moreira da Cunha

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