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About

Born at Porto, Portugal, April  6, 1973, received the M.Sc.in Electrical and Computer Engineering on Faculty of Engineering of University of Porto, Portugal in 1999. He obtained a Ph.D. in Electrical and Computer Engineering on Faculty of Engineering of University of Porto in the area of Control and Robotics, with the thesis “Planning Cooperative tasks and trajectories in Multiple Robots” in 2011. Presently he is a Professor at Computers and Electrical Engineering Department of the Oporto University. He is also a researcher in Robotic and Intelligent Systems of the INESC-TEC (Institute for Systems and Computer Engineering of Porto, Portugal). His research interests are in the ï¬�eld of robotics and automation: path planning, obstacle avoidance, simulation, navigation, manipulator, mobile manipulators. 

Interest
Topics
Details

Details

003
Publications

2018

The K-framed quadtrees approach for path planning through a known environment

Authors
Rodrigues, A; Costa, P; Lima, J;

Publication
Advances in Intelligent Systems and Computing

Abstract
One of the most important tasks for a mobile robot is to navigate in an environment. The path planning is required to design the trajectory that generates useful motions from the original to the desired position. There are several methodologies to perform the path planning. In this paper, a new method of approximate cells decomposition, called K-Framed Quadtrees is present, to which the algorithm A ? is applied to determine trajectories between two points. To validate the new approach, we made a comparative analysis between the present method, the grid decomposition, quadtree decomposition and framed quadtree decomposition. Results and implementation specifications of the four methods are presented. © 2018, Springer International Publishing AG.

2018

Flexible work cell simulator using digital twin methodology for highly complex systems in industry 4.0

Authors
Tavares, P; Silva, JA; Costa, P; Veiga, G; Moreira, AP;

Publication
Advances in Intelligent Systems and Computing

Abstract
The continuous evolution in manufacturing processes has attracted substantial interest from both scientific and research community, as well as from industry. Despite the fact that streamline manufacturing relies on automation systems, most production lines within the industrial environment lack a flexible framework that allows for evaluation and optimisation of the manufacturing process. Consequently, the development of a generic simulators able to mimic any given workflow represent a promising approach within the manufacturing industry. Recently the concept of digital twin methodology has been introduced to mimic the real world through a virtual substitute, such as, a simulator. In this paper, a solution capable of representing any industrial work cell and its properties is presented. Here we describe the key stages of such solution which has enough flexibility to be applied to different working scenarios commonly found in industrial environment. © 2018, Springer International Publishing AG.

2017

A Fast and Robust Kinematic Model for a 12 DoF Hyper-Redundant Robot Positioning: an Optimization Proposal

Authors
Lima, J; Pereira, AI; Costa, P; Pinto, A; Costa, P;

Publication
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2016 (ICNAAM-2016)

Abstract
This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

2017

Path Planning for Automatic Recharging System for Steep-Slope Vineyard Robots

Authors
Santos, L; dos Santos, FN; Mendes, J; Ferraz, N; Lima, J; Morais, R; Costa, P;

Publication
ROBOT 2017: Third Iberian Robotics Conference - Volume 1, Seville, Spain, November 22-24, 2017

Abstract

2017

Offline Programming of Collision Free Trajectories for Palletizing Robots

Authors
Silva, R; Rocha, LF; Relvas, P; Costa, P; Silva, MF;

Publication
ROBOT 2017: Third Iberian Robotics Conference - Advances in Intelligent Systems and Computing

Abstract

Supervised
thesis

2017

Sensorização 3D e Controlo de Manipuladores Industriais através de uma plataforma de baixo custo

Author
Ana Catarina Bastos Simões

Institution
UP-FEUP

2017

Planeamento de trajetórias e controlo de um robô omnidirecional

Author
Ana Rita Marques Rodrigues

Institution
UP-FEUP

2017

Planeamento de trajetórias em ambientes agrícolas

Author
Luís Carlos Feliz Santos

Institution
UP-FEUP

2017

Ensinamento de um manipulador dual-arm para tarefas de assemblagem

Author
Patrick de Sousa

Institution
UP-FEUP

2016

Sistema de bancada laboratorial para tarefas repetitivas.

Author
Cláudia Daniela Costa Rocha

Institution
UP-FEUP