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About

My name is Vítor Hugo Pinto and I am an INESC TEC junior investigator and teaching assistant at the Department of Electrical and Computer Engineering at the University of Porto. In the past, I have held an Innovation for Services award at FEUP.

I have received my Masters Degree in Electrical and Computer Engineering from the University of Porto in 2015, and I am currently enroled in my Ph.D. in Robotic Systems at the University of Porto.

My main research interests are the Autonomous Robotic Systems and Mobile Robotics.

Interest
Topics
Details

Details

001
Publications

2020

Enhanced Performance Real-Time Industrial Robot Programming by Demonstration using Stereoscopic Vision and an IMU sensor

Authors
Pinto, VH; Amorim, A; Rocha, LF; Moreira, AP;

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

Abstract

2020

Modeling and Control of a DC Motor Coupled to a Non-Rigid Joint

Authors
Pinto, VH; Gonçalves, J; Costa, P;

Publication
Applied System Innovation

Abstract
Throughout this paper, the model, its parameter estimation and a controller for a solution using a DC motor with a gearbox worm, coupled to a non-rigid joint, will be presented. First, the modeling of a non-linear system based on a DC Motor with Worm Gearbox coupled to a non-rigid joint is presented. The full system was modeled based on the modeling of two sub-systems that compose it - a non-rigid joint configuration and the DC motor with the worm gearbox configuration. Despite the subsystems are interdependent, its modelling can be performed independently trough a carefully chosen set of experiments. Modeling accurately the system is crucial in order to simulate and know the expected performance. The estimation process and the proposed experimental setup are presented. This setup collects data from an absolute encoder, a load cell, voltage and current sensors. The data obtained from these sensors is presented and used to obtaining some physical parameters from both systems. Finally, through an optimization process, the remaining parameters are estimated, thus obtaining a realistic model of the complete system. Finally, the controller setup is presented and the results obtained are also presented.

2020

An Industry 4.0 Approach for the Robot@Factory Lite Competition

Authors
Lima, J; Oliveira, V; Brito, T; Goncalves, J; Pinto, VH; Costa, 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.

2019

Prototyping and Programming a Multipurpose Educational Mobile Robot - NaSSIE

Authors
Pinto, VH; Monteiro, JM; Gonçalves, J; Costa, P;

Publication
Robotics in Education - Advances in Intelligent Systems and Computing

Abstract

2019

A line follower educational mobile robot performance robustness increase using a competition as benchmark

Authors
Goncalves, J; Pinto, VH; Costa, P;

Publication
2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019

Abstract
In this paper it is presented a line follower educational mobile robot performance robustness increase. The Robotic Day line Follower Competition was used as a Benchmark to test the proposed approach. The applied robot is based on an Arduino, which is applied in the low level control, while the high level control loop is carried out by an RPI running an object pascal application. The described robot was prototyped in order to have a competitive participation in the Robotic Day Line Follower 2017 competition, and improved for performance robustness increase in order to participate in the 2018 competition. It was prototyped with an RPI, taking advantage of its capabilities, allowing the use of higher performance sensors, when compared with the most common standard approaches based on a single 8 bit RISC micro-controller, having as disadvantage the inevitable robot size increase, which compromises in certain situations the robot maneuverability and increases the power consumption. The robot is equipped with DC Motors, the chosen line follower sensor is the picamera and for the obstacle detection, a time of flight sensor was applied. © 2019 IEEE.

Supervised
thesis

2017

Integração de um Manipulador numa Embarcação Robótica

Author
André Filipe Sousa Pinto

Institution
UP-FEUP