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Sobre

Sobre

Nascido na cidade do Porto a 7 de Novembro de 1962, licenciou-se em 1986 em Engenharia Electrotécnica na Faculdade de Engenharia da Universidade do Porto (FEUP). Completou o seu mestrado em Engenharia Electrotécnica na especialidade de Sistemas em 1991 e o seu doutoramento na mesma área em 1998. Entre 1986 e 1998 foi contratado como Assistente no Departamento de Engenharia Electrotécnica e de Computadores da FEUP. Atualmente é Professor Associado com Agregação do referido Departamento, desenvolvendo a sua atividade de investigação no INESC TEC onde é coordenador do Centro de Robótica Industrial e Sistemas Inteligentes. As sua principais áreas de investigação são a Robótica e o Controlo de Processos.

Tópicos
de interesse
Detalhes

Detalhes

050
Publicações

2022

A kinesthetic teaching approach for automating micropipetting repetitive tasks

Autores
Rocha, C; Dias, J; Moreira, AP; Veiga, G; Costa, P;

Publicação
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY

Abstract

2022

Analysis of a Fast Control Allocation approach for nonlinear over-actuated systems

Autores
Santos, MF; Honorio, LM; Moreira, APGM; Garcia, PAN; Silva, MF; Vidal, VF;

Publicação
ISA TRANSACTIONS

Abstract
Autonomous Robots with multiple directional thrusters are normally over-actuated systems that require nonlinear control allocation methods to map the forces that drive the robot's dynamics and act as virtual control variables to the actuators. This process demands computational efforts that, sometimes, are not available in small robotic platforms. The present paper introduces a new control allocation approach with fast convergence, high accuracy, and dealing with complex nonlinear problems, especially in embedded systems. The adopted approach divides the desired nonlinear system into coupled linear problems. For that purpose, the Real Actions (RAs) and Virtual Control Variables (VCVs) are broke in two or more sets each. While the RA subsets are designed to linearize the system according to different input subspaces, the VCV is designed to be partially coupled to overlap the output subspaces. This approach generates smaller linear systems with fast and robust convergence used sequentially to solve nonlinear allocation problems. This methodology is assessed in mathematical tutorial cases and over-actuated UAV simulations.

2022

Augmented Reality for Human-Robot Collaboration and Cooperation in Industrial Applications: A Systematic Literature Review

Autores
Costa, GD; Petry, MR; Moreira, AP;

Publicação
SENSORS

Abstract
With the continuously growing usage of collaborative robots in industry, the need for achieving a seamless human-robot interaction has also increased, considering that it is a key factor towards reaching a more flexible, effective, and efficient production line. As a prominent and prospective tool to support the human operator to understand and interact with robots, Augmented Reality (AR) has been employed in numerous human-robot collaborative and cooperative industrial applications. Therefore, this systematic literature review critically appraises 32 papers' published between 2016 and 2021 to identify the main employed AR technologies, outline the current state of the art of augmented reality for human-robot collaboration and cooperation, and point out future developments for this research field. Results suggest that this is still an expanding research field, especially with the advent of recent advancements regarding head-mounted displays (HMDs). Moreover, projector-based and HMDs developed approaches are showing promising positive influences over operator-related aspects such as performance, task awareness, and safety feeling, even though HMDs need further maturation in ergonomic aspects. Further research should focus on large-scale assessment of the proposed solutions in industrial environments, involving the solution's target audience, and on establishing standards and guidelines for developing AR assistance systems.

2022

Active Perception Fruit Harvesting Robots - A Systematic Review

Autores
Magalhaes, SA; Moreira, AP; dos Santos, FN; Dias, J;

Publicação
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

Abstract

2022

A survey on localization, mapping, and trajectory planning for quadruped robots in vineyards

Autores
Ferreira, J; Moreira, AP; Silva, M; Santos, F;

Publicação
2022 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract

Teses
supervisionadas

2021

Evaluation of the influence and impacts of an augmented reality application as a tool to support production in the context of industry 4.0

Autor
Gabriel de Moura Costa

Instituição
UP-FEUP

2021

Deep Aesthetic Assessment of Breast Cancer Surgery Outcomes

Autor
Wilson José dos Santos Silva

Instituição
UP-FEUP

2021

Programming Robots by Demonstration using Augmented Reality

Autor
Inês de Oliveira Soares

Instituição
UP-FEUP

2021

ForestMP: Multimodal perception system for robotics in forestry applications

Autor
Daniel Queirós da Silva

Instituição
UP-FEUP

2021

3D Reconstruction of Civil Infrastructures from UAV Lidar point clouds

Autor
Leonardo Gomes Ribeiro

Instituição
UP-FEUP