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Sobre
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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

046
Publicações

2021

Robust human position estimation in cooperative robotic cells

Autores
Amorim, A; Guimares, D; Mendona, T; Neto, P; Costa, P; Moreira, AP;

Publicação
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

Abstract
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a major concern when humans and robots share the same workspace. Many times, this is due to the lack of a reliable estimation of the human pose in space which is the primary input to calculate the human-robot minimum distance (required for safety and collision avoidance) and HRI/C featuring machine learning algorithms classifying human behaviours / gestures. Each sensor type has its own characteristics resulting in problems such as occlusions (vision) and drift (inertial) when used in an isolated fashion. In this paper, it is proposed a combined system that merges the human tracking provided by a 3D vision sensor with the pose estimation provided by a set of inertial measurement units (IMUs) placed in human body limbs. The IMUs compensate the gaps in occluded areas to have tracking continuity. To mitigate the lingering effects of the IMU offset we propose a continuous online calculation of the offset value. Experimental tests were designed to simulate human motion in a human-robot collaborative environment where the robot moves away to avoid unexpected collisions with de human. Results indicate that our approach is able to capture the human's position, for example the forearm, with a precision in the millimetre range and robustness to occlusions.

2021

Reconfigurable Grasp Planning Pipeline with Grasp Synthesis and Selection Applied to Picking Operations in Aerospace Factories

Autores
Carvalho de Souza, JPC; Costa, CM; Rocha, LF; Arrais, R; Paulo Moreira, AP; Solteiro Pires, EJS; Boaventura Cunha, J;

Publicação
Robotics and Computer-Integrated Manufacturing

Abstract

2021

Autonomous wheelchair for patient’s transportation on healthcare institutions

Autores
Baltazar, AR; Petry, MR; Silva, MF; Moreira, AP;

Publicação
SN Applied Sciences

Abstract
AbstractThe transport of patients from the inpatient service to the operating room is a recurrent task in a hospital routine. This task is repetitive, non-ergonomic, time consuming, and requires the labor of patient transporters. In this paper is presented a system, named Connected Driverless Wheelchair, that can receive transportation requests directly from the hospital information management system, pick up patients at their beds, navigate autonomously through different floors, avoid obstacles, communicate with elevators, and drop patients off at the designated operating room. As a result, a prototype capable of transporting patients autonomously in hospital environments was obtained. Although it was impossible to test the final developed system at the hospital as planned, due to the COVID-19 pandemic, the extensive tests conducted at the robotics laboratory facilities, and our previous experience in integrating mobile robots in hospitals, allowed to conclude that it is perfectly prepared for this integration to be carried out. The achieved results are relevant since this is a system that may be applied to support these types of tasks in the future, making the transport of patients more efficient (both from a cost and time perspective), without unpredictable delays and, in some cases, safer.

2021

Extrinsic sensor calibration methods for mobile robots: A short review

Autores
Sousa, RB; Petry, MR; Moreira, AP;

Publicação
Lecture Notes in Electrical Engineering

Abstract
Data acquisition is a critical task for localisation and perception of mobile robots. It is necessary to compute the relative pose between onboard sensors to process the data in a common frame. Thus, extrinsic calibration computes the sensor’s relative pose improving data consistency between them. This paper performs a literature review on extrinsic sensor calibration methods prioritising the most recent ones. The sensors types considered were laser scanners, cameras and IMUs. It was found methods for robot–laser, laser–laser, laser–camera, robot–camera, camera–camera, camera–IMU, IMU–IMU and laser–IMU calibration. The analysed methods allow the full calibration of a sensory system composed of lasers, cameras and IMUs. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

2021

Advances in Agriculture Robotics: A State-of-the-Art Review and Challenges Ahead

Autores
Oliveira, LFP; Moreira, AP; Silva, MF;

Publicação
Robotics

Abstract
The constant advances in agricultural robotics aim to overcome the challenges imposed by population growth, accelerated urbanization, high competitiveness of high-quality products, environmental preservation and a lack of qualified labor. In this sense, this review paper surveys the main existing applications of agricultural robotic systems for the execution of land preparation before planting, sowing, planting, plant treatment, harvesting, yield estimation and phenotyping. In general, all robots were evaluated according to the following criteria: its locomotion system, what is the final application, if it has sensors, robotic arm and/or computer vision algorithm, what is its development stage and which country and continent they belong. After evaluating all similar characteristics, to expose the research trends, common pitfalls and the characteristics that hinder commercial development, and discover which countries are investing into Research and Development (R&D) in these technologies for the future, four major areas that need future research work for enhancing the state of the art in smart agriculture were highlighted: locomotion systems, sensors, computer vision algorithms and communication technologies. The results of this research suggest that the investment in agricultural robotic systems allows to achieve short—harvest monitoring—and long-term objectives—yield estimation.

Teses
supervisionadas

2020

Multi-sensor approach for Power Lines Inspection with an Unmanned Aerial Vehicle

Autor
Tiago André Miranda dos Santos

Instituição
UP-FEUP

2020

Trustable Intelligent Decision Support for Enhancing Indusrial Digital Twins

Autor
Flávia Georgina da Silva Pires

Instituição
UP-FEUP

2020

Tackling robot bin picking problem towards flexible and collaborative robotic applications

Autor
João Souza

Instituição
UTAD

2020

Odometry and Extrinsic Sensor Calibration on Mobile Robots

Autor
Ricardo Barbosa Sousa

Instituição
UP-FEUP

2020

Autonomous Wheelchair to support Patients of Hospital Services

Autor
André Rodrigues Baltazar

Instituição
UP-FEUP