Felipe Nascimento Martins

Felipe Nascimento Martins
Hanzehogeschool Groningen · Institute of Engineering

PhD

About

57
Publications
33,067
Reads
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707
Citations
Citations since 2017
9 Research Items
465 Citations
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Introduction
Lecturer and researcher on robotics. Published 2 book chapters and +40 scientific papers on peer-reviewed conferences and journals. Experience as engineer in a company that develops machines for industry automation. Was member of Organizing and/or Technical Committees of several scientific events and conferences. Received Awards for Best Participation at VISUM 2015, Best Paper (2018) and Third Best Paper (2012) at WRE/LARS, and Honored five times by Engineering graduates.
Additional affiliations
September 2016 - June 2020
Hanzehogeschool Groningen
Position
  • Lecturer
Description
  • Lecturer of Robotics and Electronics.
November 2014 - September 2015
Hanzehogeschool Groningen
Position
  • Lecturer
Description
  • Lecturer of Electronics and Sensors for the Advanced Sensors Applications program. Supervised student research and graduation projects.
November 2014 - October 2015
University of Groningen
Position
  • PostDoc Position
Description
  • Worked with computer vision applied to aerial robots (drones) under supervision of Dr. Marco Wiering. With scholarship from CAPES, Brazil, for Postdoctoral Research.
Education
March 2006 - March 2009
Universidade Federal do Espírito Santo
Field of study
  • Electrical Engineering - Robotics
September 1999 - July 2003
Universidade Federal do Espírito Santo
Field of study
  • Electrical Engineering - Automation
March 1994 - May 1999
Universidade Federal do Espírito Santo
Field of study
  • Electrical Engineering

Publications

Publications (57)
Chapter
Full-text available
Laboratory experiments are important pedagogical tools in engineering courses. Restrictions related to the COVID-19 pandemic made it very difficult or impossible for laboratory classes to take place, resulting on a fast transition to simulation as an approach to guarantee the effectiveness of teaching. Simulation environments are powerful tools tha...
Article
Full-text available
For almost 25 years, the goal of the RoboCup has been to build soccer robots capable of winning against the FIFA World Champion of 2050. To foster the participation of the next generation of roboticists, the RoboCupJunior competition takes place in parallel and provides a similar challenge of appropriate difficulty for high school students. RoboCup...
Article
Full-text available
The number of applications in which industrial robots share their working environment with people is increasing. Robots appropriate for such applications are equipped with safety systems according to ISO/TS 15066:2016 and are often referred to as collaborative robots (cobots). Due to the nature of human-robot collaboration, the working environment...
Chapter
Full-text available
Industrial robot manipulators are widely used for repetitive applications that require high precision, like pick-and-place. In many cases, the movements of industrial robot manipulators are hard-coded or manually defined, and need to be adjusted if the objects being manipulated change position. To increase flexibility, an industrial robot should be...
Chapter
Full-text available
The design of motion controllers for wheeled mobile robots is often based only on the robot's kinematics. However, to reduce tracking error it is important to also consider the robot dynamics, especially when high-speed movements and/or heavy load transportation are required. Commercial mobile robots usually have internal controllers that accept ve...
Conference Paper
Cozmo is a real-life robot designed to interact with people playing games, making sounds, expressing emotions on a LCD screen and many other pre-programmable functions. We present the development and implementation of an educational platform for Cozmo mobile robot, with several features, including web server for user interface, computer vision, voi...
Article
Full-text available
Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and ar...
Article
Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best localization systems based on GNSS cannot always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Recent works have shown the advantage of using m...
Article
Full-text available
An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic contro...
Conference Paper
The use of robots as educational tools provides a stimulating environment for students. Some robotics competitions focus on primary and secondary school aged children, and serve as motivation for students to get involved in educational robotics activities. Although very appealing, many students cannot participate on robotics competitions because th...
Conference Paper
Full-text available
Search and rescue is often time and labour intensive. We present a system to be used in drones to make search and rescue operations more effective. The system uses a drone downward facing camera to detect people and to evaluate potential sites as being safe or not for the drone to land. Histogram of Oriented Gradients (HOG) features are extracted a...
Conference Paper
Full-text available
The use of robots as educational tools provide a stimulating environment for students. Some robotics competitions focus on primary and secondary school aged children, and serve as a motivation factor for students to get involved in educational robotics activities. But, in most competitions students are required to deal with robot design, constructi...
Conference Paper
Full-text available
RoboCupJunior is a robotics competition that focuses on education of primary and secondary school aged children. In all of its categories (soccer, dance and rescue) students have to deal with robot design, construction and programming. Besides the existence of rescue and soccer simulation categories in the RoboCup major competition, there are no eq...
Conference Paper
Full-text available
Unmanned Aerial Vehicles (UAVs) are versatile machines that can be used in a variety of applications, such as automatic monitoring of crops and water channels, pest detection, animal counting etc. Autonomous flying is a desirable feature for UAVs, especially for those that are frequently used in monitoring and inspection of large areas. In some sit...
Data
These files allow the MATLAB/Simulink simulation of an unicycle-like mobile robot considering its complete dynamic model. The package includes code for a genetic algorithm to select the controller gains in order to minimize energy consumption, IAE index, or a weighted combination of both indexes. To select controller gains and to verify the contro...
Article
A multilayer scheme is here proposed to implement coordinated control of a group of mobile robots. Specifically, a trajectory tracking controller is proposed to coordinately guide a platoon of robots, with an obstacle deviation subsystem based on virtual forces and mechanical impedance implemented in each robot. Such a controller is firstly designe...
Conference Paper
O Brasil é um grande consumidor, produtor e exportador de rochas ornamentais. A abundância e diversidade de rochas brasileiras tornaram o país um importante exportador de mármore, granito e outros tipos de rochas ornamentais. No entanto, essa indústria gera grande quantidade de resíduos sólidos, incluindo pequenos pedaços de rochas que são difíceis...
Data
These files allow the simulation of a differential steered (unicycle-like) mobile robot considering its complete dynamic model. The dynamic model here adopted is based on velocities (not torques), which makes it easier to integrate with existing mobile robot controllers that generate references for linear and angular velocities. Although not requi...
Conference Paper
Full-text available
We propose a visual method to be used in autonomous vehicles to track the position of horizontal road lane marks. Our method is based on filtering with prediction. The prediction step estimates the expected lane mark position in each new image frame. It is also based on the kinematic model of the car and on the information generated by the embedded...
Conference Paper
Full-text available
This paper presents a description of an omnidirectional robot to be used on the RoboCupJunior Rescue B competition. The main robot controller was written in C++ and runs in an Arduino DUE board. The Arduino board is responsible for the distance and temperature sensors readings, and is connected to an MBed board that controls the motor drivers. Ther...
Conference Paper
Full-text available
Este artigo apresenta um sistema visão computacional projetado para guiar um carro robótico por uma estrada pavimentada dirigindo com velocidade fixa. O sistema utiliza as faixas de sinalização horizontal para se localizar e tem boa tolerância a falhas na sinalização e curvas acentuadas. Inicialmente é apresentada a técnica de processamento de imag...
Conference Paper
Full-text available
This paper addresses the application of genetic algorithm in the tuning problem of an adaptive controller for unicycle-like mobile robots. The motivation for this work comes from the fact that these robots are characterized by a complex dynamical model which makes the space of the possible controller gains difficult to search. First, the paper pres...
Conference Paper
Full-text available
This paper discusses issues related to the adoption of the Educational Robotics as a tool for interdisciplinary teaching for technical courses (at high-school level). Initially, we talk briefly about the compartmentalized and linear traditional school curriculum. Then we discuss about the implementation of Educational Robotics as a possibility for...
Conference Paper
Full-text available
O presente trabalho propõe a elaboração de tutoriais para facilitar o uso de softwares livres no curso de Engenharia de Controle e Automação do Instituto Federal de Educação, Ciência e Tecnologia do Espírito Santo. Dessa forma, o texto aborda os programas Qucs, Scilab, KiCad e CircuiLab, apresentando uma breve explicação de seus recursos, histórico...
Conference Paper
Full-text available
O presente trabalho faz parte de um projeto que pretende implementar a Robótica Educacional como ferramenta de trabalho pedagógico interdisciplinar para cursos profissionalizantes de nível técnico e superior. Consiste na criação de uma interface de comunicação entre o kit de robótica da LEGO (NXT) e a plataforma Arduino. Esta plataforma foi escolhi...
Conference Paper
This work proposes a way to make a group of mobile robots which are navigating as a formation to avoid obstacles in their paths. A trajectory tracking controller is proposed to guide the robots during the navigation, to which an obstacle deviation subsystem is added. Such subsystem is implemented in each robot in the formation, whereas the proposed...
Conference Paper
Este trabalho apresenta uma etapa da construção de um braço mecânico iniciado como um Projeto de Iniciação Científica na Universidade Vale do Rio Doce – UNIVALE. O projeto consiste na construção de um robô manipulador didático com cinco graus de liberdade e seis motores de passo, uma placa de controle utilizando um microcontrolador TUSB3210 e duas...
Conference Paper
Full-text available
Este trabalho tem por objetivo apresentar o projeto e o desenvolvimento de um sistema de comunicação visual com ângulo de visão de 360° baseado em características similares a um painel de LED. Suas principais características, princípio de funcionamento, organização de software e componentes utilizados também são comentados e enunciados. O sistema d...
Conference Paper
Full-text available
Este trabalho visa apresentar as etapas e os resultados obtidos durante o projeto e implementação de um software biblioteca / hardware de uso simplificado para controle automático de processos através de um computador pessoal. A comunicação do computador com o projeto é feita através de uma por-ta USB e a comunicação entre as diversas partes do pro...
Conference Paper
Full-text available
O pêndulo invertido é um problema clássico na área de sistemas de controle por ser inerentemente instável em malha aberta e por possuir característica dinâmica não linear. Consiste no problema de se equilibrar uma barra na posição vertical através da movimentação horizontal de sua base. O pre-sente artigo descreve a modelagem e a identificação dos...
Conference Paper
This paper presents a multi-layer scheme to control a formation of n mobile robots, including a strategy for obstacle avoidance. The controller adopted is able to guide the robots to compose the desired formation and to track a desired trajectory, avoiding obstacles during the navigation. Two planning layers are responsible for organizing the navig...
Conference Paper
This paper develops a new representation for the dynamic model of unicycle-like mobile robots, discusses some properties of it, and proposes an adaptive dynamic compensation controller based on such model. The proposed dynamic model has linear and angular velocities as inputs, which is usual in commercial mobile robots but not in the literature, th...
Conference Paper
This paper presents a multilayer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dyn...
Thesis
Full-text available
Uma proposta de modelagem da dinâmica de robôs móveis tipo uniciclo é aqui apresentada e utilizada no projeto de controladores para os referidos robôs; inclusive num contexto de controle de formação. A dinâmica dos robôs móveis é modelada através de uma nova abordagem; baseada em um modelo dinâmico que aceita sinais de velocidades linear e angular...
Article
This paper proposes an adaptive controller to guide an unicycle-like mobile robot during trajectory tracking. Initially, the desired values of the linear and angular velocities are generated, considering only the kinematic model of the robot. Next, such values are processed to compensate for the robot dynamics, thus generating the commands of linea...
Conference Paper
Full-text available
Resumen— Este artículo presenta el desarrollo de un con-trolador dinámico adaptable de seguimiento de trayectórias para robots móviles de tipo uniciclo. El controlador prop-uesto es basado en un nuevo modelo dinámico que acepta como entradas señales de velocidades lineal y angular, lo que es usual en robots móviles comerciales. Un término de modifi...
Conference Paper
Full-text available
Resumen— Este artículo presenta una nueva manera para representar el modelo dinámico del robot móvil tipo unici-clo, y propone un controlador de seguimiento de trayecto-ria basado en dicho modelo. El modelo dinámico propuesto recibe velocidades lineal y angular como entradas, lo que es usual en robots móviles comerciales. Propiedades im-portantes d...
Conference Paper
Full-text available
Este trabajo presenta el desarrollo de un controlador adaptable para compensación de la dinámica de robots móviles tipo uniciclo y su utilización en un control descentralizado de una formación líder-seguidor. En dicho sistema de control no hay intercambios de informaciones entre los robots y el seguidor debe, a su vez, identificar el líder y establ...
Article
Full-text available
Este trabalho apresenta estudo, simulação e implementação em laboratório de um sistema de geração de energia elétrica que pretende aproveitar a energia disponibilizada por córregos e rios através de micro centrais hidrelétricas. A máquina de indução é utilizada como gerador, e o controle de amplitude da tensão gerada é feito através do fornecimento...
Conference Paper
This paper addresses the design of an adaptive controller to guide a unicycle-like mobile robot while tracking a trajectory. The controller is designed considering the complete dynamic model of the robot, and consists of two parts. The first one is based on the kinematic model of the robot, and plays the role of generating the desired linear and an...
Conference Paper
Full-text available
No Brasil o sistema elétrico está operando próximo de sua capacidade e o risco de ocorrer racionamento de energia (como em 2001) ainda existe. Uma alternativa à construção de grandes centrais geradoras e longas linhas de transmissão é a construção de diversas pequenas centrais elétricas localizadas próximas aos centros de consumo, sempre que possív...
Conference Paper
Full-text available
This paper discusses an Induction Generator (IG) system that provides regulated voltage at any load condition. It utilizes the classical self-excitation principle but, in addition to that, it makes use of a current regulated PWM inverter to control the output voltage magnitude. It is primarily intended for micro hydro plants to be used in rural are...
Thesis
Full-text available
No Brasil o sistema elétrico está operando próximo de sua capacidade máxima. O racionamento de energia elétrica recentemente ocorrido é comprovação deste fato. Uma alternativa à construção de grandes centrais geradoras e longas linhas de transmissão é a construção de diversas pequenas centrais elétricas localizadas próximas aos centros de consumo,...
Conference Paper
This paper discusses an induction generator (IG) system that provides regulated voltage at any load condition. It utilizes the classical self-excitation principle but, in addition to that, it makes use of a current regulated PWM inverter to control the output voltage magnitude. It is primarily intended for micro hydro plants to be used in rural are...
Article
Full-text available
This paper proposes an adaptive controller to guide a unicycle-like mobile robot during trajectory tracking. First, the desired values for the linear and angular velocities are generated based on the kinematic model of the robot. Such values are then dealt with to compensate the robot dynamics and to generate the robot commands. The parameters repr...

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