Gustavo Pessin

• PhD in Computer Science
• Research Associate at Instituto Tecnológico Vale

Driver behavior impacts traffic safety, fuel/energy consumption and gas emissions. Driver behavior profiling tries to understand and positively impact driver behavior. Usually driver behavior profiling tasks involve automated collection of driving data and application of computer models to generate a classification that characterizes the driver agg...

The application of pesticides and fertilizers in agricultural areas is of prime importance for crop yields. The use of aircrafts is becoming increasingly common in carrying out this task mainly because of its speed and effectiveness in the spraying operation. However, some factors may reduce the yield, or even cause damage (e.g. crop areas not cove...

This paper describes the modeling, implementation, and evaluation of RoBombeiros multirobotic system. The robotic task in this paper is performed over a natural disaster, simulated as a forest fire. The simulator supports several features to allow realistic simulation, like irregular terrains, natural processes (e.g. fire, wind) and physical constr...

This paper presents the development of two outdoor intelligent vehicles platforms named CaRINA I and CaRINA II, their system architecture, simulation tools, and control modules. It also describes the development of the intelligent control system modules allowing the mobile robots and vehicles to navigate autonomously in controlled urban environment...

This work focuses on the application of Swarm Intelligence to a problem of garbage and recycling collection using a swarm of robots. Computational algorithms inspired by nature, such as Particle Swarm Optimization (PSO) and Ant Colony Optimization, have been successfully applied to a range of optimization problems. Our idea is to train a number of...

A Floresta Nacional (FLONA) de Carajás, localizada no estado do Pará, é uma unidade de conservação (UC) federal de uso sustentável que abrange paisagens singulares associadas às áreas de afloramento ferrífero, dentre elas, as lagoas perenes e temporárias, que compõem o único geossistema ferrífero brasileiro na Amazônia. Tendo em vista o potencial t...

Pipeline inspection is a necessary task in the industry, allowing for the identification of anomalies. The flow of materials through these pipes can lead to clogs, cracks, or discontinuities that reduce their carrying capacity. As a result, regular manual inspections are crucial. To address the need for safe and constant inspections, we propose an...

In every business, equipment requires repair services. Over time, equipment wears out; however, with well-conducted and guided maintenance, this degradation can be controlled, and failed equipment can be restored to operational status. Preventive maintenance allows this concept to be applied, given the great advantages for large companies in reusin...

Speech is often our first form of communication and expression of emotions. Speech Emotion Recognition is a complex problem, as emotional expression depends on spoken language, dialect, accent, and the cultural background of individuals. The intensity of this emotion can affect our perception and lead us to interpret information inappropriately, wi...

Nanocomposites based on carbon nanotubes (CNTs) are suitable for sensors, due to matrix ability to incorporate nanotube properties. Thus, we developed a low-cost, nanostructured poly(acrylonitrile-butadiene-styrene) (ABS) polymer piezoresistive sensor produced by additive manufacturing. For this, solution layers of acetone, dimethylformamide and CN...

One of the main challenges in the process of recognizing emotion through the voice are related to the specific characteristics of an individual’s sound spectrum, such as accent and speech rhythm, as well as regionalism and wide variability of spoken phrases. Despite efforts to propose emotion recognition models, providing an increase in accuracy in...

Jataíis a pollinator of some crops; therefore, its sustain- able management guarantees quality in the ecosystem ser- vices provided and implementation in precision agriculture. We acquired videos of natural and artificial hives in urban and rural environments with a camera positioned at the hive entrance. In this way, we obtained videos of the entr...

Among the many challenges robots encounter in the mining industry, exploring confined environments receives significant attention. This work tackles problems associated with robot communication in hazardous and confined environments, where its cluttered and extensive nature frequently precludes traditional cable-based and wireless solutions. Our me...

The global iron ore price is influenced by numerous factors, thus showcasing a complex interplay among them. The collective expectations of market participants over time shape the variations and trends within the iron ore price time series. Consequently, devising a robust forecasting model for the volatility of iron ore prices, as well as for other...

Industrial control systems (ICS) operate on serial-based networks which lack proper security safeguards by design. They are also becoming more integrated to corporate networks, creating new vulnerabilities which expose ICS networks to increasing levels of risk with potentially significant impact. Despite those risks, only a few mechanisms have been...

Conveyor belts are the most effective way to transport ore in a mining complex. The ore that comes from the mining areas can be heterogeneous in size and type. As the ore has to pass through several processing stages, online information about the ore type and degree of fragmentation can help improve mineral processing for both safety and efficiency...

Mobile robots are becoming essential tools for exploring environments that represents risks to human beings. The uneven ground and the presence of obstacles increase the difficulty of free movement and compromise the robot’s autonomy. Researchers are developing several devices with different configurations and locomotion mechanisms to overcome thes...

The UPS system is extremely important for the Electric Power System (EPS), as it is responsible for ensuring monitoring and command in the case of lack of primary voltage. The three -phase rectifier is the most sensitive part of the UPS system and is the most susceptible to failures. Current rectifiers have an alarm system to indicate failures, but...

This paper presents technologies applied to robots for cleaning ship hulls, covering the analysis of cleaning effects and an in-depth exploration of various methods employed in dry and underwater contexts. The use of technology in underwater robotic ship cleaning holds the potential to decrease operational downtime while enhancing vessel availabili...

A service robot is an adaptable autonomous equipment that must perceive the environment, act accordingly and make decisions to perform tasks. In order to increase the embedded intelligence in these devices, providing extra capabilities and autonomous functionalities, a solution consists in the deployment of a navigation system. In this sense, this...

The use of mobile robots in performing services is becoming increasingly common. One example is Vale’s EspeleoRobô, capable of moving over rough terrain to inspect and map confined environments, such as piping systems, dam drain galleries, mills, silos, and natural caves. Due to space limitations, the presence of obstacles and terrain irregularitie...

A critical activity in mining industrial environments is the inspection of regions that present unsanitary working conditions for human professionals, such as caves, pipelines and dam galleries. A possible solution to this problem is the use of a robotic platform for remote inspection. This article addresses the challenge of inspecting gallery syst...

Artificial intelligence approaches, such as computer vision, can help better understand the behavior of bees and management. However, the accurate detection and tracking of bee species in the field remain challenging for traditional methods. In this study, we compared YOLOv7 and YOLOv8, two state-of-the-art object detection models, aiming to detect...

A presente invenção é relacionada sistema de monitoramento para detecção e estimação da posição de desalinhamento lateral de correias transportadoras que compreende: uma pluralidade de Unidades de Medição Inerciais, IMUs, que coletam os dados relativos à movimentação da mesma; uma pluralidade de registradores de dados que registram os dados coletad...

A presente invenção diz respeito a um método e sistema para análise não-invasiva de material em uma correia transportadora compreendendo: varrer (13), por meio de um escâner laser (12), a superfície do material sendo transportado; coletar (14), através de pelo menos um sensor, dados relativos à intensidade com que o laser emitido foi refletido pelo...

Transporting iron ore by conveyor belts is widely used in the mining industry. The measurement of the mass flow of ore is essential for equipment protection purposes, preventing the conveyor belts from being overloaded, and for operational control purposes, when accounting for the production of equipment during a period of time. The equipment most...

A espeleologia é a ciência responsável por realizar estudos quanto à origem e evolução das cavidades naturais, como cavernas ou grutas. No entanto, a realização destes estudos expõe o profissional a r

Data on transport usage is important in a wide range of areas. These data are often obtained manually through costly and inaccurate interviews. In the last decade, several researchers explored the use of smartphone sensors for the automatic detection of transport modes. However, such works have focused on developing centralized machine learning mec...

This paper describes a system to detect anomalies in non-IP (Internet Protocol) industrial networks on Industrial Control Systems (ICS). Non-IP industrial networks are widely applied in ICS to connect sensors and actuators to control systems or business networks. They were designed to be in an air-gapped security environment and therefore contain a...

Confined and subterranean areas are common in many civilian and industrial sites, although they are hazardous for humans given the presence of noxious gases, extreme temperatures, narrow spaces, unhealthy oxygen levels, flooding, and collapsing structures. Therefore, exploration, routine inspections, and surveillance tasks can benefit from using au...

Applications with autonomous robots play an important role in the industry and in everyday life. Among them, the activities of manipulating and moving objects are highlighted by the wide variety of possible applications. These activities in static and known environments can be implemented through logic planned by the developer, but this is not feas...

Hyperspectral Imaging Systems (HSI) collect spectral data and spatial images simultaneously and continuously in hundreds of narrow spectral bands to generate a data cube. Specifically in mineralogy, remote sensing techniques using hyperspectral images are becoming increasingly popular on remote mapping of mineral formations. Datasets containing hyp...

Small diameter pipe inspection is a frequent task in the industry. The flow of materials through the pipes can generate problems, like clogs, cracks, or discontinuities that prevent or reduce its carrying capacity. Therefore, these industrial systems must always be subject to regular inspection activities. In this sense, Instituto Tecnológico Vale...

A critical activity in mining industrial environments is the inspection of regions that present unsanitary working conditions for human professionals, such as caves, pipelines and dam galleries. A possible solution to this problem is the use of a robotic platform for remote inspection. This article focuses on the inspection of galleries with repeat...

Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to tolerate and anticipate intermittent connectivity, a...

User behavior anomaly detection has been a successful measure contributing to cybersecurity. Much of the related literature addresses this issue without considering the individualization of users when analyzing logs generated by network and system protection devices. This paper presents WEAPON, an architecture for the detection of behavior anomalie...

A precise localization system and a map that properly represents the environment are fundamental for several robotic applications. Traditional LiDAR SLAM algorithms are particularly susceptible to underestimating the distance covered by real robots in environments with few geometric features. Common industrial confined spaces, such as ducts and gal...

Currently, most mining companies conduct chemical analyses by X-ray fluorescence performed in the laboratory to evaluate the quality of Fe ore, where the focus is mainly on the Fe content and the presence of impurities. However, this type of analysis requires the investment of time and money, and the results are often available only after the ore h...

Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to tolerate and anticipate intermittent connectivity, a...

Conveyor belts play an essential role in mining, making belt splicing a critical operation in the maintenance process. Currently, this procedure is performed manually and can last up to 48 h, exposing operators to risks while performing the task. Additionally, the process is error prone, and the splicing quality depends directly on the maintenance...

Stock markets play an essential role in the economy and offer companies opportunities to grow, and insightful investors to make profits. Many tools and techniques have been proposed and applied to analyze the overall market behavior to seize such opportunities. However, understanding the stock exchange’s intrinsic rules and taking opportunities are...

Financial market news portals are valuable sources of information as they hold great power over investors' decision-making processes. Due to the vast amount of text data produced by news portals, several studies have been conducted to comprehend the behavioral variations of texts and automate the categorization of short texts. However, extracting u...

Cyber security is a topic of increasing relevance in relation to industrial networks. The higher intensity and intelligent use of data pushed by smart technology (Industry 4.0) together with an augmented integration between the operational technology (production) and the information technology (busi-ness) parts of the network have considerably rais...

In mining, the sieving process is a common method of classification based on particle's sizes. The sieves used in this process classify the material into two fractions: undersize, composed of fine particles; and oversize, composed of coarse particles. In this work, a strategy for evaluating the performance of sieve classification by measuring the d...

Belt Conveyors are essential for transporting dry bulk material in different industries. Such structures require permanent inspections, traditionally executed by human operators based on cognition. To improve working conditions and process standardization, we propose a novel procedure to inspect conveyor structures with a ground robot composed by a...

A presente invenção provê um sistema e método para avaliação de material transportado em correia transportadora, que compreende as etapas de realizar varredura, através de pelo menos um feixe bidimensional emitido por pelo menos um sensor a laser bidimensional, da superfície do material transportado na correia transportadora; coletar dados de distâ...

Bees play a key role in ecosystem services as the main pollinators of numerous flowering plants. Studying factors influencing their foraging behavior is relevant not only to understand their biology, but also how populations might respond to changes in their habitat and to the climate. Here, we used radio-frequency identification tags to monitor th...

In this article, we describe a real-time system for prosthetic hands control. The system architecture includes the integration of the electromyographic (EMG) signal acquisition devices, platform for the implementation of the real-time classifier, sensors for the detection of object slip after grasp and the open-source hand prosthesis. Three databas...

Abordagens de inteligência artificial, como visão computacional, podem ajudar a entender melhor o comportamento de abelhas e ajudar no seu manejo. Detectar espécies de abelhas em campo é ainda um desafio para os métodos tradicionais. Neste trabalho, propõe-se o uso do detector YOLO justificado por sua capacidade, velocidade e generalização. Foi pos...

Crude oil leakages can produce damages to the environment and the nearby population. Oil companies perform continuous soil and vegetation surveillance around susceptible areas, aiming to identify potential leakages and mitigate their impacts. Traditional methods for monitoring oil leaks are based on visual inspection and losses on the pipeline’s fl...

Large industries usually imply geographically dispersed supply chains composed of facilities localized in diverse regions. These facilities commonly involve operational technology (OT) (i.e., industrial control systems—ICS) and information technology (IT) infrastructures, which require integration to enable information processing. Such integration,...

Autonomous mobile devices operating in confined environments, such as pipes, underground tunnel systems, and cave networks, face multiple open challenges from the robotics perspective. Those challenges, such as mobility, localization, and mapping in GPS denied scenarios, are receiving particular attention from the academy and industry. One example...

Known as an artificial intelligence subarea, Swarm Robotics is a developing study field investigating bio-inspired collaborative control approaches and integrates a huge collection of agents, reasonably plain robots, in a distributed and decentralized manner. It offers an inspiring essential platform for new researchers to be engaged and share new...

This paper addresses the problem of feature selection aiming to improve a flood forecasting model. The proposed model is carried out through a case study that uses 18 different time series of thirty-five years of hydrological data, forecasting the level of the Xingu River, in the Amazon rainforest in Brazil. We employ a Genetic Algorithm for the ta...

Bee flight capacity determines the area that a colony can exploit, and this knowledge is essential to formulate management and conservation strategies for each species. In this study, we evaluated the flight capacity of Melipona seminigra using radio frequency identification (RFID). Three questions were addressed: Do the RFID tags affect the flight...

The field of plant disease diagnosis and epidemiology seeks to assess symptoms caused by pathogens. Different infectious and non-infectious agents can cause similar symptoms in plant organs. Diagnosing diseases is crucial, but it remains an inherently manual and error-prone task. Many works have been proposed to diagnose plant diseases, mainly usin...

Bees play a key role in ecosystem services as the main pollinators of numerous flowering plants. Studying factors influencing their foraging behaviour is relevant not only to understand their biology, but also how populations might respond to changes in their habitat and to the climate. Here, we used radio-frequency identification tags to monitor t...

Inspecting ducts and pipes with small diameters is a recurring task inside the mining industry and presents significant challenges for timely and efficient monitoring. Due to the nature of the materials passing through the pipe, some problems can preclude or reduce the pipe's transport capacity, such as clogging, cracks, or discontinuities. The lea...

A exploração e monitoramento de ambientes confinados, presentes em áreas de produção industrial e mineração, representam riscos aos operadores envolvidos. Buscando maior segurança operacional, o Instituto Tecnológico Vale, em parceria com a Universidade Federal de Minas Gerais, vem desenvolvendo o EspeleoRobô, uma plataforma robótica utilizada na i...

Dentre as etapas de processamento de minérios, a flotação se destaca como um dos mais importantes, principalmente quando se trata de separação de minerais. O rendimento deste processo está muito ligado as variáveis de processo como a vazão de ar e o controle de abertura das válvulas de descarga. Estas variáveis, muitas vezes, são determinadas atrav...

O EspeleoRobô é uma plataforma robótica móvel teleoperada, utilizada pela Vale para a exploração de ambientes confinados. Durante operações de inspeções, é comum o robô se deparar com adversidades incluindo risco de colisão, capotamento e perda da conexão com a base de controle. Este artigo propõe novos sistemas de alerta e operação assistida do Es...

O cálculo da cinemática inversa de um manipulador robótico consiste em determinar a posição das juntas do robô de forma que seu efetuador alcance uma posição e orientação definida. Conforme a arquitetura do robô e a pose desejada, o problema pode possuir uma, múltiplas, infinitas ou até mesmo nenhuma solução. Esse artigo apresenta o desenvolvimento...

Some of the most demanding tasks performed in industrial environments are inspections and mapping, particularly in pipes, caves, and dam galleries. Given the nature of the manual inspection process, these confined spaces environments present hazardous conditions for human inspectors. In this sense, a mining company created an inspection robot for c...

One of the main challenges in urban development faced by large cities is related to traffic jam. Despite increasing efforts to maximize the vehicle flow in large cities, to provide greater accuracy to estimate the traffic jam and to maximize the flow of vehicles in the transport infrastructure, without increasing the overhead of information on the...

COVID-19 disease has become an unprecedented public health crisis. Although a relatively small percentage of people require intensive care, due to the high degree of contagion of the disease, the public system quickly collapses. Due to the highly complex nature of this disease and variation in its behavior depending on the characteristics of each g...

Several studies in the field of human–computer interaction have focused on the importance of emotional factors related to the interaction of humans with computer systems. According to the knowledge of the users’ emotions, intelligent software can be developed for interacting and even influencing users. However, such a scenario is still a challenge...

Natural Language Interfaces allow human-computer interaction through the translation of human intention into devices’ control commands, analyzing the user’s speech or gestures. This novel interaction mode arises from advancements of artificial intelligence, expert systems, speech recognition, semantic web, dialog systems, and natural language proce...

O uso adequado de métodos de previsão pode auxiliar na prevenção, no gerenciamento e no planejamento de situações críticas. Métodos de previsão de variáveis de interesse podem ser endereçados como problemas de previsão de séries temporais. A previsão de séries temporais apresenta algumas questões em aberto, correntemente estudadas, entre estas ques...