Jorge Miranda Dias

Jorge Miranda Dias
University of Coimbra | UC · Institute of Systems & Robotics

PhD + Habilitation Degree

About

447
Publications
109,992
Reads
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5,567
Citations
Citations since 2016
118 Research Items
3308 Citations
20162017201820192020202120220100200300400500
20162017201820192020202120220100200300400500
20162017201820192020202120220100200300400500
20162017201820192020202120220100200300400500
Additional affiliations
July 2012 - April 2016
Khalifa University
Position
  • Professor
Description
  • I leave of absence from University of Coimbra
July 2011 - present
Khalifa University
Position
  • KURI:: Khalifa University Research Institute
Description
  • Establish a world class institute on robotic research for the benefit of society and its sustainability.
July 2011 - June 2014
Khalifa University
Position
  • A/ Professor

Publications

Publications (447)
Preprint
Full-text available
A major challenge in machine learning is resilience to out-of-distribution data, that is data that exists outside of the distribution of a model's training data. Training is often performed using limited, carefully curated datasets and so when a model is deployed there is often a significant distribution shift as edge cases and anomalies not includ...
Conference Paper
Objectives/Scope The inspection of flare stacks operation is a challenging task that requires time and human effort. Flare stack systems undergo various types of faults, including cracks in the flare stack's structure and incomplete combustion of the flared gas, which need to be monitored in a timely manner to avoid costly and dangerous accidents....
Preprint
In transportation networks, where traffic lights have traditionally been used for vehicle coordination, intersections act as natural bottlenecks. A formidable challenge for existing automated intersections lies in detecting and reasoning about uncertainty from the operating environment and human-driven vehicles. In this paper, we propose a risk-awa...
Chapter
Nucleus detection in histopathology images is an instrumental step for the assessment of a tumor. Nonetheless, nucleus detection is a laborious and expensive task if done manually by experienced clinicians, and is also prone to subjectivity and inconsistency. Alternatively, the advancement in computer vision-based analysis enables the automatic det...
Preprint
Full-text available
Person-tracking robots have many applications, such as in security, elderly care, and socializing robots. Such a task is particularly challenging when the person is moving in a Uniform crowd. Also, despite significant progress of trackers reported in the literature, state-of-the-art trackers have hardly addressed person following in such scenarios....
Preprint
Full-text available
Over the past few decades, interest in algorithms for face recognition has been growing rapidly and has even surpassed human-level performance. Despite their accomplishments, their practical integration with a real-time performance-hungry system is not feasible due to high computational costs. So in this paper, we explore the recent, fast, and accu...
Preprint
Full-text available
Robustly tracking a person of interest in the crowd with a robotic platform is one of the cornerstones of human-robot interaction. The robot platform which is limited by the computational power, rapid movements, and occlusions of the target requires an efficient and robust framework to perform tracking. This paper proposes a deep learning framework...
Preprint
Full-text available
The goal of this work is to apply a denoising image transformer to remove the distortion from underwater images and compare it with other similar approaches. Automatic restoration of underwater images plays an important role since it allows to increase the quality of the images, without the need for more expensive equipment. This is a critical exam...
Article
Nucleus detection is an important step for the analysis of histology images in the field of computational pathology. Pathologists use quantitative nuclear morphology for better cancer grading and prognostication. The nucleus detection becomes very challenging because of the large morphological variations across different types of nuclei, nuclei clu...
Article
Full-text available
This paper proposes an innovative hazard identification and risk assessment mapping model for Urban Search and Rescue (USAR) environments, concentrating on a 3D mapping of the environment and performing grid-level semantic labeling to recognize all hazards types found in the scene and to distinguish their risk severity level. The introduced strateg...
Chapter
The goal of this work is to apply a denoising image transformer to remove the distortion from underwater images and compare it with other similar approaches. Automatic restoration of underwater images plays an important role since it allows to increase the quality of the images, without the need for more expensive equipment. This is a critical exam...
Article
Full-text available
Automatic gender classification has many potential applications including automatic annotation of images, video surveillance, security, and human-computer interaction. In the last decades, many research works focused on classifying gender using the cues from 2D images of the person’s frontal view. This limits their application in the real world. Al...
Article
Visual object tracking is a fundamental and challenging task in many high-level vision and robotics applications. It is typically formulated as estimating the target appearance model between consecutive frames. Discriminative correlation filters and their variants have achieved promising speed and accuracy for visual tracking in many challenging sc...
Article
Nucleus detection in histology images is a fundamental step for cellular-level analysis in computational pathology. In clinical practice, quantitative nuclear morphology can be used for diagnostic decision making, prognostic stratification, and treatment outcome prediction. Nucleus detection is a challenging task because of large variations in the...
Chapter
In Visual object tracking (VOT), Discriminative correlation filters trackers have achieved promising results for VOT in many complex scenarios. However, because of the unwanted boundary effects and lack of structural constraints, these methods suffer from performance degradation. In the current work, we propose a spatial graph-regularized correlati...
Article
Full-text available
This paper presents a wavelet-based image guided tracking control system for unmannedmultirotor aerial vehicle system with the presence of uncertainty. The visual signals for the visualtracking process are developed by using wavelet coefficients. The design uses a multiresolutioninteraction matrix with half and details images to relate the time-var...
Article
Full-text available
Transferring skills and expertise to remote places, without being present, is a new challenge for our digitally interconnected society. People can experience and perform actions in distant places through a robotic agent wearing immersive interfaces to feel physically there. However, technological contingencies can affect human perception, compromis...
Chapter
Full-text available
This book chapter explores how experiences of isolation and loneliness in remote areas can be mitigated through social robots' emotional care. We first discuss the concept of being social and how that notion is changing with rapid digitalization. The research for this chapter zooms in the context of remote regions, characterized by vast geographica...
Conference Paper
Full-text available
In this paper, we implement and evaluate image guided visual tracking system for autonomous grasping and manipulation for valve turning applications. The first part of this paper tries to collect the results reached by the researcher and industrial community so far within the field of image guided autonomous manipulation from the technological and...
Conference Paper
Full-text available
This paper investigates finite-time stability and tracking control problem of multirotor unmanned aerial vehicle in the presence of the modeling errors and external disturbances uncertainty. The algorithms for autonomous position and attitude flight tracking system are designed with the help of Lyapunov and nonlinear terminal sliding mode control t...
Conference Paper
Full-text available
In this paper, we propose a deep-learning approach for human gender classification on RGB-D images. Unlike most of the existing methods, which use hand-crafted features from the human face, we exploit local information from the head and global information from whole body to classify people’s gender. A head detector is fine-tuned on YOLO to detect t...
Conference Paper
Full-text available
Visual Object Tracking (VOT) is an essential task for many computer vision applications. VOT becomes challenging when a target object faces severe occlusion, drastic illumination changes, and scale variation problems. In the literature, Discriminative Correlation Filters (DCFs)-based tracking methods have achieved promising results in terms of accu...
Conference Paper
Full-text available
Moving object detection (MOD) is an important step for many computer vision applications. In the last decade, it is evident that RPCA has shown to be a potential solution for MOD and achieved a promising performance under various challenging background scenes. However, because of the lack of different types of features, RPCA still shows degraded pe...
Article
Full-text available
This paper presents a strategy to autonomously explore unknown indoor environments, focusing on 3D mapping of the environment and performing grid level semantic labeling to identify all available objects. Unlike conventional exploration techniques that utilize geometric heuristics and information gain theory on an occupancy grid map, the work prese...
Article
Full-text available
Visual object tracking is an essential task for many computer vision applications. It becomes very challenging when the target appearance changes especially in the presence of occlusion, background clutter, and sudden illumination variations. Methods, that incorporate sparse representation and low-rank assumptions on the target particles have achie...
Article
Research studies on quadrotors have recently drawn significant interest from academia and industry. Faults and failures handling are the major weaknesses of conventional quadrotor platforms; therefore, an innovative actuation mechanism was introduced to allow tilting the rotors. Tilting rotors of multirotor platforms provide high dexterity for flyi...
Conference Paper
This paper presents some of the advances in the current efforts for standardization of autonomous robotic systems. We will focus in the knowledge representation aspects by referring the concept of ontologies and some examples of how this knowledge representation approach is being used in robotics. Additionally, this paper describes an example of ad...
Preprint
A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in perception and sensory data, and also model inaccuracy. In this paper, we propose a system architecture for risk-...
Patent
Full-text available
This invention introduces a new concept of applying a parallel mechanism in automated fiber placement (AFP) for aerospace part manufacturing. By investigating the system requirements, a 4DOF parallel mechanism consisting of two revolute-prismatic-spherical joints (2RPS) and two universal-prismatic-spherical joints (2UPS) limbs with two rotational (...
Chapter
The most critical process in the inspection is the structure coverage which is a time and resource intensive task. In this paper, Search Space Coverage Path Planning (SSCPP) algorithm for inspecting complex structure using a vehicular system consisting of Unmanned Aerial Vehicle (UAV) is proposed. The proposed algorithm exploits our knowledge of th...
Conference Paper
Full-text available
Visual object tracking is an important step for many computer vision applications. Visual tracking becomes more challenging when the target object observes severe occlusion, lighting variations, background clutter, and deformation difficulties to name a few. In the literature, low-rank matrix decomposition methods have shown to be a potential solut...
Conference Paper
Full-text available
Robust Structural Low-Rank Tracking
Conference Paper
Full-text available
Visual object tracking is an important step for many computer vision applications. The task becomes very challenging when the target undergoes heavy occlusion, background clutters, and sudden illumination variations. Methods that incorporate sparse representation and low-rank assumptions on the target particles have achieved promising results. Howe...
Article
Full-text available
In this article, we address the implementation and deployment of a service robot platform for interaction with the elderly in the context of a collaborative European initiative. Specifically, we overview the development of the robot system architecture and components, focusing on the graceful integration of a set of interoperable intelligent servic...
Chapter
In this chapter we present the ROS implementation of our Bayesian User Model, BUM. BUM is a distributed user modelling technique that can be easily implemented in several system topologies. It is able to infer the characteristics of multiple users from heterogeneous data gathered by multiple devices, such as social robots, ambient sensors and surve...
Chapter
Background A simulation environment for magnetically-driven, active endoscopic capsules (Abu-Kheil Y, Seneviratne L, Dias J, A simulation environment for active endoscopic capsules. 2017 IEEE 30th international symposium on Computer Based Medical Systems (CBMS), Thessaloniki, pp 714-719, 2017), can perform four main operations: capsule tele- operat...
Conference Paper
Full-text available
Pattern Formation in multi-robot systems was proposed in the 1990’s. Since then it has been extensively studied and applied in various ways. To date, the majority of the proposed algorithms that aimed to achieve geometric patterns in the literature have overlooked the visibility limitation in physical robots. In addition, a methodology to reach a c...
Article
This work presents BUM: a Bayesian User Model able to learn and estimate user characteristics in a distributed manner using heterogeneous information. A unified user representation is obtained from an inference process, receiving a set of independently estimated user characteristics from different sources. The independence of characteristic models...
Article
Full-text available
Nowadays, the most adopted model for the design and control of soft robots is the piecewise constant curvature model, with its consolidated benefits and drawbacks. In this work, an alternative model for multisection soft manipulator dynamics is presented based on a discrete Cosserat approach, in which the continuous Cosserat model is discretized by...
Article
Full-text available
In this paper we present the design, development and experimental validation of a novel Binary-Controlled Variable Stiffness Joint (BpVSJ) towards haptic teleoperation and human interaction manipulators applications. The proposed actuator is a proof of concept of a passive revolute joint, where the working principle is based on the recruitment of s...
Article
In this paper, the modeling, design, and characterization of the passive discrete variable stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely controlled variable stiffness. The key motivation behind this design is the need for instantaneous switching between stiffness l...
Conference Paper
In this paper, we introduce a coverage path planning algorithm with adaptive viewpoint sampling to construct accurate 3D models of complex large structures using Unmanned Aerial Vehicle (UAV). The developed algorithm, Adaptive Search Space Coverage Path Planner (ASSCPP), utilizes an existing 3D reference model of the complex structure and the onboa...
Article
Full-text available
In this paper, the modeling, design and characterization of the passive Discrete Variable Stiffness Joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely controlled variable stiffness. The key motivation behind this design is the need for instantaneous switching between stiffness le...
Preprint
SocialRobot is a collaborative European project, which focuses on providing a practical and interactive solution to improve the quality of life of elderly people. Having this in mind, a state of the art robotic mobile platform has been integrated with virtual social care technology to meet the elderly individual needs and requirements, following a...
Article
Purpose This paper presents a method for extracting the geometric primitives of a circle in a three-dimensional space from a discrete point cloud data set obtained by a laser stripe sensor. This paper aims to first establish a reference frame for the robotic drilling process by detecting the position and orientation of a reference hole on structur...
Article
This work presents a survey on the usage of user-adaptive techniques for human interface with Social Robots, with focus on non-physical interaction. The work is based on an analysis of a number of recent scientific works, and aims to uncover existing scientific and technological gaps which can serve as basis for future research and development work...
Article
The purpose of this paper was to understand how an agent's performance is affected when interaction workflows are incorporated in its information model and decision-making process. Our expectation was that this incorporation could reduce errors and faults on agent's operation, improving its interaction performance. We based this expectation on the...
Article
Full-text available
A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation a...