Luis Piardi

Federal University of Technology - Paraná/Brazil (UTFPR) | UTFPR · Pós-Graduação em Engenharia Elétrica e Informática Industrial (CPGEI)

Cyber-physical systems (CPS) rapidly expand within industrial contexts in a new era of digitalization, processing power, and inter-device communication capabilities. These advancements integrate technologies such as the Internet of Things (IoT), artificial intelligence (AI), and cloud and edge computing, granting processes and operations a high deg...

In the digital transformation era, and particularly in Industry 5.0, humans play an active role in industrial cyber–physical systems (CPS) since they are the most flexible piece in such automated systems. However, their integration is not easy and constitutes a relevant challenge, presenting different requirements according to the activities they e...

Fault tolerance (FT) is a critical aspect of industry, where systems are susceptible to disturbance and faults. Traditional FT models, based on the centralization of information to handle fault episodes, no longer meet the current industrial models based on Cyber-physical Systems (CPS). Self-healing is a promising approach for FT in CPS, consisting...

Industry 4.0 is re-shaping the way companies and individuals operate, but it is also introducing strong demands in education processes to train professionals with adequate competencies in emergent digital technologies, e.g., Internet of Things (IoT), Artificial Intelligence and collaborative robotics. In the last decade, innovative educational meth...

The research, training, and learning in robotic systems is a difficult task for institutions that do not have an appropriate equipment infrastructure, mainly due to the high investment required to acquire these systems. Possible alternatives are the use of robotic simulation platforms and the creation of remote robotic environments available for di...

Humans play a critical role in cyber-physical systems (CPS) since they are the most flexible piece in this systems. However, their integration is not an easy task and constitutes a significant challenge, presenting different requirements according to the activities they execute and the related integration levels, i.e., Human-in-the-Loop (HitL) and...

This paper presents an approach for a multi-agent-based cyber-physical system dedicated to operating the warehouse plant with a distributed approach. The recent technological evolution has improved the quality and robustness of the services for current warehouses. However, systems that operate warehouses do not follow this evolution, presenting pre...

In smart factories, several mobile and autonomous robots are being utilized in warehouses to reduce overhead and operating costs. In this context, this paper presents a consensus-based fault-resilient intelligent mechanism called Consensual Fault-Resilient Behavior (CFRB). The proposed approach is based on three hierarchical plans: imposition, nego...

Industrial Cyber-Physical Systems (ICPS) deploy a network of connected and heterogeneous systems, integrating computational and physical components, improving production and quality. However, a fault-free system is still utopian, but methodologies related to fault detection and diagnosis are still being treated in isolation or a centralized approac...

Cyber-Physical Systems (CPS) transform traditional systems into a network of connected and heterogeneous systems, integrating computational and physical elements, that works as a complex system whose overall properties are greater than the sum of its parts. However, CPS is not free from faulty episodes and their consequences such as malfunctions, b...

The Industry 4.0 (I4.0) advent is re-shaping the way systems and processes operate by considering Cyber- Physical Systems combined with a plethora of emergent Information and Communication Technologies (ICT), e.g., Internet of Things (IoT), Artificial Intelligence, Cloud Computing and Intelligent Robotics. However, the emergence of such disruptive...

A robótica móvel é um campo que vem crescendo constantemente nos últimos anos, possuindo aplicações em diversas áreas como a indústria, agricultura, medicina, entre outros. Sendo o ROS uma das principais plataformas de desenvolvimento de softwares desta área e visando a disseminação do conhecimento destas tecnologias, foi proposto um hackathon para...

Autonomous mobile robots applications require a robust navigation system, which ensures the proper movement of the robot while performing their tasks. The key challenge in the navigation system is related to the indoor localization. Simultaneous Localization and Mapping (SLAM) techniques combined with Adaptive Monte Carlo Localization (AMCL) are wi...

This paper presents a novel approach for Multi-Robot Task Allocation (MRTA) that introduces priority policies on preemptive task scheduling and considers dependencies between tasks, and tolerates faults. The approach is referred to as Multi-Robot Preemptive Task Scheduling with Fault Recovery (MRPF). It considers the interaction between running pro...

Gauge inspection tools are usually used for the visual and geometrical tolerances verification, using paper tutorials for guidance through the inspection steps and paper to register the results of the performed inspection. This practice may be misleading to the quality control management, not providing an effective and error-prone quality control o...

This paper presents a novel approach for creating virtual LiDAR scanners through the active segmentation of point clouds. The method employs top-view point cloud segmentation in virtual LiDAR sensors that can be applied to the intelligent behavior of autonomous agents. Segmentation is correlated with the visual tracking of the agent for localizatio...

Within the framework of Industry 4.0, robotics is experiencing a rapprochement between humans and robots. To achieve this, the barriers that have historically separated humans from industrial robots are being eliminated with the main objective of increasing performance by taking advantage of the capabilities in which each one excels. The success of...

The micromouse competition has been gaining prominence in the robotic atmosphere, due to the challenging and multidisciplinary characteristics provided by the teams’ duels, being a gateway for those who intend to deepen their studies in autonomous robotics. In this context, this paper presents a realistic micromouse simulator developed with Unity s...

In the context of the fourth industrial revolution, the integration of human operators in emergent cyber-physical systems assumes a crucial relevance. In this context, humans and machines can not be considered in an isolated manner but instead regarded as a collaborative and symbiotic team. Methodologies based on the use of intelligent assistants t...

Smart factories are introducing new technologies to improve production and expand flexibility, which denotes the integration of intelligent, autonomous, and interconnected agents. The conceptual transition to dynamic multiple agents generates some dilemmas, mainly regarding the occurrence of unexpected situations. This paper aims to discuss the col...

Industrial Manipulators were becoming used more and more at industries since the third industrial revolution. Actually, with the fourth one, the paradigm is changing and the collaborative robots are being accepted for the community. It means that smaller manipulators with more functionalities have been used and installed. New approaches have appear...

Modern industry demands techniques that ensure the operability of its processes, and even though the exponential technological advance experienced in the last two decades in the manufacturing field, failures, waste, and unexpected interruptions are still present in the daily routine of this sector. Within the Industry 4.0 context, fault-tolerant (F...

Micromouse is one of the most popular competitions among mobile robotics researchers. This competition brings together several challenges in the field of mobile robotics. It represents an excellent tool in competition field since it stimulates the development and multidisciplinary knowledge as well as group cooperation to carry out the best approac...

The application of tools as augmented reality has been developing innovative solutions for the industrial scenario. In this context, this work presents an industrial plant of a warehouse, where augmented reality is used to represent virtual loads to be transported by multiple small mobile robots. The results promote an application developed in ROS,...

Inspection based on mobile autonomous robots can assume an important role in many industries. Instead of having fixed sensors, the concept of assembling the sensors on a mobile robot that performs the scanning and inspection through a defined path is cheaper, configurable and adaptable. This paper describes a mobile robot, equipped with several gas...

Recent theoretical developments have revealed that the influences and efficiency that mobile robots have brought to society in the last years are incredibly revealing and should be explored in applications for the benefit of the community and the corporate world. Access to this technology enables the development of innovative research for increasin...

Rehabilitation is an important recovery process from dysfunctions that improves the patient’s activities of daily living. On the other hand, collaborative robotic applications, where humans and machines can share the same space, are increasing once it allows splitting a task between the accuracy of a robot and the ability and flexibility of a human...

The 4 th industrial revolution promotes the automatic inspection of all products towards a zero-defect and high-quality manufacturing. In this context, collaborative robotics, where humans and machines share the same space, comprises a suitable approach that allows combining the accuracy of a robot and the ability and flexibility of a human. This p...

The current industrial scenario demands advances that depend on expensive and sophisticated solutions. Augmented Reality (AR) can complement, with virtual elements, the real world. Faced with this features, an AR experience can meet the demand for prototype testing and new solutions, predicting problems and failures that may only exist in real situ...

Mobile robot applications are increasing its usability in industries and services (examples: vacuum cleaning, painting and farming robots, among others). Some of the applications require that the robot moves in an environment between two positions while others require that the robot scans all the positions (Coverage Path Planning). Optimizing the t...

Path planning for mobile robotics in unknown environments or with moving obstacles requires re-planning paths based on information gathered from the surroundings. Moving obstacles and real time constraints require fast computing to navigate and make decisions in a mobile robot. This paper addresses an optimization approach to compute, with real tim...

Industry 4.0 promotes the use of emergent technologies, such as Internet of Things (IoT), Big Data, artificial intelligence (AI) and cloud computing, sustained by cyberphysical systems to reach smart factories. The idea is to decentralize the production systems and allow to reach monitoring, adaptation and optimization to be made in real time, base...

Robotics competitions are a way to challenge researchers , roboticists and enthusiastic to address robot applications. One of the well-known international competition is the Micromouse where the fastest mobile robot to solve a maze is the winner. There are several topics addressed in this competition such as robot prototyping, control, electronics,...

Mobile robotic applications are increasing in several areas not only in industries but also service robots. The Industry 4.0 promoted even more the digitalization of factories that opened space for smart-factories implementation. Robotic competitions are a key to improve research and to motivate learning. This paper addresses a new competition prop...

Robotics competitions are increasing in complexity and number challenging the researchers, roboticists and enthusiastic to address the robot applications. One of the well-known competition is the micromouse where the fastest mobile robot to solve a maze is the winner. There are several topics addressed in this competition such as robot prototyping,...

The localization systems are becoming more and more required in the actual flexible manufacturing systems based on mobile robots. There are several approaches to localize a mobile robot such as laser scanners reflective beacons, image mapping, lightning based systems, Ultra-wideband time-of-flight trilateration, odometry and fusion sensor data algo...

The ionizing radiation is used in the nuclear medicine field during the execution of diagnosis exams. The administration of nuclear radio pharmaceutical components to the patient contaminates the environment. The main contribution of this work is to propose a path planning method for scanning the nuclear contaminated environment with a mobile robot...

Some industries have critical areas (dangerous or hazardous) where the presence of a human must be reduced or avoided. In some cases, there are areas where humans should be replaced by robots. The present work uses a robot with differential drive to scan an environment with known and unknown obstacles, defined in 3D simulation. It is important that...

The new paradigms of Industry 4.0 demand the collaboration between robot and humans. They could help and collaborate each other without any additional safety unlike other manipulators. The robot should have the ability of acquire the environment and plan (or re-plan) on-the-fly the movement avoiding the obstacles and people. This paper proposes a s...