Publications

@inproceedings{Dyonisio:TeachAndRepeat:2024,

title = {Teach and Repeat for Path Planning using Bézier Curves},

author = {Jardel dos Santos Dyonisio and Luís Felipe Milczarek Quadros and Nicolas Dias and Stephanie Loi Brião and Gabriel Amaral Dorneles and Igor Pardo Maurell and Rodrigo da Silva Guerra and Paulo Lilles Jorge Drews-Jr},

editor = {Thiago Pedro Donadon Homem and Paulo Roberto Ferreira-Jr},

year  = {2024},

date = {2024-11-13},

booktitle = {Proceedings of the Brazilian Symposium on Robotics},

abstract = {In the service robots field, it is important for a mobile robot the capability to navigate and repeat previously defined paths. This paper aims to develop a technique capable of teaching and repeating (T&R) a path taken by a mobile robot. The robot used is a differential and low-cost called SHARK (Stable Hoverboard-driven Autonomous Robot Kit). The developed system is integrated with the ROS framework and uses the SHARK mobile base, built with self-balancing components. When changes need to be made in the environment, a user simply has to generate a new path teleoperating the robot, and the system is capable of repeating new paths autonomously. The proposed approach consists of using Bezier curves to represent the paths taken by the user. The method implements the T&R technique to navigate a mobile robot. Results show the worst maximum average of percentage error (MPE) using this method was only 1.361% in adapting the Bezier curve to the points where the robot was taught, satisfactorily representing the path. In the repeating process, the worst MPE was 9.983%.},

keywords = {},

pubstate = {forthcoming},

tppubtype = {inproceedings}

}

@inproceedings{Cordova:VisionAutoencoderGeolocation:2024,

title = {Autoencoder Satellite Image Matching for UAV Geolocation in Long-Range High-Altitude Missions},

author = {Lucas Benedetti Viana de Cordova and Stephanie Loi Brião and Felipe G. Oliveira and Rodrigo da Silva Guerra and Paulo Lilles Jorge Drews-Jr},

editor = {Ricardo da Silva Barbosa and Antonio Claudio Kieling and Leonardo Ramos Emmendörder},

url = {https://rodrigoguerra.com/cordova-135/},

year  = {2024},

date = {2024-09-30},

urldate = {2024-09-30},

booktitle = {Proceedings of the 37th Conference on Graphics, Patterns and Images},

publisher = {Sociedade Brasileira de Computação},

abstract = {Vision-based geolocation is a promising way to overcome the vulnerabilities of Global Navigation Satellite System (GNSS) methods, which are subject to signal degradation, intentional interference, and environmental obstacles. This paper presents a novel approach to Unmanned Aerial Vehicle (UAV) geolocation in long-range and high-altitude missions using satellite imagery. Our method is based on the matching of encoded vector representations in embedded space, demonstrating robust performance to changes in vegetation and landscape. The neural network is used to encode satellite images of a reference map into embedding representations. Image matching is performed in this embedded space using cross-correlation. We evaluated the accuracy and processing time of the proposed model by querying images along a 200 km northbound path at high altitude, covering an area larger than twenty thousand square kilometers. We also evaluated the network's generalization capability on an unknown map. Reference and query images are sourced from satellite images captured at different acquisition times to evaluate robustness due to appearance variations. The results demonstrate that the method can achieve up to 96.83% accuracy on a known map, while experiments on an unknown map averaged 90% accuracy. The processing time to match encoded images is 0.05 ms. These findings suggest the feasibility of integrating the method into more complex vision-based geolocation systems.},

keywords = {},

pubstate = {forthcoming},

tppubtype = {inproceedings}

}

@inproceedings{Grando:DelayedPolicyLearning:2024,

title = {Improving Generalization in Aerial and Terrestrial Mobile Robots Control Through Delayed Policy Learning},

author = {Ricardo B. Grando and Raul Steinmetz and Victor A. Kich and Alisson H. Kolling and Pablo M. Furik and Junior C. de Jesus and Bruna V. Guterres and Daniel T. Gamarra and Rodrigo da Silva Guerra and Paulo L. J. Drews-Jr},

url = {https://rodrigoguerra.com/case_2024/},

year  = {2024},

date = {2024-08-28},

booktitle = {Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE) 2024},

publisher = {IEEE},

address = {Bari, Italy},

organization = {IEEE},

abstract = {Deep Reinforcement Learning (DRL) has emerged as a promising approach to enhance motion control and decision-making through a wide range of robotic applications. While prior research has demonstrated the efficacy of DRL algorithms in facilitating autonomous mapless navigation for aerial and terrestrial mobile robots, these methods often grapple with poor generalization when faced with unknown tasks and environments. This paper explores the impact of the Delayed Policy Updates (DPU) technique on fostering generalization to new situations and bolstering the overall performance of agents. Our analysis of DPU for aerial and terrestrial mobile robots in four simulated environments reveals that this technique significantly curtails the lack of generalization and accelerates the learning process for agents, enhancing their efficiency across diverse tasks and unknown scenarios.},

keywords = {},

pubstate = {forthcoming},

tppubtype = {inproceedings}

}

@inproceedings{2024:Alejandro:EMBC,

title = {An Improved Approach for Semantic Segmentation of Fundus Lesions using R2U-Net},

author = {Alejandro Pereira and Carlos Santos and Marilton Aguiar and Daniel Welfer and Marcelo Dias and Rafaela de Menezes and Paulo Roberto Ferreira and Fábio Rossi and Marcos d'Ornellas and Carlos Jesus Haygert and Juliano Kazienko and Fábio Comim and Aurélio Hoppe and Juliano Weber and Leandro Tavares Leonardo Guths and Rodrigo da Silva Guerra},

url = {https://rodrigoguerra.com/embc_2024_alejandro___an_improved_approach_for_semantic_segmentation_of_fundus_lesions_using_an_r2u_net/},

year  = {2024},

date = {2024-01-01},

booktitle = {Annual International Conference of the IEEE Engineering in Medicine and Biology Society},

publisher = {IEEE},

address = {Orlando},

organization = {IEEE Engineering in Medicine and Biology Society},

abstract = {Diabetic Retinopathy (DR) is a microvascular complication related to diabetes that affects approximately 33% of individuals with this condition and, if not detected and treated early, can lead to irreversible vision loss. Fundus lesions such as Hard and Soft Exudates, Hemorrhages, and Microaneurysms typically identify DR. The development of computational methods to segment these lesions plays a fundamental role in the early diagnosis of the disease. This paper proposes a new approach that uses an R2U-Net combined with data augmentation techniques for segmenting fundus lesions. We trained, adjusted, and evaluated the proposed work in the DDR dataset, achieving an accuracy of 99.87% and a mean Intersection over Union (mIoU) equal 59.69%. Furthermore, we assessed it in the IDRiD dataset, achieving an mIoU of 49.92%. The results obtained in the experiments highlight the potential contribution of the model in the lesion annotations for creating new DR datasets, which is essential given the scarcity of annotations in publicly available datasets.},

keywords = {},

pubstate = {forthcoming},

tppubtype = {inproceedings}

}

@inproceedings{EMGStrokeRehab_Rael_2023,

title = {EMG Based Serious Game For Use in Stroke Rehabilitation},

author = {Gabriel Rael da Silva and Rodrigo da Silva Guerra},

url = {https://rodrigoguerra.com/emg_based_serious_game_for_use_in_stroke_rehabilitation/},

doi = {10.5753/sbgames_estendido.2023.233629},

year  = {2023},

date = {2023-11-01},

urldate = {2023-11-01},

booktitle = {SBGames 2023},

publisher = {IEEE},

address = {Rio Grande},

abstract = {This paper introduces a proof of concept for a serious game that utilizes electromyography (EMG) signals as input, aiming to enhance the rehabilitation treatment for patients experiencing stroke sequelae. The prototype, developed with Unity's game engine, incorporates a low-cost hardware device for EMG signal reading and processing. Communication between the software and sensor is enabled through Bluetooth using an ESP32 microcontroller. The prototype includes a secondary monitor with a virtual hand to emulate Mirror Therapy. A positive evaluation from a physiotherapist validates the project for future development.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nokey,

title = {DoCRL: Double Critic Deep Reinforcement Learning for Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Medium Transition},

author = {Ricardo Bedin Grando and Junior Costa de Jesus and Victor Augusto Kich and Alisson Henrique Kolling and Rodrigo S. Guerra and Paulo Lilles Jorge Drews-Jr},

url = {https://rodrigoguerra.com/docrl_grando_2023/},

doi = {https://doi.org/10.48550/arXiv.2308.09811},

year  = {2023},

date = {2023-10-09},

urldate = {2023-10-09},

booktitle = {20th Latin American Robotics Symposium and 14th Brazilian Robotics Symposium (LARS/SBR)},

journal = {20th Latin American Robotics Symposium and 14th Brazilian Robotics Symposium (LARS/SBR)},

publisher = {IEEE},

address = {Salvador, Bahia},

abstract = {Deep Reinforcement Learning (Deep-RL) techniques for motion control have been continuously used to deal with decision-making problems for a wide variety of robots. Previous works showed that Deep-RL can be applied to perform mapless navigation, including the medium transition of Hybrid Unmanned

Aerial Underwater Vehicles (HUAUVs). These are robots that can operate in both air and water media, with future potential

for rescue tasks in robotics. This paper presents new approaches based on the state-of-the-art Double Critic Actor-Critic algorithms

to address the navigation and medium transition problems for a HUAUV. We show that double-critic Deep-RL with Recurrent

Neural Networks using range data and relative localization solely improves the navigation performance of HUAUVs. Our DoCRL

approaches achieved better navigation and transitioning capability, outperforming previous approaches.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{MatheusCLAWAR23,

title = {Visual Sensors Benchmark for Development of an Autonomous Navigation Setup for a Hybrid Unmanned Aerial Underwater Vehicle},

author = {Matheus Gonçalves and Pedro Corçaque and Adir Junior and Andressa Silva and Guilherme Oliveira and Gustavo Almeida and Thássio Silva and Rodrigo Guerra and Paulo Drews},

year  = {2023},

date = {2023-10-01},

urldate = {2023-10-01},

booktitle = {Proceedings of the 26th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines},

publisher = {Springer},

address = {Florianopolis},

abstract = {Environments that have structures in multiple domains are a great challenge to performing inspection and monitoring tasks, often requiring several robots to perform in these environments. Hybrid vehicles can become an alternative to the use of several devices. Especially industrial marine ecosystems present a drastic change in the environment that can represent a challenge for these hybrid vehicles both in sensing and locomotion. Consequently, the use of infrared and acoustic sensors is discouraged for this particular vehicle type because they operate only in one specific medium. The infrared just works in the air and as an acoustic sensor in the underwater environment, leading to limitations concerning weight for the vehicle's structural development. Furthermore, the integration of both sensors adds complexity to the implementation of autonomy. This work presents a benchmark to evaluate the performance of visual sensors in both air and water, showing their advantages and limitations.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Jair:Jubileo:2022,

title = {Jubileo: An Open-Source Robot and Framework for Research in Human-Robot Social Interaction },

author = {Jair Augusto Bottega and Victor Augusto Kich and Alisson Henrique Kolling and Jardel dos Santos Dyonisio and Pedro Lima Corçaque and Rodrigo S. Guerra and Daniel Fernando Tello Gamarra},

url = {http://rodrigoguerra.com/ichr22_0186_ms/},

year  = {2022},

date = {2022-11-28},

urldate = {2022-11-28},

booktitle = {Proceedings of the 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022)},

publisher = {IEEE},

address = {Okinawa, Japan},

abstract = {Human-robot interaction (HRI) is essential to the widespread use of robots in daily life. Robots will be able to carry out a variety of duties in human civilization through effective social interaction. Creating straightforward and understandable interfaces to engage with robots as they start to proliferate in the personal workspace is essential. Typically, interactions with simulated robots are displayed on screens. A more appealing alternative is virtual reality (VR), which gives visual cues more like those seen in the real world. In this study, we introduce Jubileo, a robotic animatronic face with various tools for research and application development in human-robot social interaction field. Jubileo project offers more than just a fully functional open-source physical robot; it also gives a comprehensive framework to operate with a VR interface, enabling an immersive environment for HRI application tests and noticeably better deployment speed.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{deJesus:DepthCUPRL:2022,

title = {Depth-CUPRL: Depth-Imaged Contrastive Unsupervised Prioritized Representations in Reinforcement Learning for Mapless Navigation of Unmanned Aerial Vehicles},

author = {Junior Costa de Jesus and Victor Augusto Kich and Alisson Henrique Kolling and Ricardo Bedin Grando and Rodrigo S. Guerra and Paulo Lilles Jorge Drews-Jr},

url = {http://rodrigoguerra.com/iros22_1374_fi/},

year  = {2022},

date = {2022-10-23},

urldate = {2022-10-23},

booktitle = {Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)},

publisher = {IEEE},

address = {Kyoto, Japan},

abstract = {Reinforcement Learning (RL) has presented an impressive performance in video games through raw pixel imaging and continuous control tasks. However, RL performs poorly with high-dimensional observations such as raw pixel images. It is generally accepted that physical state-based RL policies such as laser sensor measurements give a more sample- efficient result than learning by pixels. This work presents a new approach that extracts information from a depth map estimation to teach an RL agent to perform the mapless navigation of Unmanned Aerial Vehicle (UAV). We propose the Depth- Imaged Contrastive Unsupervised Prioritized Representations in Reinforcement Learning (Depth-CUPRL) that estimates the depth of images with a prioritized replay memory. We used a combination of RL and Contrastive Learning to lead with the problem of RL based on images. From the analysis of the results with Unmanned Aerial Vehicles (UAVs), it is possible to conclude that our Depth-CUPRL approach is effective for the decision-making and outperforms state-of-the-art pixel-based approaches in the mapless navigation capability.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Grando:HydroneDetStoch:2022,

title = {Deterministic and Stochastic Analysis of Deep Reinforcement Learning for Low Dimensional Sensing-based Navigation of Mobile Robots},

author = {Ricardo Bedin Grando and Junior Costa de Jesus and Victor Augusto Kich and Alisson Henrique Kolling and Pedro Miranda Pinheiro and Rodrigo S. Guerra and Paulo Lilles Jorge Drews-Jr},

url = {http://rodrigoguerra.com/grando_hydrone_determstoch_2022/},

doi = {https://doi.org/10.48550/arXiv.2209.06328},

year  = {2022},

date = {2022-10-19},

urldate = {2022-10-19},

booktitle = {19th Latin American Robotics Symposium and 14th Brazilian Robotics Symposium (LARS/SBR)},

publisher = {IEEE},

address = {São Bernardo do Campo, SP, Brazil},

abstract = {Deterministic and Stochastic techniques in Deep Reinforcement Learning (Deep-RL) have become a promising solution to improve motion control and the decision-making tasks for a wide variety of robots. Previous works showed that these Deep-RL algorithms can be applied to perform mapless navigation of mobile robots in general. However, they tend to use simple sensing strategies since it has been shown that they perform poorly with a high dimensional state spaces, such as the ones yielded from image-based sensing. This paper presents a comparative analysis of two Deep-RL techniques - Deep Deterministic Policy Gradients (DDPG) and Soft Actor-Critic (SAC) - when performing tasks of mapless navigation for mobile robots. We aim to contribute by showing how the neural network architecture influences the learning itself, presenting quantitative results based on the time and distance of navigation of aerial mobile robots for each approach. Overall, our analysis of six distinct architectures highlights that the stochastic approach (SAC) better suits with deeper architectures, while the opposite happens with the deterministic approach (DDPG).},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Grando:HydroneMaplessNav:2022,

title = {Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Deep Reinforcement Learning Through Environmental Generalization},

author = {Ricardo Bedin Grando and Junior Costa de Jesus and Victor Augusto Kich and Alisson Henrique Kolling and Pedro Miranda Pinheiro and Rodrigo S. Guerra and Paulo Lilles Jorge Drews-Jr},

url = {http://rodrigoguerra.com/grando_hydrone_maplessnav_2022/},

year  = {2022},

date = {2022-10-19},

urldate = {2022-10-19},

booktitle = {19th Latin American Robotics Symposium and 14th Brazilian Robotics Symposium (LARS/SBR)},

publisher = {IEEE},

address = {São Bernardo do Campo, SP, Brazil},

abstract = {Previous works showed that Deep-RL can be applied to perform mapless navigation, including the medium transition of Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs). This paper presents new approaches based on the state-of-the-art actor-critic algorithms to address the navigation and medium transition problems for a HUAUV. We show that a double critic Deep-RL with Recurrent Neural Networks improves the navigation performance of HUAUVs using solely range data and relative localization. Our Deep-RL approaches achieved better navigation and transitioning capabilities with a solid generalization of learning through distinct simulated scenarios, outperforming previous approaches.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DeepRL_Kich_2021,

title = {Deep Reinforcement Learning Using a Low-Dimensional Observation Filter for Visual Complex Video Game Playing},

author = {Victor A. Kich and Junior Costa de Jesus and Ricardo B. Grando and Alisson H. Kolling and Gabriel V. Heisler and Rodrigo S. Guerra},

url = {https://rodrigoguerra.com/sbgames_kich_2021/},

isbn = { 2179-2259},

year  = {2021},

date = {2021-10-21},

urldate = {2021-10-21},

booktitle = {SBGames 2021},

publisher = {IEEE},

address = {Gramado, Brazil},

abstract = {Deep Reinforcement Learning (DRL) has produced great achievements since it was proposed, including the possibility of processing raw vision input data. However, training an agent to perform tasks based on image feedback remains a challenge. It requires the processing of large amounts of data from high dimensional observation spaces, frame by frame, and the agent’s actions are computed according to deep neural network policies, end-to-end. Image pre-processing is an effective way of reducing these high dimensional spaces, eliminating unnecessary information present in the scene, supporting the extraction of features and their representations in the agent’s neural network. Modern video-games are examples of this type of challenge for DRL algorithms because of their visual complexity. In this paper, we propose a low-dimensional observation filter that allows a deep Q-network agent to successfully play in a visually complex and modern video-game, called Neon Drive},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{2020:Christmann:HumanoidRobotOlympicBow,

title = {Can a Robot Shoot an Olympic Recurve Bow? A preliminary study},

author = {Guilherme Christmann and Lin Yu-Ren and Rodrigo da Silva Guerra and Jacky Baltes},

url = {https://rodrigoguerra.com/2212-11071v1/},

doi = {10.48550/arXiv.2212.11071},

year  = {2020},

date = {2020-01-01},

booktitle = {Proceedings of the FIRA Summit 2020},

organization = {FIRA},

abstract = {The field of robotics, and more especially humanoid robotics, has several established competitions with research oriented goals in mind. Challenging the robots in a handful of tasks, these competitions provide a way to gauge the state of the art in robotic design, as well as an indicator for how far we are from reaching human performance. The most notable competitions are RoboCup, which has the long-term goal of competing against a real human team in 2050, and the FIRA HuroCup league, in which humanoid robots have to perform tasks based on actual Olympic events. Having robots compete against humans under the same rules is a challenging goal, and, we believe that it is in the sport of archery that humanoid robots have the most potential to achieve it in the near future. In this work, we perform a first step in this direction. We present a humanoid robot that is capable of gripping, drawing and shooting a recurve bow at a target 10 meters away with considerable accuracy. Additionally, we show that it is also capable of shooting distances of over 50 meters.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Luiza:ProstheticHand:2019b,

title = {A Low-Cost, Compliant, Underactuated Prosthetic Hand with Custom Flex Sensors for Finger Bending Estimation},

author = {Luiza Pozzobon and Rodrigo S Guerra and Giovani Rubert Librelotto},

url = {http://rodrigoguerra.com/wp-content/uploads/2019/10/ICAR19_0123_FI.pdf},

year  = {2019},

date = {2019-12-02},

booktitle = {Proceedings of the 19th International Conference on Advanced Robotics},

address = {Belo Horizonte, Brazil},

organization = {IEEE Robotics & Automation Society},

abstract = {Access to quality prosthetics to aid in daily activities is a privilege of only 5% of those in need of such equipment. It is noted that the high cost of these, associated with the lack of skilled labor, are two of the factors that aggravate the situation. Thus, the need for cost-effective prosthetic technologies, targeting the population of developing countries, is observed. Inspired by this problem, this paper presents the process of conceptual study, design, and prototyping of a low-cost prosthetic hand that is compliant and underactuated. The hand has a wrist of two degrees of freedom, and five independently actuated fingers. One of the main contributions of this work is the design of a low-cost optoelectronic sensor for the finger's curvature estimation.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Garcia:MotivationRobot:2019,

title = {Evaluation of Exercise Motivation Competence of a Humanoid Robot: A Case Study in Brazil},

author = {Guilherme da Silva Garcia and Guilherme Henrique Galelli Christmann and Rodrigo S. Guerra and Giovani Rubert Librelotto and Eduardo Rafael Hirt and Marinara Rübenich Fumagalli},

url = {http://rodrigoguerra.com/wp-content/uploads/2019/10/ICAR19_0188_FI.pdf},

year  = {2019},

date = {2019-12-02},

booktitle = {Proceedings of the 19th International Conference on Advanced Robotics},

address = {Belo Horizonte, Brazil},

organization = {IEEE Robotics & Automation Society},

abstract = {Regular physical exercise and decreasing sedentary behavior are essential for the health of adults. However, even with well known benefits, in 2016, it was determined that the prevalence of insufficient physical activity in the world population was 27.5%. In this paper, we utilised a humanoid robot as an instructor for physical exercise in a stationary bicycle. By applying questionnaires as well as recording sensor data, we measured the impact of the robot in the motivation and other psychological aspects, as well as the performance in 14 participants. The participants were males and females with an average age of 23.5 ± 2.38 years, and were equally and randomly divided in two groups: one with the robot instructor, and a control group. They performed two exercise sessions, after which they answered the questionnaires. The results were not statistically significant (p<0.05), but show a trend of the robot having a positive impact in the group that interacted with it, regarding their motivation, pleasure and enjoyment. The interaction also seems to have positively influenced the mood of the participants. The perceived effort, as well as average speed and cycled distance did not seem to have been influenced by the robot. Future studies, with a larger sample size, are needed to confirm the trend shown here.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Nesvera:PepperElderly:2019,

title = {Pepper Sagt: A Serious Game for Improving Memory and Physical Activity in Elderly People},

author = {Daniel Nesvera and Luciano Alves Cardona Jr and Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2019/09/Nesvera_Pepper_2019.pdf},

year  = {2019},

date = {2019-10-31},

booktitle = {SBGames 2019},

publisher = {IEEE},

address = {Rio de Janeiro, Brazil},

abstract = {The world is facing a phenomenon of population ageing, that is, the life expectancy is increasing and the birth rate decreasing. As a consequence, the number of people suffering from diseases related to age — such as dementia — is expected to increase; and the number of caregivers is expected to decrease. This paper presents a serious game with cognitive and physical exercises designed to help the elderly, slowing the symptoms related to dementia like cognitive decline. We used the humanoid robot Pepper as the platform. The game was presented in a nursing home, where it was tested by staff members to evaluate if it is safe to be use by elderly people. A questionnaire was used to evaluate the participant’s interaction with the game. The results indicate a positive view towards the interaction and the use of the game.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Luiza:ProstheticHand:2019,

title = {Custom made low-cost optoelectronic flex sensor and its parameterization},

author = {Luiza Pozzobon and Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2019/10/Luiza_BendSensor_2019.pdf},

year  = {2019},

date = {2019-10-25},

booktitle = {XVI Latin American Robotics Symposium and VII Brazilian Robotics Symposium (LARS/SBR)},

publisher = {IEEE},

address = {Rio Grande, Brazil},

abstract = {The use of flex sensors to evaluate the amount of bending of certain materials has many applications that range all the way from music creation to prosthetic devices. However, commercially available flex sensors are expensive and especially difficult to afford in developing countries, among which we cite as an example Brazil. Their high cost precludes their experimentation and usage in systems that demand a high number of sensors. With this thought in mind, this paper presents the design of a low-cost optoelectronic sensor, constructed with readily available simple materials, such as a coil spring, a LED and an LDR sensor. Parameterization tests were performed to evaluate its functioning limits. It can be concluded that the reflective nature of the spring assists with the propagation of the light projected inside it, ensuring that the illumination is not interrupted early in the bending motion. The optimal sensor length is of 3 cm since it presented the most stable and consistent results.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Trentin:AutonomousVehiclesMorals:2019,

title = {Contradictions in assessing human morals and the ethical design of autonomous vehicles},

author = {Vinicius Trentin and Rodrigo S. Guerra and Giovani Rubert Librelotto},

url = {http://rodrigoguerra.com/wp-content/uploads/2019/09/LARS_Trentin_2019.pdf},

year  = {2019},

date = {2019-10-25},

booktitle = {XVI Latin American Robotics Symposium and VII Brazilian Robotics Symposium (LARS/SBR)},

publisher = {IEEE},

address = {Rio Grande, Brazil},

abstract = {Autonomous vehicles (AVs) promise to bring many benefits to society, such as safety, an increase of accessibility and life quality, among others. Unlike humans, they do not get tired and, supposedly, do not fail. However, there might be cases where, due to limit visibility, occlusions or even a sensor failure, the system might not be capable to detect one or more obstacles along the vehicle's path early enough to avoid a crash. Although these situations might be rare if one considers a single vehicle, if predictions are correct, these AVs are to be adopted in large quantities in the near future, making even rare situations more commonplace. AVs will have to deal with these forced-choice situations in the best possible way. This paper presents a review of the ethical discussion regarding the matter of AVs and an analysis of a questionnaire implemented by the authors. Our results show evidence for several types of contradictory choices made by the subjects, which suggest the moral choices do not necessarily follow strict logical reasoning.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Steffens:UnderOverExposureCorrection:2019,

title = {CNN-Based Luminance and Color Correction for Ill-Exposed Images},

author = {Cristiano Steffens and Valquiria Huttner and Lucas Messias and Paulo Drews-Jr and Silvia Botelho and Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2019/09/Steffens_UnderOverExposure_ICIP2019.pdf},

doi = {10.1109/ICIP.2019.8803546},

isbn = {978-1-5386-6249-6},

year  = {2019},

date = {2019-09-25},

booktitle = {Proceedings of the IEEE International Conference on Image Processing (ICIP)},

publisher = {IEEE},

address = {Taipei, Taiwan},

organization = {IEEE Signal Processing Society},

abstract = {Image restoration and image enhancement are critical image processing tasks since good image quality is mandatory for many image applications. We are particularly interested in the restoration of ill-exposed images. These effects are caused by sensor limitation or optical arrangement. They prevent the details of the scene from being adequately represented in the captured image. We proposed a deep neural network model due to the number of uncontrolled variables that impact the acquisition. The proposed network can converge in a representative model from the training data, loss, optimizations and activation functions. The obtained results are evaluated using several image quality index which indicate that the proposed network is able to improve images damaged by heterogeneous exposure. Furthermore, our method offers a significant gain over the state-of-the-art methods both in simulated data and real data.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Pozzobon:RobotHand:2019b,

title = {Projeto de Mão Protética de Baixo Custo e Estudo da Viabilidade de seu Uso Para Agarre de Objetos Cotidianos},

author = {Pozzobon, Luiza Amador and Guerra, Rodrigo S},

url = {http://rodrigoguerra.com/wp-content/uploads/2019/08/Proceedings_BRAHUR_BRASERO_2019.pdf},

isbn = {978-85-98123-14-1},

year  = {2019},

date = {2019-01-01},

booktitle = {Proceedings of the II Brazilian Humanoid Robot Workshop and III Brazilian Workshop on Service Robotics},

pages = {130-135},

organization = {Perico, Danilo Hernani and Aquino Jr, Plinio Thomaz and Tonidandel, Flavio and Drews Jr, Paulo Lilles Jorge and Guerra, Rodrigo S},

abstract = {Segundo a Organização Mundial da Saúde, apenas uma em cada dez pessoas com deficiência possui acesso a tecnologias assistivas. Dentre essas tecnologias estão as próteses, membros artificiais que podem garantir uma vida produtiva, independente e digna aos seus usuários. Contudo, apenas 5% dos amputados do mundo possuem acesso a essas, devido a seu alto custo. Esse cenário é ainda mais rudimentar em países em desenvolvimento, onde próteses ditas 'baratas' são, na verdade, caras, por causa dos materiais empregados. Desta forma, neste projeto, realizou-se a concepção e a prototipagem de uma mão protética de baixo custo e, para isso, fez-se uso de materiais plásticos, orgânicos e metálicos simplórios encontrados em quaisquer lojas locais de países em desenvolvimento. Tanto o projeto quanto o protótipo foram submetidos a testes das posições de pinça (toque do polegar e do indicador) e do power grip (fechamento total dos dedos). O protótipo, por sua vez, também realizou o agarre de cinco objetos cotidianos: um frasco de vitamina, um copo, uma bola, um caneco e uma garrafa de refrigerante, com o intuito de avaliar a viabilidade de seu uso. A intensidade de agarre de todos os movimentos foi medida por sensores óticos de dobramento presentes internamente aos dedos. Embora a prótese tenha obtido êxito nas atividades propostas, ainda não as realiza de forma satisfatória para uso. O principal aspecto de melhora seria o aperfeiçoamento do processo construtivo, com o objetivo de garantir conformidade ao projeto CAD em que foi baseado. },

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Montenegro:Jacobian:2018,

title = {Neural Network as an Alternative to the Jacobian for Iterative Solution to Inverse Kinematics},

author = {Montenegro, Fabricio Julian Carini and Grando, Ricardo Bedin and Librelotto, Giovani Rubert and Guerra, Rodrigo S},

url = {http://rodrigoguerra.com/wp-content/uploads/2018/10/Jacobian.pdf},

year  = {2018},

date = {2018-11-06},

booktitle = {2018 XV Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)},

publisher = {IEEE},

address = {João Pessoa, Brazil},

abstract = {The inverse kinematics problem is generally very complex and many traditional solutions are targeted only to robots of certain specific topologies. The iterative method based on the (pseudo)inverse of the Jacobian matrix is a well-known, proven, and reliable general approach that can be applied to a wide variety of manipulators. However, it relies on linearizations that are only valid within a very tight neighborhood around the current pose of the manipulator. This requires the robot to move at very short steps, intensively recalculating its trajectory along the way, making this approach inefficient for certain applications. Neural networks, for their known capacity of modelling highly non-linear systems, appear as an interesting alternative. In this paper we demonstrate that neural networks can indeed be successfully trained to map task space displacements into joint angle increments, outperforming the method based on the inverse of the Jacobian when dealing with larger displacement increments. We validate our study showing comparative results for hypothetical 2-DOF and 3-DOF planar manipulators.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Zarzicki:QuadrupedeCobenge:2018,

title = {Utilização de um Robô Quadrúpede como Instrumento de Ensino nas Aulas de Engenharia},

author = {Zarzicki, G. and Ferreira, E. G. and Schreiner, V. H. and Farias, V. P., and Guerra, Rodrigo S. and Gamarra, D. F. T.},

url = {http://rodrigoguerra.com/wp-content/uploads/2018/07/COBENGE18_00046_00001580.pdf},

issn = {2175-957X},

year  = {2018},

date = {2018-09-03},

booktitle = {Anais do XLVI Congresso Brasileiro de Educação em Engenharia},

abstract = {A fim de proporcionar um maior interesse dos alunos e uma melhor experiência no aprendizado em sala de aula, é apresentado um estudo que descreve a aplicação de um robô quadrúpede como complemento de ensino das disciplinas de engenharia. O projeto possibilita que conhecimentos específicos de programação, eletrônica e controle, sejam desenvolvidos e avaliados de maneira prática e interativa durante o andamento do curso, fato que nem sempre ocorre durante a formação dos estudantes da área das engenharias. O artigo apresenta um caso prático de aplicação de um robô quadrúpede nas aulas da disciplina de robótica industrial e seu estudo para o cálculo da cinemática inversa além dos seus resultados, baseados em relatórios feitos pelos alunos e questionários aplicados.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Mafalda:NavegaKinect:2018,

title = {Sistema de Navegação para um Robô Móvel usando um Sensor kinect e um Controlador Fuzzy},

author = {Mafalda, M. M. and Rodrigues, N. V. and Silva R. M. and Garcia, T, R and Cuadros, M. A. S. L. and Guerra, Rodrigo S. and Legg, A. P. and Gamarra, D. F. T.},

url = {http://rodrigoguerra.com/wp-content/uploads/2018/07/Artigo-Kinect-revisadov2.pdf},

year  = {2018},

date = {2018-07-04},

booktitle = {Anais do Congresso Brasileiro de Sistemas Fuzzy},

address = {Fortaleza},

abstract = {Este artigo apresenta o desenvolvimento de um sistema de navegação em ambientes internos para um robô móvel de tração diferencial. O sistema de navegação permite ao robô deslocar-se de uma pose inicial até uma pose final dentro de um ambiente indoor previamente mapeado, com o auxílio das imagens obtidas com um sensor Kinect, do software ROS e da biblioteca Rtab-Map. O sistema utiliza um controlador Fuzzy para o rastreamento da trajetória. Experimentos são ilustrados para validar o sistema proposto.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Silva:NavegaFuzzy:2018,

title = {Controle da Trajetória de um Robô Móvel Utilizando Odometria e Lógica Fuzzy},

author = {Silva, R. M. and Garcia, T. R. and Gamarra, D. F. T. and Cuadros, M. A. S. L. and Guerra, Rodrigo S.},

url = {http://rodrigoguerra.com/wp-content/uploads/2018/07/CBSF2018_paper_70.pdf},

year  = {2018},

date = {2018-07-04},

booktitle = {Anais do Congresso Brasileiro de Sistemas Fuzzy},

address = {Fortaleza},

abstract = {This work aimed to demonstrate the use of odometry in order to control and track the trajectory of a mobile robot using a Fuzzy controller. The Architecture and integration in software and hardware of the proposed system is describer. Results in a simulation environment and with a real robot are shown.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Pozzobon:SpeechBeo:2017,

title = {Reconhecimento de Fala para Robô Humanoide com o Auxílio de APIs},

author = {Luiza A. Pozzobon and Guilherme S. Garcia and Anthony Almeida and Carolina R. Lima and Thais M. Brollo and Rodrigo S Guerra and Giovani R. Librelotto},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/PozzobonSpeechBeoWeit2017.pdf},

issn = {2236-9163},

year  = {2017},

date = {2017-10-09},

booktitle = {Anais do IV Workshop-Escola de Informática Teórica},

address = {Santa Maria},

abstract = {Humanoid robots are robots that imitate the human appearance and actions, implying a greater empathy. An essential element to the human-robot

relation is the speech recognition and interpretation. Evidencing that there are no solutions in Brazilian Portuguese for this purpose, we developed a system capable to recognize and interpret the speech using APIs. This system is capable of performing the transcription of the audio to text and extract the intent and information of phrases. The present article shows the system development and reports its application in a humanoid robot.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Garcia:MobileRobot:2017,

title = {Construção de um Robô Móvel para Ensino das Disciplinas dos Cursos de Engenharia},

author = {Thiago R. Garcia and Ricardo L. Valente and Ricardo D. Schirmer and Junior C. Jesus and Bruno Schuster and Marlon B. Severo and David R. Richards and Carlos C. Conrad and Rodrigo S. Guerra and Rodrigo M. Silva and Daniel F. T. Gamarra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/COBENGE17_00033_00000735.pdf},

issn = {2175-957X},

year  = {2017},

date = {2017-09-26},

booktitle = {Anais do XLV Congresso Brasileiro de Educação em Engenharia},

abstract = {Neste artigo é descrita a construção de um robô móvel de baixo custo que visa servir de suporte para o ensino em engenharia principalmente, nos cursos de engenharia de controle e automação, computação e elétrica. O robô móvel é composto por motores de corrente contínua, encoders, drivers, microcontrolador (Arduino), sensores ultrassônicos e de movimento (kinect), câmera além de outros materiais que suportam toda a estrutura tais como MDF, hastes de alumínio e acrílico sendo que estes, apesar de ter valor relativamente alto, foram adquiridos através de sobras e sucatas doadas pelo Núcleo de Pesquisa e Desenvolvimento em Engenharia Elétrica (NUPEDEE), setor em que foi fabricado o robô e, também, onde está situado o grupo de pesquisa em robótica. Este artigo descreve alguns resultados de trabalhos já desenvolvidos utilizando o robô móvel e, também, os resultados da aplicação de um pequeno questionário nos alunos que utilizaram o robô.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Schirmer:Quadrupede:2017,

title = {Introdução a Robótica Nas Escolas de Ensino Médio de Santa Maria},

author = {Ricardo D. Schirmer and Emilio G. Ferreira and Thiago R. Garcia and Nelson G. O. Junior and Rodrigo S. Guerra and Daniel F. T. Gamarra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/COBENGE17_00028_00000757.pdf},

issn = {2175-957X},

year  = {2017},

date = {2017-09-26},

booktitle = {Anais do XLV Congresso Brasileiro de Educação em Engenharia},

address = {Joinville},

organization = {ABENGE},

abstract = {Para despertar o interesse dos alunos do ensino médio na área de engenharia, desenvolveu-se um projeto de introdução a robótica que utiliza a interdisciplinaridade dos conteúdos ensinados nas escolas como matemática e física, com os estudados na universidade como mecânica, elétrica e de programação. Para facilitar a absorção de conteúdos complexos como a robótica, desenvolveu-se um plano de aprendizagem estruturado desde a preparação da máquina utilizada para o ensino à forma linear das apresentações. A formatação do projeto procurou, através de um diálogo simples levar conhecimento prático e técnico, misturando com o que foi aprendido na sala de aula, criar ligações simples fazendo com que o aluno esteja mais confortável com conteúdos mais complexos. O artigo descreve o processo desde a adaptação do robô ao ensino até o feedback das apresentações. },

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Ahmadi:Dimitri:2016,

title = {Dimitri: A Low-Cost Compliant Humanoid Torso Designed for Cognitive Robotics Research},

author = {Ahmadreza Ahmadi and Christopher Tatsch and Fabricio J. C Montenegro and J Tani and Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/07783504.pdf},

doi = {10.1109/LARS-SBR.2016.18},

isbn = {978-1-5090-3656-1},

year  = {2016},

date = {2016-10-12},

booktitle = {2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)},

pages = {67-72},

publisher = {IEEE},

address = {Recife, Brazil},

abstract = {This work presents Dimitri, an open-software & open-hardware robot torso equipped with modular low cost compliant joints, built to allow advanced research on human-robot interaction, force-aware object manipulation and environment exploration. The robot has 13 DOFs: 4 DOFs with series elastic actuators in each arm, 3 DOFs for roll, pitch and yaw of the waist, and 2 DOFs for head pan and tilt. Our main innovation is in the employment of a polyurethane based compliant spring system attached to conventional robotics servo motors, turning them into low-cost series elastic actuators (SEAs). To demonstrate the robot's capabilities in the context of cognitive robotics research and goal-directed behavior, we successfully employed a multiple timescale recurrent neural network (MTRNN), enabling the robot to reproduce combined prototypical movement patterns previously trained via interactive demonstration.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:AulaInvertida:2016,

title = {Proposta de Metodologia de Aula Invertida  Dividida em Seis Fases: Um Estudo de Caso},

author = {Rodrigo S. Guerra and Guilherme S. Garcia and Guilherme Miollo and Camille F. Bertrand},

editor = {Reis, Susana C.},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/ProfRodrigoGuerra_AulasInvertidas_SIGATEC2016.pdf},

year  = {2016},

date = {2016-10-03},

booktitle = {Anais do II Simpósio Internacional Sobre Games, Gamification e Tecnologias Educacionais},

pages = {112--125},

publisher = {Biblioteca Central da UFSM},

organization = {Universidade Federal de Santa Maria},

abstract = {O estudante  contemporâneo escolhe quando, como e onde buscar conhecimento. A geração atual tem acesso à informação em tempo real e vive imersa em um universo digital e de múltiplas tarefas, com notificações instantâneas que muitas vezes dividem sua atenção. Essas mudanças têm efeito no ambiente da sala de aula, na qual o professor, que antes possuía o papel de detentor e provedor de conhecimento, atualmente assume cada vez mais o papel de mediador. Nesse contexto, há um crescente uso de aulas invertidas (O’FLAHERTY, 2015), onde o aluno é mais ativo e possui maior autonomia no processo de aprendizado (DELOZIER, 2016). O presente trabalho propõe uma metodologia para aulas invertidas focada na experiência do aluno e no planejamento dos ritmos das aulas presenciais. Nossa metodologia consiste em seis fases: (1) disponibilização de conteúdo antes de cada aula; (2) quiz em tempo real; (3) revisão de quiz; (4) aprendizagem por pares; (5) apresentação de exercícios; e (6) execução dos exercícios em grupos. Contrariando o formato tradicional, o uso de celular e redes sociais é incentivado durante as aulas. Os conteúdos são disponibilizados aos alunos através de rede social antes de cada aula em diferentes formatos, tais como: vídeos, slides, tutoriais, e artigos. Em sala, no início de cada aula, aplicam-se quizzes utilizando o aplicativo Socrative que gera resultado em tempo real, permitindo revisão focada apenas em conteúdos onde os alunos demonstraram baixo aproveitamento. Em seguida, dedicam-se alguns minutos para que os alunos debatam entre si. Por fim, exercícios de cunho aberto são apresentados e solucionados em grupos ocasionalmente sorteados. Esta metodologia foi aplicada em todas as 30 aulas (60h) da disciplina de Estrutura de Dados para Automação do curso de Engenharia de Controle e Automação da UFSM, numa turma de 43 alunos. Neste trabalho descrevemos em detalhe esta experiência.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Miranda:Waling:2016,

title = {Algoritmo de Caminhada em Malha Fechada para Robô Humanoide Darwin},

author = {Rafael S. Miranda and Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/BRAHUR-2016_paper_8.pdf},

year  = {2016},

date = {2016-02-25},

booktitle = {Proceedings of the Brazilian Humanoid Robot Workshop},

abstract = {A caminhada de robôs humanoides bípedes representa um grande desafio para utilização destes robôs em ambientes não adaptados. A copa de futebol de robôs, RoboCup, tem como um de seus objetivos incentivar a pesquisa na área e a partir edição de 2015 passou a utilizar gramado sintético no campo de jogo, o que dificultou a manutenção do equilíbrio dos robôs. Este trabalho descreve modificações no algoritmo de caminhada em malha aberta proposto por Marcell Missura em 2013 que visam o controle do equilíbrio em malha fechada. Para isso foram feitas duas alterações baseadas na percepção de postura: (1) controle de fase do movimento com base na inclinação lateral (roll) e (2) mudança na abordagem do sinal de referência de velocidade sagital para inclinação sagital (pitch). Estas alterações resultaram em um controle de equilíbrio mais estável, porém com deslocamento mais lento e, por vezes, oscilatório. Acredita-se que com algumas melhorias o algoritmo possa ser suficientemente estável e eficiente para utilização do mesmo em edições seguintes.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Londero:BussolaVisual:2016,

title = {Bússola Visual para Futebol de Robôs},

author = {Fabrício T. Londero and Rodrigo S. Guerra and Giovani R. Librelotto},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/BRAHUR-2016_paper_4.pdf},

year  = {2016},

date = {2016-02-25},

booktitle = {Proceedings of the Brazilian Humanoid Robot Workshop},

abstract = {This article describes an alternative to the location problem faced by humanoid robots in football matches for the RoboCup. Using only a webcam robot, it is an analysis of frames received with frames previously stored to stipulate the location of the robot on the field. Thus, solving one of the most trivial errors of robots, the own goal. },

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Martins:SEA:2015C,

title = {A Polyurethane-based Series Elastic Actuator},

author = {Leandro T. Martins and Christopher A. Tatsch and Rodrigo S. Guerra and Reinhard Gerndt and Vitor Dallasta},

editor = {Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/BRASERO_2015_submission_6.pdf},

year  = {2015},

date = {2015-08-24},

booktitle = {Proceedings of the II Brazilian Service Robotics Workshop},

address = {Salvador, Bahia, Brazil},

abstract = {This article extends previous work, presenting a novel polyurethane based compliant spring system designed to be attached to a conventional robotics servo motor, turning it into a series elastic actuator (SEA). The new system is composed by only two mechanical parts: a torsional polyurethane spring and a round aluminum support for link attachment. The polyurethane spring, had its design derived from a iterative FEM-based optimization process. We present practical results using a PID controller for robust position holding.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Rosa:Quadruped:2015,

title = {Reconstruction of a Quadruped Robot for Application in Hostile Environments, Research and Teaching in Robotics Area},

author = {Lucas W. D. Rosa and Vitor D. Cunha and Guilherme P. Wollmeister and Rodrigo S. Guerra and Daniel F. T. Gamarra},

editor = {Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/BRASERO_2015_submission_7.pdf},

year  = {2015},

date = {2015-08-24},

booktitle = {Proceedings of the II Brazilian Robotics Workshop},

abstract = {This article describes the project of restoration of a quadruped robot brought from Japan, the TITAN-VIII. The restoration process covers the complete renewing of its electronics, adding sensors to allow the robot move in hostile environments, the development of control software to make the robot operate autonomously. The changes made on the robot reconstruction process aim to create a quadruped robot capable of assisting in activities where the human beings are not able to act directly and simultaneously using the robot as a learning and researching platform in the field of robotics.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Matoso:McKibben:2015,

title = {Dual-stage hysteresis-based pressure control of constrained on/off pneumatic valves for McKibben actuators},

author = {Milton B. M. Matoso and Fernando Henrique Berwanger and Andre Rosendo and Rodrigo S. Guerra},

editor = {Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/BRASERO_2015_submission_8.pdf},

year  = {2015},

date = {2015-08-24},

booktitle = {Proceedings of the II Brazilian Service Robotics Workshop},

abstract = {Pneumatic artificial muscles (PAMs) are very used in the field of biomimetics, where its good power/weight relationship makes them a good 

option to mimic animals. Seeking to better explore precise controllers on these actuators using on-off valves, in this work we use three different valves controlling a pneumatic muscle and prove that the proposed algorithm, a dual-stage hysteresis control in a 10ms loop, has a better performance than a traditional hysteresis method. Our method had a higher precision while keeping a similar airflow to the traditional method. This improves our capacity to build more precise, lightweight robots for faster locomotion.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Teixeira:RoboticaEducacional:2014,

title = {Grupo de Interesse em Robótica – Uma Experiência em Programa de Enriquecimento},

author = {Carolina T. Teixeira and Roberta M. Pretto and Soraia N. Freitas and Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/RoboticaEducacional_ConBRaSD2014.pdf},

isbn = {978-85-68398-02-9},

year  = {2014},

date = {2014-11-11},

booktitle = {Anais do VI Encontro Nacional do ConBraSD},

pages = {203--204},

abstract = {O presente trabalho aborda a experiência vivenciada durante o ano de 2013 em um programa de enriquecimento por meio de um grupo de interesse em Robótica que trabalha com alunos identificados com altas habilidades/superdotação. Esse programa de enriquecimento acontece na cidade de Santa Maria, Rio Grande do Sul no projeto ―Programa de Incentivo ao Talento – PIT: valorizando potenciais‖ (PIT). O trabalho é realizado em conjunto por dois grupos de pesquisa da Universidade Federal de Santa Maria (UFSM): o Grupo de Automação e Robótica Aplicada (GARRA), e o Grupo de Pesquisa Educação Especial: Interação e Inclusão Social (GPESP). Os objetivos do grupo de interesse em Robótica visam além de ser um espaço para os alunos desenvolverem suas habilidades e serem estimulados a novas descobertas também, incentivar a realização de projetos experimentais (práticos) de modo que o aluno veja seu trabalho sendo produzido e aprimorar conhecimentos de programação em blocos que é um estágio inicial para a aprendizagem de programação. Como referencial teórico são utilizados os seguintes autores: Renzulli (2004), que defende a proposta de enriquecimento escolar para alunos com altas habilidades/superdotação; Silva Melo, Azoubel, Padilha (2009) e Castilho (2004) que elucidam a respeito do uso da robótica na educação. O referido projeto acontece durante as manhãs de sábado conforme o calendário letivo escolar. Todos os encontros são planejados com antecedência, definindo-se atividades práticas e construtivas que possam estimular os alunos participantes a desenvolver suas altas habilidades. Estas atividades têm objetivos definidos, buscando realizar atividades que correspondam ao interesse específico dos alunos participantes e atender às necessidades apresentadas por eles. Foram oportunizadas aos alunos experiências que passassem pelos três tipos de enriquecimento apresentados por Renzulli (2004). Pode-se perceber um avanço, devido ao interesse dos alunos, nas áreas como lógica de programação e montagem de robôs mais complexos. 

},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Rosa:Quadruped:2014,

title = {Reconstrução de um Robô Quadrúpede para Aplicação em Ambientes Hostis},

author = {Lucas W. D. Rosa, Vitor D. Cunha, Guilherme P. Wollmeister, Rodrigo S. Guerra and Daniel F. T. Gamarra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/CRICTE_2014_submission_181.pdf},

issn = {2318-3438},

year  = {2014},

date = {2014-01-01},

booktitle = {Anais do XXVI Congresso Regional de Iniciação Científica e Tecnológica em Engenharia (CRICTE)},

abstract = {Será descrito o projeto de restauração de um robô quadrúpede trazido do Japão, o TITAN-VIII, renovando completamente sua eletrônica, agregando sensores para que o robô possa se deslocar em ambientes hostis e desenvolvendo um software de controle para que seja possível sua operação de forma autônoma. As mudanças feitas no processo de reconstrução do robô têm o objetivo de criar um robô quadrúpede capaz de auxiliar em atividades onde o ser humano não é capaz de agir diretamente.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Iochims:Telepresenca:2014,

title = {Software de Controle para Robô de Telepresença},

author = {Kevim Iochims and Ana E. Ramos and Rodrigo S. Guerra},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/CRICTE_2014_submission_342.pdf},

issn = {2318-3438},

year  = {2014},

date = {2014-01-01},

booktitle = {Anais do XXVI Congresso Regional de Iniciação Científica e Tecnológica em Engenharia (CRICTE)},

abstract = {Este documento relata o projeto e contrução de um Robô de Telepresença e demonstra como este robô será utilizado em clínicas médicas. Trata-se de um dispositivo a ser aplicado em ambientes médicos com o objetivo de ajudar no convívio social das crianças, que por razão do câncer, devido à fragilização do sistema imunológico decorrente do tratamento, têm de ficar em isolamento. Queremos com essa atividade diminuir os impactos que uma internação dessas costuma causar a elas, reduzindo o confinamento social sem romper o isolamento clínico.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:MixedSociety:2011,

title = {Combining EMG Recording and Robust Tracking for Insect/Robot Mixed Society},

author = {Guerra, Rodrigo S. and Aonuma, Hitoshi and Hosoda, Koh and Asada, Minoru},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/SICE2011-MixedSociery-Guerra.pdf},

year  = {2011},

date = {2011-01-01},

booktitle = {Proceedings of 23rd SICE Symposium on Decentralized Autonomous Systems},

abstract = {This work presents new developments for the behavior study of free moving insects. Crickets of the species Gryllus bimaculatus are marked with small circular bar codes and an overhead consumer high-definition camera is used for recording their movements. This allowed the accurate and robust tracking of id, position and orientation of up to 16 individuals simultaneously. A micro-robot is used for provoking behaviors in a controlled way, while  a thin cooper wire is used for recording the corresponding muscle activity. Later tracking data is combined with the recorded waves of muscle activity for a thorough behavior analysis.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Aonuma:MixedSociety:2011,

title = {Manipulation of aggressive behavior of the cricket using a small robot},

author = {Aonuma, Hitoshi and Guerra, Rodrigo S. and Asada, Minoru and Hosoda, Koh},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/ManipulationCricket2011.pdf},

year  = {2011},

date = {2011-01-01},

booktitle = {Proceedings of International Symposium on Adaptive Motion in Animals and Machines},

abstract = { Male crickets Gryllus bimaculatus are known to exhibit intensive aggressive behavior towards other males. These crickets are often used as an experimental model in aggression researches. We establish a real-time recording system and behavior manipulation system using a small robot that can elicit aggressive behavior in a test cricket.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:MixedSociety:2009,

title = {Using Micro-robots as a Tool for Insect Behavior Studies},

author = {Guerra, Rodrigo S. and Aonuma, Hitoshi and Hosoda, Koh and Asada, Minoru},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/Guerra09a.pdf},

year  = {2009},

date = {2009-01-01},

booktitle = {Proceedings of IROS Workshop on Mobiligence: Social Adaptive Functions in Animals and Multi-Agent Systems},

abstract = {This paper presents a multidisciplinary experiment setup inspired on the LEURRE project where robots are used for animal behavior studies in a robot/animal mixed-society. Crickets of the species Gryllus bimaculatus are let interact with micro-robots equipped with decoys or lures. Unlike previous work, here we use the robots as tools focusing on the insect study itself rather than attempting to design an autonomous robot that mimics cricket behavior. A set of experiments is performed demonstrating the new ways in which even simple open-loop robot movement playback can be successfully used for animal behavior exploration. These experiments focused on the comparative study of the escaping behavior of dominant and subordinate male crickets after a dominance dispute is settled. Results are shown and discussed.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Gerndt:MixedReality:2008,

title = {On the Aspects of Simulation in the Robocup Mixed Reality Soccer Systems},

author = {Gerndt, Reinhard and Schridde, Carsten and Guerra, Rodrigo S.},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/MixedRealitySIMPAR2008-1.pdf},

isbn = {978-88-95872-01-8},

year  = {2008},

date = {2008-11-03},

booktitle = {Workshop Proceedings of SIMPAR 2008},

pages = {159--166},

address = {Venice, Italy},

abstract = {This paper describes the different aspects of simulation in the Mixed Reality (MR) (previously physical visualization) sub-league of the RoboCup soccer simulation league. Unlike other leagues, the Mixed Reality combines simula-tion and reality. The classical RoboCup simulation leagues offer a test bed for abstract behaviors and complex environments. Leagues with real robots allow interacting with physical environments. Mixed Reality incorporates all these aspects. It thus bridges the gap between simulated and real robot leagues. In this paper we will present the overall structure of the system and point out the dif-ferent aspects simulation plays in the MR system.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:MicrorobotEducation:2007,

title = {A New Minirobotics System for Teaching and Researching Agent-based Programming},

author = {Rodrigo S Guerra and Joschka Boedecker and Norbert M Mayer and Shinzo Yanagimachi and Hiroshi Ishiguro and Minoru Asada},

editor = {Vladimir Uskov},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/Minirobotics_Teaching_CATE_2007.pdf},

isbn = {978-0-88986-700-0},

year  = {2007},

date = {2007-10-08},

booktitle = {Proceedings of the 10th IASTED International Conference on Computers and Advanced Technology in Education},

pages = {39--44},

publisher = {ACTA Press},

address = {Beijing, China},

series = {CATE '07},

abstract = {This work describes a novel minirobotics system which incorporates mature technology proven efficient over the years in multi-agent robotic soccer competitions into a new versatile research and educational platform. We describe the technical aspects supporting this multi-agent robotic framework, and as an example application, we describe a method for introducing agent based programming concepts as a hands-on experience targeted at inexperienced students learning C as their first programming language.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:MixedReality:2007,

title = {Introducing a New Minirobotics Platform for Research and Edutainment},

author = {Rodrigo S. Guerra and Joschka Boedecker and Shinzo Yanagimachi and Minoru Asada},

editor = {Ulrich Rückert and Joaquin Sitte and Ulf Witkowski },

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/Minirobotics_Research_Edutainment_AMIRE_2007.pdf},

year  = {2007},

date = {2007-10-01},

booktitle = {Proceedings of the 4th International AMiRE Symposium },

pages = {91--98},

abstract = {This work describes a novel minirobotics system which incorporates mature technology proven efficient over the years in multi-agent robotic soccer competitions and introduces new collaborative development concepts shifting essential research issues from the playing agents themselves to the development of a new versatile research and educational platform. This shows how team’s efforts for winning a robotics competition can be transformed into a cooperative development driving force towards a shared standard system with applications much beyond the robotic games themselves. We describe in detail the technical aspects supporting this multi-agent robotic framework, integrating cutting-edge and low cost watch technology in the form of a miniature multi-robot system which mixes reality and simulation.},

note = {Best Paper Award},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:Education:2007,

title = {Successful Teaching of Agent-Based Programming to Novice Undergrads in a Robotic Soccer Crash Course},

author = {Rodrigo S. Guerra and Joschka Boedecker and Hiroshi Ishiguro and Minoru Asada},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/11/Crash_Course_SIG_Challenge_2007.pdf},

year  = {2007},

date = {2007-01-01},

booktitle = {Proceedings of the 25th SIG-Challenge JSAI},

pages = {21--26},

abstract = {This work describes a method for introducing agent based programming concepts as a hands-on experience targeted at inexperienced students learning C as their first programming language. The approach is based on three main features: (a) a simplified C interface to the RoboCup 2D soccer simulation framework; (b) a strict agent-centered polar vector arithmetics approach for describing soccer skills and agent behaviors; and (3) on a tournament at the end of the course to give students an opportunity to evaluate their programs against one another in a fun environment. We present data of our experience performing a five-day (15h) course with sixty second-year engineering bachelor students who had just barely learned the basics of computer programming. We show how, based on the described scheme, students with very limited computer programming experience became able to develop their own teams of autonomous agents, in some cases including concepts such as dynamic role-assignment,

multi-agent coordination, and team formation.

We defend the method presented here helps

exposing the students to valuable experience

ahead of their normal schedule, and boosting

overall motivation and performance.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:MixedReality:2007b,

title = {Physical Visualization Sub-League: A New Platform for Research and Edutainment},

author = {Rodrigo S. Guerra and Joschka Boedecker and Minoru Asada},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/12/PV_SIG_Challenge_2007.pdf},

year  = {2007},

date = {2007-01-01},

booktitle = {Proceedings of the 25th SIG-Challenge JSAI},

pages = {15--20},

abstract = {This work introduces a novel minirobotics system which is to become a new sub-league of

the RoboCup Soccer Simulation League, called Physical Visualization. We incorporate mature technology proven efficient over the years in other RoboCup leagues and we introduce new collaborative development concepts into the games of this new sub-league shifting essential research issues from the playing agents themselves to the development of a new versatile research and educational platform. We describe in detail the technical aspects supporting this multi-agent robotic framework, integrating cutting-edge and low cost watch technology in the form of a miniature multi-robot system which mixes reality and simulation. Competition formats and roadmaps are presented and discussed and the advantages for education and research applications are emphasized. Finally we discuss benefits of this new platform in terms of standardization, flexibility and reasonable price and try to characterize and discuss the future possibilities enabled by this project and the place of this new sub-league within the RoboCup community.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:MixedReality:2006,

title = {CITIZEN Eco-Be! League: bringing new flexibility for research and education to RoboCup},

author = {Rodrigo S. Guerra and Joschka Boedecker and Norbert M. Mayer and Shinzo Yanagimachi and Yasuji Hirosawa and Kazuhiko Yoshikawa and Masaaki Namekawa and Minoru Asada},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/12/PV_SIG_Challenge_2007-1.pdf},

year  = {2006},

date = {2006-01-01},

booktitle = {Proceedings of the 24th SIG-Challenge JSAI},

pages = {13--18},

abstract = {The RoboCup 4-legged and Simulation leagues offer good examples of the benefits that can be achieved by using a standardized platform that allows for an easy comparison of results and concepts in robotics research. However, there is a lack of a standard platform that provides the flexibility of simulations in real robots at a reasonable price. To address this, we introduce a new setup based on a project sponsored by CITIZEN Co. Japan. It allows for a huge variety of different usages for a large number of mini-robots in an augmented reality (AR) environment at quite inexpensive costs. The core of the project is the CITIZEN Eco-Be! mini-robot. It is built with cutting edge technology in miniature robotics using high quality and low-cost CITIZEN watch technology. Finally, a new RoboCup league is proposed which should allow RoboCuppers to face an assortment of new interesting and challenging research issues, all based on the presented setup.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:MixedReality:2006b,

title = {CITIZEN Eco-Be! and the RoboCup Physical Visualization League},

author = {Rodrigo S. Guerra and Joschka Boedecker and Kazunori Yamauchi and Taro Maekawa and Minoru Asada and Yasuji Hirosawa and Masaaki Namekawa and Kazuhiko Yoshikawa and Shinzo Yanagimachi and Sadao Masubuchi and Ken Nishimura},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/12/PV_Micromechatronics_2006.pdf},

year  = {2006},

date = {2006-01-01},

booktitle = {Proceedings of Micromechatronics Technical Lectures},

address = {Tokyo},

abstract = {We describe a new standard research and education platform integrating cutting-edge and low cost watch technology into a miniature multi-robot system which mixes reality and simulation. We also introduce the concepts of a new competition, so-called ”Physical Visualization”, to be part of RoboCup – the international robot soccer competition – from 2007 on.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Mayer:ActiveWheel:2005,

title = {Stabilizing a Biped Robot by Using a Symmetric Rotor},

author = {Norbert M. Mayer and Rodrigo S. Guerra and Masaki Ogino and Minoru Asada},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/12/Norbert05a.pdf},

doi = {10.1299/jsmermd.2005.128_3},

year  = {2005},

date = {2005-01-01},

booktitle = {Proceedings of the Robotics and Mechatronics Conference (ROBOMEC'05)},

address = {Kobe},

abstract = {We present here some concepts and simulations in which a dynamic walker is stabilized by using a fast heavy rotor, a gyro. The dynamics of a symmetric, fast rotating gyro is different from that of a non-rotating solid body, e.g. in the case of small disturbances it tends to keep the axes the same. This circumstance is used and tested in a passive dynamic walker. Results show that the rotor enhances the stability of the walking in the simulations.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Guerra:RTLinuxPWM:2002,

title = {A Digital PID Controller Using RTAI},

author = {Rodrigo S. Guerra and Hermes J. Gonçalves Junior and Walter F. Lages},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/12/a05_guerra.pdf},

year  = {2002},

date = {2002-01-01},

booktitle = {Proceedings of the Fourth Real Time Linux Workshop},

abstract = {This work presents an implementation of a digital PID (Proportional+ Integral+Differential) controller in a PC machine running RTAI. PID controllers are well known and have a wide range of applications in the control of analog systems such as servomotors. In order to achieve the desired performance the system output (axis position) is feed-back to the PID controller which generates… the system input (motor voltage), in a closed loop. The controller computes the error between the desired system output (reference) and the actual system output. Then, the system input, which is the PID controller output, is generated as weighted sum of the error, its integral and its differential. The weighting coefficients are known as controller gains and referred as Kp, Ki, and Kd. The values of the controller gains determines the performance of the closed loop system and even its stability. The design of PID controllers is outside the scope of this paper, however it should be said that its values are very dependent on the sampling rate at which system output is read and the new value for system input generated. Therefore it is highly desirable to have an accurate sampling rate. For typical mechanical systems, the adequate sampling rate is in the range of milliseconds. Thus, well implemented PID controllers are usually hard real time systems. The PID controller described in this work uses the PC parallel port as an analog I/O interface. Just two bits are used. One to read the system output and the other to generate the system input. As the system input and output are analog variables, a technique called Pulse Width Modulation (PWM) is used to generate (and read) analog values using digital signals. This technique is based on varying the duty cycle of a rectangular wave accordingly to the analog value to be represented. By using PWM, an analog interface can be built without the use of conventional A/D and D/A converters. However, the switching rate of the PWM signal should be fast enough to be filtered by the system under control. For typical mechanical systems that means a few hundreds of microseconds. The implemented system can be characterized by four main tasks: Two PWM tasks which generate the input and output signals, a PID task responsible for the controller in a proper sense and a user interface task. Except for the user interface task, each one of the main tasks has its own time requirements which must be accurately met. The user interface was implemented as a plain Linux process using the NCurses library. Real time tasks were provided by threads under LXRT hard real time mode. The implementation of PWM under RTAI using the timing functions provided by RTAI are presented and the convenience of using these functions for actual real time control is discussed. In Particular, the semantics of rt_sleep() is analyzed in details and it is shown that the current semantics can lead to an confusing interpretation of what a periodic task is and what a task period is. Furthermore the current semantics of rt_sleep() is incompatible with the the semantics of rt_busy_sleep(), which can lead to even more confusion. A new semantics for rt_sleep() is suggested and the corresponding implementation presented.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Alt:Networks:2002,

title = {An Assessment of Real-Time Robot Control over IP Networks},

author = {Gustavo H. Alt and Rodrigo S. Guerra and Walter F. Lages},

url = {http://rodrigoguerra.com/wp-content/uploads/2017/12/g09_alt.pdf},

year  = {2002},

date = {2002-01-01},

booktitle = {Proceedings of the Fourth Real Time Linux Workshop},

abstract = {This paper presents an assessment of the performance of a real time controller using an IP network to link the controller, the sensor and the actuator. This control system is part of a anthropomorphic robot manipulator with two arms and a pan-and-tilt stereo vision head, totalizing 19 joints. Each joint has an actuator, an incremental encoder, an electromagnetic break and an inductive contact sensor. There are also two six-axis force sensors. In order to cope with all devices an distributed control system was implemented. The devices are all connected to an IP network and the real time control loops are configured by software and run over the IP network. The real time requirements of the control loops, which must run at 100Hz rate, are enforced by using RTAI in LXRT hard real time mode. RTAI is also used for monitoring the time behavior of the network packets, in order to deal with the best-effort of assumption of the IP network. Indeed, an IP network assures that it will do its best effort to deliver each data packet, but there is no guarantee that the packet will be delivered. However, a real time control loop must run at an accurate rate or the system performance or stability will be impacted. Therefore, sensor data must be feed to the controller at the same rate, or it will not be able to compute the control action. Hence, the ability of the IP network to deliver the packets with reliability and rate accuracy is very important. Of course, IP networks were not designed with such applications in mind, but it is very difficult to neglect the low-costs due to mass-production. The time behavior and the performance of a controller implemented over an IP network is characterized and compared with those obtained with a local controller. A method to deal with lost packages is also proposed. The key to this method is to note that a control network does not carry digital data in the same sense a generic computer network. A control network carries control signals in a digital format, hence the corruption of the digital data can be tolerated as long as the control signal can be recovered. This paper proposes a method to recover the control signal even in the presence of lost or late packets.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}