Gustavo Medeiros Freitas
DORIS - Offshore Facilities Monitoring Robot
DORIS is a research project which endeavors to design and implement a mobile robot for remote supervision, diagnosis, and data acquisition in offshore facilities. The proposed system is composed of a rail-guided robot capable of carrying different sensors through the inspected area.
SimUEP-Robotics is a robotics framework aimed to enable planning the offshore platform robotizing using virtual reality techniques. It is a joint project between Cenpes/Petrobras S.A., TecGraf/PUC-Rio and GSCAR/UFRJ.
The SimUEP-Robotics is based on ROS (Robot Operating System), a middleware for exchanging messages between different devices and processes that cooperate to accomplish a robotics task. This capability enables the robotization and automation of offshore facilities that gradually evolve, starting from a complete virtual scenario towards a complete robotic system operating on a real platform, progressively including real devices.
Participation as consultant in ROS.
Automation for Specialty Crops (CASC)
Field Robotics Center, Robotics Institute, Carnegie Mellon University
01/2011 - 12/2011
This project consists in developing methods to improve production efficiency, identify threats from pests and diseases, and, detect, monitor and respond to food safety hazards in specialty agriculture, focusing on apples and horticultural stock.
The related research developed during this period is related to terrain mapping with laser range finder, localization using EKF and stability analyses of the Autonomous Prime Mover vehicle.
Environmental Hybrid Robot
Robotics Laboratory of CENPES, Petrobras S.A., Brazil
08/2005 - 12/2010
The objective of this research is to develop and implement a robot capable of monitoring part of the Amazon rain forest. This system is able to collect data and samples and perform tasks in difficult access areas of the forest. The robot is designed to overcome certain obstacles and to operate in different terrains, as water surface, land, marshes, swamps, and sand.
Concept of mechanical parts, electrical implementation and development of control strategies to improve the system mobility were accomplished during the research.
Federal University of Santa Catarina, Brazil
09/2004 - 07/2005
This project consists in developing technology and constructing an autonomous system capable of recovering hydraulic turbine surfaces.
The accomplished work was related to software development and the robot assembly.
Dept. of Biological Cybernetics
University of Bielefeld, Germany
08/2003 - 12/2003
The Cybernetics research group studies the insect Carausius morous, observing its walking strategies. In doing so, theories are developed to improve the mobility of a legged machine.
The accomplished work consisted in the implementation of a multi-axis foot force sensor for TarryIIb, a six leg walking. The force feedback is used to solve the force distribution problem, providing the best weight distribution among the robot legs.
Technological Education on Control and Automation
Federal University of Santa Catarina, Florianopolis, Brazil
01/2001 - 07/2003
Implementation of a physical plant and a controller to simulate one industrial production line. The system has been developed to serve as a teaching and research tool in the fields of discreet events systems.
During the project, the study of the controllers RCX and HandyBoard with kit Lego and development of auxiliary hardware were accomplished. The research was sponsored by scholarship of the Scientific Initiation Project from CNPq (National Council for Scientific and Technological Development).