Gustavo Medeiros Freitas


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DORIS - Offshore Facilities Monitoring Robot


01/2013 -

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.






06/2012 -

    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.






Comprehensive 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.

CASC site




 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.

Robot video at YOUTUBE 
National Geographic
IEEE Spectrum Magazine

CMU - Field Robotics Center Seminar - 03/2011





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.

Robot video at YOUTUBE"


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.
Video of TarryIIb walking with the force sensor
Video of Tarry in an irregular platform




Technological Education on Control and Automation  Engineering
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).