Publications (list by year)

@INPROCEEDINGS{task_2017,
    author = {Stephen Balakirsky and  Craig Schlenoff and Sandro Fiorini and Signe Redfield and Marcos Barreto and Hirenkumar Nakawala and Joel Luis Carbonera and Larisa Soldatova and Julita Bermejo-Alonso and and Fatima Maikore and Paulo J. S. Gon\c{c}alves  and Elena De Momi and Veera Ragavan and Tamas Haidegger },
    title = {TOWARDS A ROBOT TASK ONTOLOGY STANDARD},
    booktitle = {Proceedings of the 12th Manufacturing Science and Engineering Conference},
    year = {2017},
    Address = {Los Angeles, U.S.A.},
    Month = {June},
}

@inbook{2017_hri_book_chapter, 
	Author = {Sandro Fiorini and Abdelghani Chibani and Tamas Haidegger and Joel Luis Carbonera and  Craig Schlenoff and Jacek Malec and Edson Prestes and Paulo J. S. Gon\c{c}alves and Veera Ragavan and Stephen Balakirsky and Hirenkumar Nakawala and  Sofiane Bouznad and Noauel Ayari and Yacine Amirat  },
	Title = {Standard Ontologies and HRI},
	BookTitle = {Human-Robot Interaction: Safety, Standardization, and Benchmarking},
	editor = {Paolo Barattini and Federico Vincentini and Gurvinder Singh Virk},
	Pages = {--},
	Publisher = {Chapman and Hall/CRC },
        URL={https://www.crcpress.com/Human-Robot-Interaction-Safety-Standardization-and-Benchmarking/Barattini-Vincentini-Virk/p/book/9781138626751},
        isbn={9781138626751},
	Year = {2017}
}

@article{polen_paulo_2017, 
title = "Computational intelligence applied to discriminate bee pollen quality and botanical origin",
journal = "Food Chemistry",
volume = "",
number = "",
pages = "",
year = "2017",
note = "",
issn = "0308-8146",
doi = "http://dx.doi.org/10.1016/j.foodchem.2017.06.014",
url = "http://www.sciencedirect.com/science/article/pii/S0308814617309974",
author = "Paulo J.S. Gon\c{c}alves and Let\'{i}cia M. Estevinho and Ana Paula Pereira and Jo\~{a}o M.C. Sousa and Of\'{e}lia Anjos",
keywords = "Bee pollen",
keywords = "Physical–chemical parameters",
keywords = "Botanical origin",
keywords = "Neural networks",
keywords = "Fuzzy modelling",
keywords = "Support vector machines"
}

@article{pedro_ir_2015,
author = { Behzad Bayat and  Julita Alonso and Joel Carbonera and Tullio Facchinetti and Sandro Fiorini and Paulo J. S. Gon\c{c}alves  and  Vitor Jorge and Maki Habib and Alaa Khamis and Kamilo Melo and Bao Nguyen and Joanna Olszewska and Liam Paull and Edson Prestes and Veera Ragavan and Sajad Saeedi and Ricardo Sanz and Mae Seto and Bruce Spencer and Michael Trentini and Amirkhosro Vosughi and Howard Li },
title = {Requirements for Building an Ontology for Autonomous Robots},
journal = {Industrial Robot: An International Journal},
volume = {43},
number = {5},
pages = { 469 -- 480 },
year = {2016},
doi = {10.1108/IR-02-2016-0059},
}

@Inbook{2016_ontologies_surgical_robotics,
author="Gon{\c{c}}alves, P. J. S.",
editor="Reis, Lu{\'i}s Paulo
and Moreira, Ant{\'o}nio Paulo
and Lima, Pedro U.
and Montano, Luis
and Mu{\~{n}}oz-Martinez, Victor",
title="Ontologies Applied to Surgical Robotics",
bookTitle="Robot 2015: Second Iberian Robotics Conference: Advances in Robotics, Volume 2",
year="2016",
publisher="Springer International Publishing",
address="Cham",
pages="479--489",
isbn="978-3-319-27149-1",
doi="10.1007/978-3-319-27149-1_37",
url="http://dx.doi.org/10.1007/978-3-319-27149-1_37"
}

@article{romenia_rodolfo_2016, 
	Author = {Farinha, R.A.A. and Gon\c{c}alves, P.J.S. },
	Title = {KNOWLEDGE BASED ROBOTIC SYSTEM, TOWARDS ONTOLOGY DRIVEN PICK AND PLACE TASKS},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {49},
	Pages = {152--157},
	Year = {2016},
        doi = {10.17683/rrpmom.issue.49}
}

@article{romenia_ariston_2016, 
	Author = { Reis, A. and Liu, P. and Gon\c{c}alves, P.J.S. },
	Title = {A TOOL TOWARDS EEG SEMI-AUTONOMOUS ELECTRODE PLACEMENT},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {49},
	Pages = {147--151},
	Year = {2016},
        doi = {10.17683/rrpmom.issue.49}
}

@article{romenia_feiteira_2016, 
	Author = { Feiteira, M. and Torres, P.M.B. and Marques, N.},
	Title = {Automation of refrigeration system with PLC and LabVIEW, an academy industry cooperation case study},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {49},
	Pages = {39--43},
	Year = {2016},
        doi = {10.17683/rrpmom.issue.49}
}

@INPROCEEDINGS{pedro_mesrob_2016,
    author = {Pedro Torres  and  Paulo J. S. Gon\c{c}alves  and  Jorge Martins},
    title = {Robotic System Navigation Developed for Hip Resurfacing Prosthesis Surgery},
    booktitle = {Proceedings of MESROB 2016 - 5th International Workshop on Medical and Service Robots},
    year = {2016},
    Address = {Graz, Austria},
    Month = {July},
    URL={http://www.mesrob2016.at/images/uploads/Papers/MESROB2016_paper_23.pdf}
}

@article{polen_2017, 
	Author = {  P.J.S. Gon\c{c}alves and J. },
	Title = {A TOOL TOWARDS EEG SEMI-AUTONOMOUS ELECTRODE PLACEMENT},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {49},
	Pages = {147--151},
	Year = {2016},
        doi = {10.17683/rrpmom.issue.49}
}

@InProceedings{controlo_2014, 
year={2015},
isbn={978-3-319-10379-2},
booktitle={CONTROLO 2014, Proceedings of the 11th Portuguese Conference on Automatic Control},
volume={321},
series={Lecture Notes in Electrical Engineering},
editor={Moreira, António Paulo and Matos, Aníbal and Veiga, Germano},
doi={10.1007/978-3-319-10380-8_60},
title={New Approach to the Open Loop Control for Surgical Robots Navigation},
url={http://dx.doi.org/10.1007/978-3-319-10380-8_60},
publisher={Springer International Publishing},
keywords={Image-guided surgery; Hip Arthroplasty; Registration; Robotic surgery},
author={Torres, Pedro M.B. and Gon\c{c}alves, Paulo J.S. and Martins, JorgeM.M.},
pages={627-636},
language={English}
}

@article{ORA_rcim_2014,
title = "Extensions to the core ontology for robotics and automation ",
journal = "Robotics and Computer-Integrated Manufacturing ",
volume = "33",
number = "0",
pages = "3 - 11",
year = "2015",
note = "Special Issue on Knowledge Driven Robotics and Manufacturing ",
issn = "0736-5845",
doi = "10.1016/j.rcim.2014.08.004",
url = "http://www.sciencedirect.com/science/article/pii/S0736584514000659",
author = "Sandro Rama Fiorini and Joel Luis Carbonera and Paulo J.S. Gon{\c{c}}alves and Vitor A.M. Jorge and Vitor Fortes Rey and Tamas Haidegger and Mara Abel and Signe A. Redfield and Stephen Balakirsky and Veera Ragavan and Howard Li and Craig Schlenoff and Edson Prestes",
keywords = "Ontologies for robotics and automation",
keywords = "Ontology-based standards",
keywords = "Core ontology",
keywords = "Ontology engineering",
keywords = "Knowledge representation ",
abstract = "Abstract The working group Ontologies for Robotics and Automation, sponsored by the \{IEEE\} Robotics & Automation Society, recently proposed a Core Ontology for Robotics and Automation (CORA). This ontology was developed to provide an unambiguous definition of core notions of robotics and related topics. It is based on SUMO, a top-level ontology of general concepts, and on \{ISO\} 8373:2012 standard, developed by the ISO/TC184/SC2 Working Group, which defines—in natural language—important terms in the domain of Robotics and Automation (R&A). In this paper, we introduce a set of ontologies that complement \{CORA\} with notions such as industrial design and positioning. We also introduce updates to \{CORA\} in order to provide more ontologically sound representations of autonomy and of robot parts. "
}

@article{OROSU_rcim_2014,
title = "Knowledge representation applied to robotic orthopedic surgery ",
journal = "Robotics and Computer-Integrated Manufacturing ",
volume = "33",
number = "0",
pages = "90 - 99",
year = "2015",
note = "Special Issue on Knowledge Driven Robotics and Manufacturing ",
issn = "0736-5845",
doi = "10.1016/j.rcim.2014.08.014",
url = "http://www.sciencedirect.com/science/article/pii/S0736584514000751",
author = "Paulo J.S. Gon{\c{c}}alves and Pedro M.B. Torres",
keywords = "Knowledge representation",
keywords = "Ontologies",
keywords = "Robotics",
keywords = "Orthopedic surgery ",
abstract = "Abstract In this paper the efforts and methods used in the past years are presented to represent knowledge in the biomedical field and to obtain a conceptual model of the Ontology for Robotic Orthopedic Surgery (OROSU). This model is proposed in this paper to represent the knowledge to be used, in a machine readable format, during surgeries. Since ontologies in the biomedical filed are relatively mature and have been widely used, this is a perfect field to show the interest of using ontologies to represent robotic knowledge and its use, directly with humans (surgeons, nurses, technicians, and so on). From the biomedical ontologies that already exist, the conceptual model of \{OROSU\} is defined. The base ontologies were merged by the authors to obtain the \{OROSU\} ontology, and applied to Hip Surgery surgical procedures. It was then implemented using the KnowRob framework. Results on tasks definitions and reasoning using the presented ontology showed its usability, for Hip Surgery surgical procedures. "
}

@ARTICLE{7084073, 
journal={IEEE Std 1872-2015}, 
title={IEEE Standard Ontologies for Robotics and Automation}, 
year={2015}, 
pages={1-60}, 
keywords={IEEE standards;ontologies (artificial intelligence);robots;CORA;IEEE Std 1872-2015;IEEE standard ontologies;formal reference vocabulary;knowledge representation;reasoning;robotics and automation;Accuracy;Automation;IEEE Robotics and Automation Society;IEEE standards;Ontologies;Robots;IEEE 1872(TM);automation;core ontology;methodology;ontology;robotics}, 
doi={10.1109/IEEESTD.2015.7084073}, 
month={April},}

@article{paulo_jint_2015,
year={2015},
issn={0921-0296},
journal={Journal of Intelligent & Robotic Systems},
volume={77},
number={2},
doi={10.1007/s10846-013-0012-7},
title={A Vision System for Robotic Ultrasound Guided Orthopaedic Surgery},
url={http://dx.doi.org/10.1007/s10846-013-0012-7},
publisher={Springer Netherlands},
keywords={Image-guided surgery; Ultrasound imaging; Registration; Robotic surgery},
author={Gon\c{c}alves, P.J.S. and Torres, P.M.B. and Santos, F. and Antonio, R. and Catarino, N. and Martins, J.M.M.},
pages={327-339},
language={English}
}

@inbook{2015nova, 
	Author = {Torres, P.M.B. and Gon\c{c}alves, P.J.S. },
	Title = {Ultrasound Imaging for Robotic Orthopedic Surgery: A Survey},
	BookTitle = {Computer-Assisted Surgery: New Developments, Applications and Potential Hazards},
	editor = {Xiaojun Chen},
	Pages = {--},
	Publisher = {Nova Science Publishers},
	Year = {2015},
        isbn ={978-1-63463-819-7},
        URL={https://www.novapublishers.com/catalog/product_info.php?products_id=53206&osCsid=a04aeb4437edddef684588f918c128d3}
}

@PhdThesis{phd_pedro_2025, 
	Author = {Torres, P.M.B.},
	Title = {Ultrasound Based Navigation and Control for Orthopaedic Robot Surgery},
	School = {Universidade de Lisboa, Instituto Superior T\'{e}cnico, Doutoramento em Engenharia Mec\^{a}nica (PhD Thesis)},
	Month = {January},
        URL = {http://www.est.ipcb.pt/laboratorios/robotica/papers/thesis_PhD_Pedro%20Torres.pdf},
	Year = {2015}
}

@article{pedro_ir_2015,
author = { Pedro Torres  and  Paulo J. S. Gon\c{c}alves  and  Jorge Martins },
title = {Robotic motion compensation for bone movement, using ultrasound images},
journal = {Industrial Robot: An International Journal},
volume = {42},
number = {5},
pages = {466--474},
year = {2015},
doi = {10.1108/IR-12-2014-0435},
 
URL = { 
        http://www.emeraldinsight.com/doi/abs/10.1108/IR-12-2014-0435
 
},
eprint = { 
        http://www.emeraldinsight.com/doi/pdf/10.1108/IR-12-2014-0435
 
}
,
    abstract = { Purpose This paper presents a robotic motion compensation system, using ultrasound images, to assist orthopedic surgery. The robotic system can compensate for femur movements, during bone drilling procedures. Although it may have other applications, the system was thought to be used in Hip Resurfacing (HR) prosthesis surgery to implant the initial guide tool. The system requires no fiducial markers implanted in the patient, by using only non-invasive ultrasound images. Design/methodology/approach The femur location in the operating room is obtained by processing ultrasound (US) and Computer Tomography (CT) images, obtained respectively in the intra-operative and pre-operative scenarios. During surgery, the bone position and orientation is obtained by registration of US and CT 3D point clouds, using an optical measurement system and also passive markers attached to the US probe and to the drill. The system description, image processing, calibration procedures and results with simulated and real experiments are presented and described, to illustrate the system in operation. Findings The robotic system can compensate for femur movements, during bone drilling procedures. In most experiments the update was always validated, with errors of 2 mm / 4º. Originality/value The navigation system is based entirely on the information extracted from images obtained from CT pre-operatively and US intra-operatively. Contrary to current surgical systems, it do not use any type of implant in the bone, to track the femur movements. }
}

@article{romenia_matos_2015, 
	Author = {Matos, J. and Gon\c{c}alves, P.J.S. and Torres, P.M.B. },
	Title = {AN AUTOMATIC MECHANICAL SYSTEM FOR HYDROPONICS FODDER PRODUCTION},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {47},
	Pages = {63--71},
	Year = {2015}
}

@article{romenia_roque_2015, 
	Author = {Roque, F. and Gon\c{c}alves, P.J.S. and Torres, P.M.B. },
	Title = {ADBS - Automation Data Base Systems},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {47},
	Pages = {57--62},
	Year = {2015}
}

@Book{pedro_livro_2015, 
	Author = {Torres, P.M.B.},
	Title = {Ultrasound Based Navigation and Control for Orthopaedic Robot Surgery - A Practical Approach},
	Publisher = {LAP LAMBERT Academic Publishing},
	Address = {Germany},
 	Month = {May},
	Year = {2015},
        URL = {https://www.lap-publishing.com/catalog/details/store/ru/book/978-3-659-71218-0/ultrasound-based-navigation-and-control-for-orthopaedic-robot-surgery?search=Ultrasound%20Based%20Navigation%20and%20Control%20for%20Orthopaedic%20Robot%20Surgery},
}

@inbook{2015pedagogia_robot_escola, 
	Author = {Gon\c{c}alves, P.J.S. and Torres, P.M.B. and Rodolfo A. A. Farinha },
	Title = {Inova\c{c}\~{a}o Did\'{a}tica no Ensino Superior atrav\'{e}s do Projeto ROBOT@ESCOLA - Escola de Rob\'{o}tica},
	BookTitle = {EXPERI\^{E}NCIAS DE INOVA\c{C}\~{A}O DID\'{A}TICA NO ENSINO SUPERIOR},
	editor = {Ant\'{o}nio Ferrari, Carlos A.V. Costa, Fernando Remi\~{a}o, Maria Am\'{e}lia Ferreira, Rita Cadima},
	Pages = {181--191},
	Publisher = {Minist\'{e}rio da Educa\c{c}\~{a}o e Ci\^{e}ncia},
	Year = {2015},
        isbn ={978-972-729-087-1},
        URL={ http://hdl.handle.net/10400.11/5484}
}

@InCollection{paulo_rita_2014,
   year={2014},
   isbn={978-3-319-05581-7},
   booktitle={Robot Intelligence Technology and Applications 2},
   volume={274},
   series={Advances in Intelligent Systems and Computing},
   editor={Kim, Jong-Hwan and Matson, Eric T . and Myung, Hyun and Xu, Peter and Karray, Fakhri},
   doi={10.1007/978-3-319-05582-4_22},
   title={A Survey on Biomedical Knowledge Representation for Robotic Orthopaedic Surgery},
   url = {http://www.est.ipcb.pt/laboratorios/robotica/papers/paulo_rita_2013.pdf},
   publisher={Springer International Publishing},
   keywords={Knowledge Representation; Ontologies; Robotics; Surgery},
   author={Gon\c{c}alves, Paulo J.S. and Torres, Pedro M.B.},
   pages={259-268},
}

@article{romenia_web_robots_2014, 
	Author = {Gon\c{c}alves, P.J.S. and Santos, F.M.S. and Torres, P.M.B.},
	Title = {Low-Cost Robots for the Web},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	Number = {45},
	Pages = {84--88},
	Year = {2014}
}

@article{romenia_kika_2014, 
	Author = {Torres, P.M.B. and Gon\c{c}alves, P.J.S. },
	Title = {Robotic Platform for Autonomous DrivingCompetition using ROS},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {45},
	Pages = {114--119},
	Year = {2014}
}

@INPROCEEDINGS{nabic_2014, 
author={Gon\c{c}alves, P.J.S. and Santos, F.M.S. and Torres, P.M.B.}, 
booktitle={Nature and Biologically Inspired Computing (NaBIC), 2014 Sixth World Congress on}, 
title={Towards a low-cost framework for Intelligent Robots}, 
year={2014}, 
month={July}, 
pages={244-249}, 
abstract={Intelligent Robots can take advantage of a distributed, web-based information system deployed in the cloud to perform high level tasks. This paper proposes a robotic control framework suited to be used by low-cost robots, performing teloperated and/or autonomous tasks. The first part is dedicated to the development of an Android based robot control framework. This framework connects to specific low-level controllers that were developed for multicopters, wheeled/tracked mobile robots. The second part is dedicated to “place” the Android based robot in the cloud. There, the robot can perform Cloud based highly automated cognitive tasks in order to optimize their use and take best advantage of previous knowledge models, e.g., objects databases or 3D world models. Also, the robot can be controlled remotely using a classical teleoperation mode, using wifi networks. First experiments are presented when a tracked robot is performing surveillance tasks, while its state can be changed to teleoperation/videoconferencing mode, while interacting with a reasoning engine in the Cloud.}, 
keywords={Bluetooth;Databases;Europe;IEEE 802.11 Standards;Robot sensing systems;Three-dimensional displays;Cloud Robotics;Human-Computer Interaction;Intelligent Robots;Intelligent Systems;Knowledge Technologies}, 
doi={10.1109/NaBIC.2014.6921886},}

@Book{ws_ora_iros_2014, 
	Author = {Gon\c{c}alves, P.J.S. and Schlenoff, C. and Prestes, E. and Haidegger, T.},
	Title = {Proceedings of the 1st Standardized Knowledge Representation and Ontologies for Robotics and Automation, Workshop},
	Publisher = {Polytechnic Institute of Castelo Branco},
	Address = {Castelo Branco},
 	Month = {September},
	Year = {2014},
        URL = {http://hdl.handle.net/10400.11/2815},
}

@INPROCEEDINGS{pauloIROS2014, 
author={Gon\c{c}alves, P.J.S.}, 
booktitle={Proceedings of the Standardized Knowledge Representation and Ontologies for Robotics and Automation, Workshop}, 
title={An Ontology for Orthopedic Surgery}, 
year={2014}, 
month={September}, 
pages={16-17}, 
URL = {http://www.est.ipcb.pt/laboratorios/robotica/iros-ora/lib/exe/fetch.php?media=6_pauloiros2014.pdf},
}

@INPROCEEDINGS{isel_2014, 
author={Gon\c{c}alves, P.J.S.}, 
booktitle={IEEE Computational Intelligence Portuguese Chapter Annual Workshop}, 
title={The Role of Ontologies in Medical Robotics}, 
year={2014}, 
month={November},
}

@inproceedings{paulo_sac_2013,
   author = {Gon\c{c}alves, P. J. S. and Torres, P. M. B. and Martins, J. M. M.},
   title = {Towards a software tool for ultrasound guided robotic hip resurfacing surgery},
   booktitle = {Proceedings of the 28th Annual ACM Symposium on Applied Computing},
    series = {SAC '13},
   year = {2013},
   isbn = {978-1-4503-1656-9},
   location = {Coimbra, Portugal},
   pages = {232--234},
   numpages = {3},
   url = {http://doi.acm.org/10.1145/2480362.2480412},
   doi = {10.1145/2480362.2480412},
   acmid = {2480412},
   publisher = {ACM},
   address = {New York, NY, USA},
   keywords = {medical imaging, robotic surgery, software tool},
}

@inbook{clap_igi_2013,
   year={2013},
   isbn={978-1-4666-3992-8},
   booktitle={Handbook of Research on ICTs and Management Systems for Improving Efficiency in Healthcare and Social Care},
   volume={1},
   editor={Cruz-Cunha, M. and Miranda, I. and Gon\c{c}alves, P. },
   doi={10.4018/978-1-4666-3990-4.ch031},
   title={Image Based Classification Platform: Application to Breast Cancer Diagnosis},
   url={http://www.igi-global.com/chapter/image-based-classification-platform/78045},
   publisher={IGI Global},
   author={Gon\c{c}alves, P.J.S. and Almeida, R.J. and Caldas Pinto, J.R. and Vieira, S.M. and Sousa, J.M.C.},
   pages={595-613},
   language={English}}

@inbook{clap_springer_2013,
   year={2013},
   isbn={978-94-007-4721-0},
   booktitle={Computational Intelligence and Decision Making},
   volume={61},
   series={Intelligent Systems, Control and Automation: Science and Engineering},
   editor={Madureira, Ana and Reis, Cecilia and Marques, Viriato},
   doi={10.1007/978-94-007-4722-7_22},
   title={The Classification Platform Applied to Mammographic Images},
   url={http://dx.doi.org/10.1007/978-94-007-4722-7_22},
   publisher={Springer Netherlands},
   author={Gon\c{c}alves, P.J.S.},
   pages={239-248},
   language={English}}

@inbook{kika_springer_2013,
   year={2013}, 
   isbn={978-94-007-4721-0},
   booktitle={Computational Intelligence and Decision Making},
   volume={61},
   series={Intelligent Systems, Control and Automation: Science and Engineering},
   editor={Madureira, Ana and Reis, Cecilia and Marques, Viriato},
   doi={10.1007/978-94-007-4722-7_6},
   title={Evolving Fuzzy Uncalibrated Visual Servoing for Mobile Robots},
   url={http://dx.doi.org/10.1007/978-94-007-4722-7_6},
   publisher={Springer Netherlands},
   author={Gon\c{c}alves, P.J.S. and Lopes, P.J.F. and Torres, P.M.B. and Sequeira, J.M.R.},
   pages={57-68},
   language={English}
}

@INPROCEEDINGS{paulo_robotica_2013,
author={Gon\c{c}alves, P.J.S. and Torres, P.M.B. and Santos, F. and Antonio, R. and Catarino, N. and Martins, J.M.M.},
booktitle={Autonomous Robot Systems (Robotica), 2013 13th International Conference on},
title={On the development and simulation of a robotic ultrasound guided system for orthopedic surgical procedures},
year={2013},
pages={1-6},
abstract={Surgical navigation is a crucial concept in computer assisted surgery. The use of robots in the surgery room largely benefits from this concept recent developments, namely with the use of non-invasive and radiation free imaging systems, like ultrasound (US). This paper presents the algorithms and software tools developed for US based orthopedic surgery navigation. In the second part of the paper are presented the algorithms and software tools developed for controlling a robotic manipulator, that can be used both in simulation and in a real scenario. The paper also presents the developed simulation scenario, for a surgical procedure in Hip Resurfacing, e.g., the first drill of the femur head. For navigation, the system, during surgery, acquires a 3D US bone surface from a sequence of US images. This bone surface will then be registered to the pre-operative bone model, for a precise knowledge of the bone position and orientation. The measured bone movement is used by the simulation tool to control the robot manipulator drilling trajectory.},
keywords={Bones;Image segmentation;Navigation;Robot kinematics;Surgery;Three-dimensional displays},
doi={10.1109/Robotica.2013.6623525},}

@article{prestes_ras_2013,
   title={Towards a core ontology for robotics and automation},
   author={Edson Prestes and Joel Luis Carbonera and Sandro Rama Fiorini and Vitor A.M. Jorge and Mara Abel and Raj Madhavan and Angela Locoro and Gon{\c{c}}alves, P.J.S. and Marcos E. Barreto and Maki Habib and Abdelghani Chibani and S\'{e}bastien G\'{e}rard and Yacine Amirat and Craig Schlenoff},
   journal={Robotics and Autonomous Systems},
   volume={61},
   number = "11",
   pages={1193--1204},
   doi={10.1016/j.robot.2013.04.005},
   url={http://dx.doi.org/10.1016/j.robot.2013.04.005},
   year={2013}}

@article{Haidegger2013,
title = "Applied ontologies and standards for service robots ",
journal = "Robotics and Autonomous Systems ",
volume = "61",
number = "11",
pages = "1215--1223",
year = "2013",
doi = "10.1016/j.robot.2013.05.008",
url = "http://dx.doi.org/10.1016/j.robot.2013.05.008",
author = "Tam\'{a}s Haidegger and Marcos Barreto and P.J.S. Gon\c{c}alves and Maki K. Habib and Veera Ragavan and Howard Li and Alberto Vaccarella and Roberta Perrone and Edson Prestes",
}

@article{torres2013robiho,
   title={ROBIHO--A Robot Companion for Elderly People's Homes},
   author={Torres, P. and Gon{\c{c}}alves, P.J.S. and Lopes, P.},
   journal={Applied Mechanics and Materials},
   volume={282},
   pages={158--161},
   doi={10.4028/www.scientific.net/AMM.282.158},
   url={http://dx.doi.org/10.4028/www.scientific.net/AMM.282.158},
   year={2013}}

@InProceedings{hamlyn_paulo_2013, 
	Author = {Gon\c{c}alves, P.J.S.},
	Title = {Towards an Ontology for Orthopaedic Surgery, application to Hip Resurfacing},
	BookTitle = {Proceedings of the Hamlyn Symposium on Medical Robotics},
	Address = {London, UK},
 	Month = {June},
	Year = {2013},
        isbn = {978-0-9563776-4-7},
	Pages = {61--62},
        URL = {http://www.est.ipcb.pt/laboratorios/robotica/papers/hamlyn2013_paulo.pdf},   
}

@InProceedings{icra_paulo_2013, 
        author = {Gon\c{c}alves, P. J. S. and Torres, P. M. B. and Santos F. and Ant\'{o}nio R. and Catarino N. and Martins, J. M. M.},
	Title = {US Guided Robot for Orthopedics, Registration Issues},
	BookTitle = {Proceedings of the ICRA 2013 workshop on Evaluating effectiveness and acceptance of robots in surgery: user centered design and economic factors},
	Address = {Karlsruhe, Germany},
 	Month = {May},
	Year = {2013},
 
}

@INPROCEEDINGS{tamas_rose_2013,
    author = {Tam\'as Haidegger and Marcos Barreto and P.J.S. Gon\c{c}alves and Maki K. Habib and S. Veera Ragavan and Howard Li and Alberto Vaccarella and Roberta Perrone and Edson Prestes},
    title = {Robot Ontologies for Sensor- and Image-Guided Surgery},
    booktitle = {ROSE 2013 - 2013 IEEE International Symposium on Robotic and Sensors Environments, Proceedings},
    year = {2013},
    Month = {October},
    doi={10.1109/ROSE.2013.6698412},
    volume = {},
    Address = {Washington DC, USA},
    pages = "19--24"
}

@INPROCEEDINGS{prestes_iros_2013,
    author = {Joel  Carbonera and Sandro  Fiorini and Edson Prestes and Vitor A. M. Jorge and Mara Abel and Raj Madhavan and Angela Locoro and P.J.S. Gon\c{c}alves and Tam\'as Haidegger and Marcos E. Barreto and Craig Schlenoff},
    title = {Defining Positioning in a Core Ontology for Robotics},
    booktitle = {Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2013},
    volume = {},
    pages = "1867- 1872",
    Address = {Tokyo, Japan},
    Month = {November},
}

@INPROCEEDINGS{pedro_biorob_2012,
author={Torres, P.M.B. and Sanches, J.M. and Goncalves, P.J.S. and Martins, J.M.M.},
booktitle={Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS EMBS International Conference on},
title={3D femur reconstruction using a robotized ultrasound probe},
year={2012},
pages={884-888},
abstract={Three-dimensional reconstruction of images is a fundamental procedure in medical imaging because it allows to build virtual models of anatomical units of the human body, useful in several areas, such as in surgical navigation. This paper presents a non freehand Ultrasound acquisition system for human femur reconstruction where the probe displacement and position are accurately controlled by an anthropomorphic arm robot. The aim of this system is to acquire a sequence of 2D parallel cross-sections evenly spaced along the displacement direction in order to perform an accurate 3D reconstruction of the femur to be used in the scope of computer-assisted orthopedic surgery. Here, the system is described as well as the image processing and calibration procedures implemented. Results with real data are presented to illustrate the operation of the system.},
keywords={biomedical ultrasonics;control engineering computing;data acquisition;image reconstruction;image sequences;manipulators;medical image processing;medical robotics;orthopaedics;robot vision;solid modelling;surgery;virtual reality;2D parallel cross-section sequence;3D femur image reconstruction;anthropomorphic arm robot;calibration procedures;computer-assisted orthopedic surgery;image processing;medical imaging;nonfreehand ultrasound acquisition system;probe displacement;robotized ultrasound probe;surgical navigation;virtual models;Biomedical imaging;Bones;Image segmentation;Probes;Robot kinematics;Ultrasonic imaging;3D surface reconstruction;Image-guided surgery;Robotics},
doi={10.1109/BioRob.2012.6290782},
ISSN={2155-1774},}

@INPROCEEDINGS{ora_iros_2012,
   author={Schlenoff, C. and Prestes, E. and Madhavan, R. and Gon\c{c}alves, P.J.S. and Li, H. and Balakirsky, S. and Kramer, T. and Miguelanez, E.},
   booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on}, title={An IEEE standard Ontology for Robotics and Automation},
   year={2012},
   pages={1337-1342},
   abstract={This article discusses a newly formed IEEE-RAS working group entitled Ontologies for Robotics and Automation (ORA). The goal of this working group is to develop a standard ontology and associated methodology for knowledge representation and reasoning in robotics and automation, together with the representation of concepts in an initial set of application domains. The standard provides a unified way of representing knowledge and provides a common set of terms and definitions, allowing for unambiguous knowledge transfer among any group of humans, robots, and other artificial systems. In addition to describing the goal and structure of the group, this article gives some examples of how the ontology, once developed, can be used by applications such as industrial kitting.},
keywords={inference mechanisms;knowledge management;ontologies (artificial intelligence);robots;IEEE standard ontology;IEEE-RAS working group;ORA;artificial systems;concepts representation;knowledge reasoning;knowledge representation;ontologies for robotics and automation;unambiguous knowledge transfer;Automation;Ontologies;Robot kinematics;Service robots;Standards},
   doi={10.1109/IROS.2012.6385518},
   ISSN={2153-0858},}

@inproceedings{ubicomp_2012,
   author = {Haidegger, Tam\'{a}s and Barreto, Marcos E. and Gon\c{c}alves, Paulo J. S. and Habib, Maki and Ragavan, Veera and Schlenoff, Craig and Vaccarella, Alberto and Prestes, Edson},
   title = {Nesting the context for pervasive robotics},
   booktitle = {UbiComp '12: Proceedings of the 2012 ACM Conference on Ubiquitous Computing},
   year = {2012},
   isbn = {978-1-4503-1224-0},
   pages = {826--833},
   location = {Pittsburgh, Pennsylvania},
   doi = {http://doi.acm.org/10.1145/2370216.2370406},
   publisher = {ACM},
   address = {New York, NY, USA},
 }

@inproceedings{recpad_pedro_2012,
   author = { Pedro M. B. Torres and J. Miguel Sanches and Gon\c{c}alves, Paulo J. S. and Jorge M. M. Martins},
   title = {Robotic 3D Ultrasound},
   booktitle = {RECPAD 2012: Proceedings of 18th edition of the Portuguese Conference on Pattern Recognition},
   year = {2012},
   location = {Coimbra, Portugal},
   URL = {http://www.est.ipcb.pt/laboratorios/robotica/papers/recpad2012_pedro.pdf},   
}

@inproceedings{recpad_ruben_2012,
   author = { Ruben Ant\'{o}nio and Gon\c{c}alves, Paulo J. S. and P.M.B. Torres},
   title = {Simulation of Ultrasound Guided Robotic Surgery with MORSE},
   booktitle = {RECPAD 2012: Proceedings of 18th edition of the Portuguese Conference on Pattern Recognition},
   year = {2012},
   location = {Coimbra, Portugal},
   URL = {http://www.est.ipcb.pt/laboratorios/robotica/papers/recpad2012_ruben.pdf},   
}

@inproceedings{recpad_fabio_2012,
   author = { F\'{a}bio Santos and Gon\c{c}alves, Paulo J. S. and P.M.B. Torres},
   title = {3D Point Cloud Registration of the Femoral Bone, using the Point Cloud Library},
   booktitle = {RECPAD 2012: Proceedings of 18th edition of the Portuguese Conference on Pattern Recognition},
   year = {2012},
   location = {Coimbra, Portugal},
   URL = {http://www.est.ipcb.pt/laboratorios/robotica/papers/recpad2012_fabio.pdf},   
}

@inproceedings{recpad_catarino_2012,
   author = { Nuno M. M. Catarino and Gon\c{c}alves, Paulo J. S. and P.M.B. Torres},
   title = {Bone Contour Segmentation from US Images -- A Comparative Study},
   booktitle = {RECPAD 2012: Proceedings of 18th edition of the Portuguese Conference on Pattern Recognition},
   year = {2012},
   location = {Coimbra, Portugal},
   URL = {http://www.est.ipcb.pt/laboratorios/robotica/papers/recpad2012_catarino.pdf},   
 }

@article{romenia_ekg_2012, 
	Author = {Gon\c{c}alves, P.J.S. and Torres, P.M.B. and PMSC Coelho},
	Title = {EKG Feature Extraction and Classification for Myocardial Infarction Diagnosis},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {41},
	Pages = {7--12},
	Year = {2012}
}

@article{romenia_ekg_2012, 
	Author = { Torres, P.M.B. and  Gon\c{c}alves, P.J.S. and Martins, J.M.M.},
	Title = {3D Reconstruction and Visualization of Femur Bone Structures},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {41},
	Pages = {51--56},
	Year = {2012}
}

@inbook{2012nova, 
	Author = {Gon\c{c}alves, P.J.S. and Torres, P.M.B.},
	Title = {Visual Control of Robotic Manipulators: Fundamentals},
	BookTitle = {Robotics: State of the Art and Future Trends},
	editor = {Legnani, G. and Fassi, I.},
	Pages = {211--237},
	Publisher = {Nova Science Publishers},
        URL={https://www.novapublishers.com/catalog/product_info.php?products_id=29015&osCsid=610038e28ef165b2ce19d65b8a6251f3},
        isbn={978-1-62100-478-3},
	Year = {2012}
}

@article{romenia_US_2011, 
	Author = {Torres, P.M.B. and Gon\c{c}alves, P.J.S. and Martins, J.M.M.},
	Title = {Robot Calibration for Precise Ultrasound Image Acquisition},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {40},
	Pages = {129--134},
	Year = {2011}
}

@article{rob\'{o}tica_ipcb_2011, 
	Author = {Gon\c{c}alves, P.J.S.},
	Title = {Rob\'{o}tica, uma vis\~{a}o para o futuro},
	Journal = {Revista do Instituto Polit\'{e}cnico de Castelo Branco},
	Number = {2},
	Pages = {12--18},
	Month = {November},
	Year = {2011}
}

@InProceedings{eurosis_rula_2011, 
	Author = {Gon\c{c}alves, P.J.S. and Fernandes, N.O.G.},
	Title = {A Semi-Automatic System for Posture Risk Assessment},
	BookTitle = {Proceedings of EUROMEDIA 2011, 16th Scientific Conference on Web Technology, New Media, Communications, and Telematics Theory, Methods, Tools and Applications},
	Pages = {64--69},
	Publisher = {EUROSIS},
	Address = {London, UK},
 	Month = {April},
	Year = {2011}
}

@InProceedings{eurosis_registration_2011, 
	Author = {Torres, P.M.B. and Gon\c{c}alves, P.J.S. and Martins, J.M.M.},
	Title = {3D Surface Registration of Ultrasound to CT Bone Images},
	BookTitle = {Proceedings of EUROMEDIA 2011, 16th Scientific Conference on Web Technology, New Media, Communications, and Telematics Theory, Methods, Tools and Applications},
	Pages = {70--75},
	Publisher = {EUROSIS},
	Address = {London, UK},
 	Month = {April},
	Year = {2011}
}

@InProceedings{vipimage_registration_2011, 
	Author = {Torres, P.M.B. and Gon\c{c}alves, P.J.S. and Martins, J.M.M.},
	Title = {Bone Registration using a Robotic Ultrasound Probe},
	BookTitle = {Proceedings of VIPIMAGE 2011, 3rd ECCOMAS Thematic Conference on Computational Vision and Medical Image Processing},
	Pages = {79--83},
	Publisher = {CRC Press},
	Address = {Algarve, Portugal},
 	Month = {October},
	Year = {2011}
}

@InProceedings{epia_kika_sugeno_2011, 
	Author = {Gon\c{c}alves, P.J.S. and Lopes, P. and Torres, P.M.B. and Sequeira, J.M.R.},
	Title = {Fuzzy Visual Servo Control applied to Autonomous Driving},
	BookTitle = {Proceedings of the 5th International Thematic Track on Intelligent Robotics, of the 15th Portuguese Conference on Artificial Intelligence},
	Pages = {440--452},
	Address = {Lisbon, Portugal},
 	Month = {October},
	Year = {2011}
}

@InProceedings{iscies_kika_evolving_2011, 
	Author = {Gon\c{c}alves, P.J.S. and Torres, P.M.B. and Lopes, P. and Sequeira, J.M.R.},
	Title = {Evolving Fuzzy Uncalibrated Visual Servoing for Mobile Robots},
	BookTitle = {Proceedings of the 2nd International Symposium on Computational Intelligence for Engineering Systems},
	Address = {Coimbra, Portugal},
 	Month = {November},
	Year = {2011}
}

@InProceedings{iscies_clap_mammo_wavelets_2011, 
	Author = {Gon\c{c}alves, P.J.S.},
	Title = {The CLAssification Platform applied to Mammographic Images},
	BookTitle = {Proceedings of the 2nd International Symposium on Computational Intelligence for Engineering Systems},
	Address = {Coimbra, Portugal},
 	Month = {November},
	Year = {2011}
}

@InProceedings{cognitive10, 
	Author = {Gon\c{c}alves, P.J.S. and Torres, P.M.B.},
	Title = {Learning Approaches to Visual Control of Robotic Manipulators},
	BookTitle = {Proc. of Cognitive 2010 - 2nd International Conference on Advanced Cognitive Technologies and Applications},
	Address = {Lisbon, Portugal},
 	Month = {November},
	Year = {2010}
}

@InProceedings{recpad_contour_2010, 
	Author = {Gon\c{c}alves, P.J.S. and M.B. Torres, P.},
	Title = {Femur Contour Extraction using Energetic and Probabilistic Models},
	BookTitle = {Proceedings of RECPAD 2010, 16th Portuguese Conference on Pattern Recognition},
	Address = {Vila Real, Portugal},
 	Month = {October},
	Year = {2010}
}

@InProceedings{recpad_icp_register_2010, 
	Author = {Gon\c{c}alves, P.J.S. and M.B. Torres, P.},
	Title = {The ICP Method Applied to Register US Images to 3D Bone Models},
	BookTitle = {Proceedings of RECPAD 2010, 16th Portuguese Conference on Pattern Recognition},
	Address = {Vila Real, Portugal},
 	Month = {October},
	Year = {2010}
}

@InProceedings{tracking_tmsi_10, 
	Author = {Gon\c{c}alves, P.J.S. and Gon\c{c}alves, A.M.D.},
	Title = {Visual Tracking of Surgical Instruments, application to Laparoscopy},
	BookTitle = {Proc. of 6th International Conference on Technology and Medical Sciences},
	Address = {Porto, Portugal},
 	Month = {October},
	Year = {2010}
}

@InProceedings{registo_tmsi_10, 
	Author = {Gon\c{c}alves, P.J.S. and Torres, P.M.B.},
	Title = {Registration of Bone Ultrasound Images to CT Based 3D Bone Models},
	BookTitle = {Proc. of 6th International Conference on Technology and Medical Sciences},
	Address = {Porto, Portugal},
 	Month = {October},
	Year = {2010}
}

@InProceedings{uncalibrated_stereo_10, 
	Author = {Torres, P.M.B. and Gon\c{c}alves, P.J.S. and Pinto, J.R.C.},
	Title = {Uncalibrated Stereo Visual Servo Control Using Fuzzy Models},
	BookTitle = {Proc. of Controlo' 2010, 9th Portuguese Conference on Automatic Control},
	Address = {Coimbra, Portugal},
 	Month = {September},
	Year = {2010}
}

@article{romenia_US_2010, 
	Author = {Gon\c{c}alves, P.J.S. and Torres, P.M.B.},
	Title = {Extracting Bone Contours in Ultrasound Images: Energetic versus Probabilistic Methods},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	volume = {37},
	Pages = {105--110},
	Year = {2010}
}

@article{romenia_RULA_2010, 
	Author = {Gon\c{c}alves, P.J.S. and Fernandes, N.O.G.},
	Title = {RULAMATIC - A Semi-Automatic Posture Recognition System for Rula Risk Evaluation Method},
	Journal = {Romanian Review Precision Mechanics, Optics & Mechatronics},
	Number = {37},
	Pages = {119--124},
	Year = {2010}
}

@InProceedings{morgado09, 
	Author = {Morgado, P.M.R. and Pinto, J.R.C. and M. M. Martins, J. and Gon\c{c}alves, P.J.S.},
	Title = {Cooperative Eye-in-hand/Stereo Eye-to-hand Visual Servoing},
	BookTitle = {Proc. of RecPad 2009 - 15th Portuguese Conference in Pattern Recognition},
	Address = {Aveiro, Portugal},
 	Year = {2009}
}

@article{risti_US_2009, 
	Author = {Gon\c{c}alves, P.J.S. and Carvalho, M.V. and Mateus, D.F.A. and P.M.B. Torres, and},
	Title = {Registo de Imagens Ecogr\'{a}ficas com Modelo 3D de Ossos, aplica\c{c}\~{o}o ao f\'{e}mur},
	Journal = {RISTI - Revista Ib\'{e}rica de Sistemas e Tecnologias de Informa\c{c}\~{a}o},
	Number = {4},
	Pages = {43--56},
	Year = {2009},
        URL = {http://www.est.ipcb.pt/laboratorios/robotica/papers/2009_risti.pdf},
}

@Book{rob\'{o}tica_2009, 
	Author = {Gon\c{c}alves, P.J.S. and Alves, C.M.O. and Torres, P.J.D.},
	Title = {Proceedings of the 9th International Conference on Autonomous Robot Systems and Competitions},
	Publisher = {Polytechnic Institute of Castelo Branco},
	Address = {Castelo Branco},
 	Month = {May},
	Year = {2009},
        URL = {http://hdl.handle.net/10400.11/2863},
}

@InProceedings{evolving_iscies_09, 
	Author = {Torres, P.M.B. and Gon\c{c}alves, P.J.S. and Pinto, J.R.C. and Sousa, J.M.C.},
	Title = {On Evolving Fuzzy Modeling for Visual Control of Robotic Manipulators},
	BookTitle = {Proc. of ISCIES09 - International Symposium on Computational Intelligence for Engineering Systems},
	Address = {Porto, Portugal},
 	Month = {November},
	Year = {2009}
}

@InProceedings{blanco_vipimage_09, 
	Author = {Blanco, F. and Gon\c{c}alves, P.J.S. and Martins, J.M.M. and Pinto, J.R.C.},
	Title = {Integration of a 3D Medical Visualization System and a Robotic System to Support Orthopaedic Surgery},
	BookTitle = {Proc. of VipIMAGE 2009 - Computational Vision and Medical Image Processing},
	Pages = {127--132},
	Address = {Porto, Portugal},
 	Month = {October},
	Year = {2009}
}

@InProceedings{evolving_ifsa_09, 
	Author = {Gon\c{c}alves, P.J.S. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {Evolving Inverse Fuzzy Models for Uncalibrated Visual Servoing},
	BookTitle = {Proceedings of the International Fuzzy Systems Association World Congress},
	Address = {Lisbon, Portugal},
 	Month = {July},
	Year = {2009}
}

@InProceedings{modela\c{c}\~{a}o_ubi_2009, 
	Author = {M.B. Torres, P. and Gon\c{c}alves, P.J.S.},
	Title = {Modela\c{c}\~{a}o Adaptativa Fuzzy para Controlo de Sistemas Din\^{a}micos},
	BookTitle = {Proceedings of Engenharia' 2009 Inova\c{c}\~{a}o & Desenvolvimento},
	Address = {Covilh\~{a}, Portugal},
 	Month = {},
	Year = {2009}
}

@InProceedings{kika_ubi_2009, 
	Author = {M.B. Torres, P. and Gon\c{c}alves, P.J.S. and Sim\~{o}es, R. and Santos, V. and Albardeiro, D. and Afonso, N.},
	Title = {KIKA - Keep it Intelligent and Keep it Autonomous},
	BookTitle = {Proceedings of Engenharia' 2009 Inova\c{c}\~{a}o & Desenvolvimento},
	Address = {Covilh\~{a}, Portugal},
 	Month = {},
	Year = {2009}
}

@InProceedings{osso_ubi_2009, 
	Author = {Gon\c{c}alves, P.J.S. and Carvalho, M.V. and Mateus, D.F.A. and Torres, P.M.B.},
	Title = {Modela\c{c}\~{a}o e Registo 3D de Ossos Utilizando Imagens de TC e Ultrasons},
	BookTitle = {Proceedings of Engenharia' 2009 Inova\c{c}\~{a}o & Desenvolvimento},
	Address = {Covilh\~{a}, Portugal},
 	Month = {},
	Year = {2009}
}

@ARTICLE{tfs_2008,
   author={Gon\c{c}alves, P.J.S. and Mendon\c{c}a, L.F. and Sousa, J. M C and Pinto, J.R.C.},
   journal={Fuzzy Systems, IEEE Transactions on}, title={Uncalibrated Eye-to-Hand Visual Servoing Using Inverse Fuzzy Models},
   year={2008},
   volume={16},
   number={2},
   pages={341-353},
   abstract={A new uncalibrated eye-to-hand visual servoing based on inverse fuzzy modeling is proposed in this paper. In classical visual servoing, the Jacobian plays a decisive role in the convergence of the controller, as its analytical model depends on the selected image features. This Jacobian must also be inverted online. Fuzzy modeling is applied to obtain an inverse model of the mapping between image feature variations and joint velocities. This approach is independent from the robot's kinematic model or camera calibration and also avoids the necessity of inverting the Jacobian online. An inverse model is identified for the robot workspace, using measurement data of a robotic manipulator. This inverse model is directly used as a controller. The inverse fuzzy control scheme is applied to a robotic manipulator performing visual servoing for random positioning in the robot workspace. The obtained experimental results show the effectiveness of the proposed control scheme. The fuzzy controller can position the robotic manipulator at any point in the workspace with better accuracy than the classic visual servoing approach.},
   keywords={fuzzy control;fuzzy set theory;manipulator kinematics;robot vision;visual servoing;camera calibration;image feature variations;inverse fuzzy control scheme;inverse fuzzy models;robot workspace;robotic manipulator;uncalibrated eye-to-hand visual servoing;Fuzzy modeling;inverse fuzzy control;robotic manipulators;visual servoing},
   doi={10.1109/TFUZZ.2007.896226},
   ISSN={1063-6706},
   URL={http://hdl.handle.net/10400.11/5485}
           }

@article{ac\'{u}stica_2008,
   title={3D noise map of an hospital and noise sources evaluation},
   author={Gon\c{c}alves, P.J.S},
   journal={The Journal of the Acoustical Society of America},
   volume={123},
   number={5},
   pages={3263--3263},
   year={2008},
   doi={10.1121/1.2933571},
   publisher={Acoustical Society of America}}

@inproceedings{iciar_2008,
   author = {Gon\c{c}alves, P. J. and Sousa, J. M. and Pinto, J. R.},
   title = {Evolving Fuzzy Modeling of an Uncalibrated Visual Servoing System},
   booktitle = {ICIAR '08: Proceedings of the 5th international conference on Image Analysis and Recognition},
   year = {2008},
   isbn = {978-3-540-69811-1},
   pages = {1041--1050},
   location = {P\'{o}voa de Varzim, Portugal},
   doi = {http://dx.doi.org/10.1007/978-3-540-69812-8_104},
   publisher = {Springer-Verlag},
   address = {Berlin, Heidelberg},
 }

@InProceedings{moises_euromedia_08, 
	Author = {Gon\c{c}alves, P.J.S. and J.M, Fernandes},
	Title = {Tools for an Ultrasound Based 3D Bone Model Reconstruction, Registration and Visualization System},
	BookTitle = {Proc. of Euromedia 2008, Workshop on Medical Imaging Systems},
	Address = {Porto, Portugal},
 	Month = {April},
	Year = {2008}
}

@InProceedings{ruido_ubi_2007, 
	Author = {Gon\c{c}alves, P.J.S. and Tina, N. and Carvalho, C.},
	Title = {Mapa de Ru\'{i}do 3D de Zona Urbana Sens\'{i}vel},
	BookTitle = {Proceedings of Engenharia' 2007 Inova\c{c}\~{a}o & Desenvolvimento},
	Address = {Covilh\~{a}, Portugal},
 	Month = {},
	Year = {2007}
}

@InProceedings{rave_2007, 
	Author = {Gon\c{c}alves, P.J.S. and Sequeira, J.M.R. and Dias, L.},
	Title = {Plataforma Experimental para o Ensino de Rob\'{o}tica, Automa\c{c}\~{a}o e Vis\~{a}o},
	BookTitle = {Proceedings of Engenharia' 2007 Inova\c{c}\~{a}o & Desenvolvimento},
	Address = {Covilh\~{a}, Portugal},
 	Month = {},
	Year = {2007}
}

@InProceedings{clap_recpad_2007, 
	Author = {Almeida, R.J. and Pinto, J.R.C. and S.M.Vieira,  and Sousa, J.M.C. and Gon\c{c}alves, P.J.S.},
	Title = {CLAP - Classification Package for use with Matlab},
	BookTitle = {Proc. of RecPad 2007 - 13a Confer\^{e}ncia Portuguesa de Reconhecimento de Padr\~{o}es},
	Address = {Lisbon, Portugal},
 	Month = {},
	Year = {2007}
}

@InProceedings{tecidos_recpad_2007, 
	Author = {Gon\c{c}alves, P.J.S. and Pinto, J.R.C. and Castilho, H. and Serafim, A.L.},
	Title = {Experiments with Intelligent Real-Time Fabric Defect Detection},
	BookTitle = {Proc. of RecPad 2007 - 13a Confer\^{e}ncia Portuguesa de Reconhecimento de Padr\~{o}es},
	Address = {Lisbon, Portugal},
 	Month = {},
	Year = {2007}
}

@InProceedings{modela\c{c}\~{a}o_recpad_2007, 
	Author = {Gon\c{c}alves, P.J.S. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {On-line and Off-line Modeling of Visual Servoing Systems},
	BookTitle = {Proc. of RecPad 2007 - 13a Confer\^{e}ncia Portuguesa de Reconhecimento de Padr\~{o}es},
	Address = {Lisbon, Portugal},
 	Month = {},
	Year = {2007}
}

@InCollection{iciar_2007, 
	Author = {Castilho, Hugo Peres and Gon\c{c}alves, P.J.S. and Pinto, J.R.C. and Serafim, Ant\'{o}nio Limas},
	Title = {Fuzzy Model Based Control Applied to Path Planning Visual Servoing},
	BookTitle = {Progress in Pattern Recognition, Image Analysis and Applications},
	Volume = {4633},
	Pages = {1297--1307},
        isbn = {3-540-74258-1, 978-3-540-74258-6},
        doi = {10.1007/978-3-540-74260-9_115},
   	Publisher = {Springer-Verlag Berlin Heidelberg},
	Year = {2007}
}

@inproceedings{iciar_2006,
   author = {Gon\c{c}alves, Paulo J. Sequeira and Paris, A. and Christo, C. and Sousa, J. M. C. and Pinto, J. R. Caldas},
   title = {Uncalibrated visual servoing in 3d workspace},
   booktitle = {ICIAR'06: Proceedings of the Third international conference on Image Analysis and Recognition},
   year = {2006},
   isbn = {3-540-44894-2, 978-3-540-44894-5},
   pages = {225--236},
   location = {P\'{o}voa de Varzim, Portugal},
   doi = {http://dx.doi.org/10.1007/11867661_21},
   publisher = {Springer-Verlag},
   address = {Berlin, Heidelberg},
   }

@InBook{springer2006, 
	Author = {Gon\c{c}alves, P.J.S. and Mendon\c{c}a, L.F. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {Fuzzy Model Based Control Applied to Image-Based Visual Servoing},
	BookTitle = {Informatics in Control, Automation and Robotics I},
	Pages = {253--260},
	Publisher = {Springer-Verlag Berlin Heidelberg},
	Year = {2006}
}

@InProceedings{cristo_controlo_06, 
	Author = {Gon\c{c}alves, P.J.S. and Paris, A. and Christo, C. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {A Comparison Between Image Features in Uncalibrated Fuzzy Visual Servoing},
	BookTitle = {Proceedings of the 7th Portuguese Conference on Automatic Control},
	Address = {Lisbon, Portugal},
 	Month = {September},
	Year = {2006}
}

@PhdThesis{phd_paulo_2005, 
	Author = {Gon\c{c}alves, P.J.S.},
	Title = {Controlo Visual de Rob\^{o}s Manipuladores (Visual Control of Robotic Manipulators)},
	School = {Universidade T\'{e}cnica de Lisboa, Instituto Superior T\'{e}cnico, Doutoramento em Engenharia Mec\^{a}nica (PhD Thesis)},
	Month = {April},
	Year = {2005},
        URL = {http://hdl.handle.net/10400.11/2765}
}

@InProceedings{movel_ubi_2005, 
	Author = {Gon\c{c}alves, P.J.S. and Correia, L.M.P.M.},
	Title = {Controlo em tempo-real, baseado em vis\~{a}o, de um rob\^{o} m\'{o}vel},
	BookTitle = {Proceedings of Engenharia' 2005 Inovaç\~{a}o & Desenvolvimento},
	Address = {Covilh\~{a}, Portugal},
 	Month = {},
	Year = {2005}
}

@InProceedings{visual_servoing_ubi_2005, 
	Author = {Gon\c{c}alves, P.J.S. and Pinto, J.R.C.},
	Title = {Abordagens ao Controlo Visual de Rob\^{o}s Manipuladores},
	BookTitle = {Proceedings of Engenharia' 2005 Inova\c{c}ão & Desenvolvimento},
	Address = {Covilh\~{a}, Portugal},
 	Month = {},
	Year = {2005}
}

@article{keramica_inspec\c{c}ao_2004, 
	Author = {Gon\c{c}alves, P.J.S. and Fernandes, N.O.G. and Fernandes, A.A.M.},
	Title = {Inspe\c{c}\~{a}o Visual Autom\'{a}tica em Produtos Cer\^{a}micos},
	Journal = {K\'{e}ramika},
	Number = {264},
	Pages = {91--96},
	Month = {January},
	Year = {2004},
        URL = {http://hdl.handle.net/10400.11/2742},
}

@InProceedings{polis_ac\'{u}stica_04, 
	Author = {Gon\c{c}alves, P.J.S. and Fernandes, N.O.G. and Fernandes, A.A.M.},
	Title = {Previs\~{a}o do N\'{i}vel de Ru\'{i}do Ambiental na Zona de Interven\c{c}\~{a}o do Programa Polis em Castelo Branco},
	BookTitle = {IV CONGRESSO IBERO-AMERICANO DE AC\'{U}STICA},
	Address = {Guimar\~{a}es, Portugal},
 	Month = {September},
	Year = {2004}
}

@InProceedings{icinco_04, 
	Author = {Gon\c{c}alves, P.J.S. and Mendon\c{c}a, L.F. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {Fuzzy Model Based Control Applied to Image-Based Visual Servoing},
	BookTitle = {Proceedings of the 1st International Conference on Informatics in Control, Automation and Robotics},
	Volume = {1},
	Pages = {143--150},
	Address = {Set\'{u}bal, Portugal},
 	Month = {September},
	Year = {2004}
}

@InProceedings{fuzzy_filters_path_04, 
	Author = {Gon\c{c}alves, P.J.S. and Mendon\c{c}a, L.F. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {Fuzzy Filters Applied to Path Planning Visual Servoing},
	BookTitle = {Proceedings of the 6th Portuguese Conference on Automatic Control},
	Volume = {2},
	Pages = {363--368},
	Address = {Faro, Portugal},
 	Month = {June},
	Year = {2004}
}

@InProceedings{dynamic_isr_04, 
	Author = {Gon\c{c}alves, P.J.S. and Pinto, J.R.C.},
	Title = {Dynamic Position-based Visual Servoing of Robotic Manipulators},
	BookTitle = {Proceedings of the 35th International Symposium on Robotics},
	Address = {Paris, France},
 	Month = {March},
	Year = {2004}
}

@InCollection{paulo_iciar2004, 
	Author = {Gon\c{c}alves, P.J.S. and Mendon\c{c}a, L.F. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {Image Recognition Applied to Robot Control Using Fuzzy Modeling},
	BookTitle = {Image Analysis and Recognition},
	Volume = {3211},
	Pages = {253--260},
	Publisher = {Springer-Verlag Berlin Heidelberg},
	Year = {2004}
}

@InCollection{paulo_ciarp2004, 
	Author = {Gon\c{c}alves, P.J.S. and Mendon\c{c}a, L.F. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {Fuzzy Model Based Control Applied to Path Planning Visual Servoing},
	BookTitle = {Progress in Pattern Recognition, Image Analysis and Applications},
	Volume = {3287},
	Pages = {224--231},
	Publisher = {Springer-Verlag Berlin Heidelberg},
	Year = {2004}
}

@InProceedings{Sequeira_Gon\c{c}alves2004, 
	Author = {Gon\c{c}alves, P.J.S. and Mendon\c{c}a, L.F. and Sousa, J.M.C. and Pinto, J.R.C.},
	Title = {Improving Visual Servoing Using Fuzzy Filters},
	BookTitle = {Proceedings of the IEEE International Conference on Fuzzy Systems},
	Pages = {1185--1190},
	Address = {Budapest, Hungary},
 	Year = {2004}
}

@InProceedings{inspec\c{c}ao_ceramica_2003, 
	Author = {Gon\c{c}alves, P.J.S. and Fernandes, N.O.G. and Fernandes, A.A.M.},
	Title = {Sistema Autom\'{a}tico para Inspe\c{c}\~{a}o Visual de Defeitos em Produtos Cer\^{a}micos},
	BookTitle = {3as Jornadas Polit\'{e}cnicas de Engenharia},
	Address = {Coimbra, Portugal},
 	Month = {},
	Year = {2003}
}

@InProceedings{cond_ergonomicas_2003, 
	Author = {Sousa, M. and S.Leit\~{a}o,  and Pinto, R. and Gon\c{c}alves, P.J.S. and Fernandes, N.O.G. and Fernandes, A.A.M.},
	Title = {Condi\c{c}\~{o}es Ergon\'{o}micas dos Postos de Trabalho de Inspec\c{c}\~{a}o na Ind\'{u}stria Cer\^{a}mica},
	BookTitle = {3as Jornadas Polit\'{e}cnicas de Engenharia},
	Address = {Coimbra, Portugal},
 	Month = {},
	Year = {2003}
}

@InProceedings{polis_2003, 
	Author = {Fernandes, N.O.G. and Fernandes, A.A.M. and Gon\c{c}alves, P.J.S.},
	Title = {Avalia\c{c}\~{a}o do Impacte Ambiental na Componente Ac\'{u}stica na Zona de Interven\c{c}\~{a}o do Programa Polis de Castelo Branco},
	BookTitle = {3as Jornadas Polit\'{e}cnicas de Engenharia},
	Address = {Coimbra, Portugal},
 	Month = {},
	Year = {2003}
}

@InProceedings{Sequeira_Gon\c{c}alves2003, 
	Author = {Gon\c{c}alves, P.J.S. and Pinto, J.R.C.},
	Title = {Camera configurations of a visual servoing setup, for a 2 dof planar robot},
	BookTitle = {Proceedings of the 7th International IFAC Symposium on Robot Control},
	Pages = {181--187},
	Address = {Wroclaw, Poland},
 	Month = {September},
	Year = {2003}
}

@InProceedings{Sequeira_Gon\c{c}alves2003_etfa_testbed, 
	Author = {Gon\c{c}alves, P.J.S. and Pinto, J.R.C.},
	Title = {An Experimental Testbed for Visual Servo Control of Robotic Manipulators},
	BookTitle = {Proceedings of the IEEE Conference on Emerging Technologies and Factory Automation},
	Volume = {2},
	Pages = {377--382},
	Address = {Lisbon, Portugal},
 	Year = {2003}
}

@InProceedings{Sequeira_Gon\c{c}alves2003_etfa_din\^{a}mico, 
	Author = {Gon\c{c}alves, P.J.S. and Pinto, J.R.C.},
	Title = {Dynamic Visual Servoing of Robotic Manipulators},
	BookTitle = {Proceedings of the IEEE Conference on Emerging Technologies and Factory Automation},
	Volume = {2},
	Pages = {560--565},
	Address = {Lisbon, Portugal},
 	Month = {September},
	Year = {2003}
}

@article{keramica_inspec\c{c}ao_2003, 
	Author = {Fernandes, N.O.G. and Fernandes, A.A.M. and Gon\c{c}alves, P.J.S.},
	Title = {Caracteriza\c{c}\"{a}o do Ambiente F\'{i}sico na Ind\'{u}stria de Cer\^{a}mica Estrutural da Beira Interior},
	Journal = {K\'{e}ramika},
	Volume = {XXIX},
	Number = {262},
	Pages = {97--102},
	Month = {},
	Year = {2003},
        URL = {http://hdl.handle.net/10400.11/2757},
}

@InProceedings{spie_tecidos_2002, 
	Author = {Gon\c{c}alves, P.J.S. and Furtado, H. and Gon\c{c}alves, M. and Morato, J.},
	Title = {Automatic Fabric Inspection by Machine-Vision, Applying Simple Algorithms},
	BookTitle = {IST/SPIE 14th Symposium - Photonics West - Electronic Imaging Science and Technology - Machine Vision Applications in Industrial Inspection X},
	Volume = {4644},
	Pages = {198--206},
	Address = {San Jose, U.S.A},
 	Month = {January},
	Year = {2002}
}

@InProceedings{Sequeira_Goncalves2002_MED, 
	Author = {Gon\c{c}alves, P.J.S. and Ferreira, P. and Pinto, P. and Oliveira, A. and Brito, G. and Pina, L. and Pinto, J.R.C.},
	Title = {Comparing Visual Servoing Architectures for a Planar Robot},
	BookTitle = {Proceedings of the 10th Mediterranean Conference on Control and Automation},
	Address = {Lisbon, Portugal},
 	Month = {July},
	Year = {2002}
}

@InProceedings{jardim_paulo_2002, 
	Author = {Jardim, S. and Gon\c{c}alves, P.J.S.},
	Title = {Multimedia Image Processing Educational Tool},
	BookTitle = {Proceedings of the 1st International Conference on Information and Comunication Technologies in Education},
	Pages = {1330--1334},
	Address = {Badajoz, Spain},
 	Month = {November},
	Year = {2002}
}

@InProceedings{hybrid_vs_2002, 
	Author = {Gon\c{c}alves, P.J.S. and Pinto, J.R.C.},
	Title = {2,5 D Visual Servoing applied to a Planar Robot},
	BookTitle = {Proceedings of the 5th Portuguese Conference on Control},
	Pages = {183--188},
	Address = {Aveiro, Portugal},
 	Month = {September},
	Year = {2002}
}

@InProceedings{manutencao_textil_2002, 
	Author = {Alves, T. and Gon\c{c}alves, M. and Baltazar, J. and Gon\c{c}alves, P.J.S.},
	Title = {Estudo e An\'{a}lise de Equipamentos Electromec\^{a}nicos da Ind\'{u}stria T\^{e}xtil},
	BookTitle = {2as Jornadas Polit\'{e}cnicas de Engenharia},
	Address = {Set\'{u}bal, Portugal},
 	Month = {},
	Year = {2002}
}

@InProceedings{ensino_imagem_2002, 
	Author = {Jardim, S. and Gon\c{c}alves, P.J.S.},
	Title = {Aplica\c{c}\~{a}o Inform\'{a}tica para o Ensino de Processamento Digital de Imagem},
	BookTitle = {Confer\^{e}ncia Científica e Tecnol\'{o}gica em Engenharia},
	Address = {Lisboa, Portugal},
 	Month = {},
	Year = {2002}
}

@InProceedings{tapete_rolante_2001, 
	Author = {Vieira, N. and Silva, J. and Fernandes, J. and Gon\c{c}alves, P.J.S.},
	Title = {Controlo Visual de um Tapete-rolante},
	BookTitle = {1as Jornadas Polit\'{e}cnicas de Engenharia},
	Address = {Leiria, Portugal},
 	Month = {},
	Year = {2001}
}

@InProceedings{ergonomia_textil_2001, 
	Author = {Furtado, H. and Gon\c{c}alves, M. and Fernandes, N.O.G. and Gon\c{c}alves, P.J.S.},
	Title = {Estudo dos Postos de Trabalho de Inspec\c{c}\~{a}o de Defeitos na Ind\'{u}stria T\^{e}xtil},
	BookTitle = {1as Jornadas Polit\'{e}cnicas de Engenharia},
	Address = {Leiria, Portugal},
 	Month = {},
	Year = {2001}
}

@InProceedings{inspecao_textil_2001, 
	Author = {Furtado, H. and Gon\c{c}alves, M. and Morato, J. and Gon\c{c}alves, P.J.S.},
	Title = {Sistema Autom\'{a}tico para Inspec\c{c}\~{a}o Visual de Defeitos em Tecidos},
	BookTitle = {1as Jornadas Polit\'{e}cnicas de Engenharia},
	Address = {Leiria, Portugal},
 	Month = {},
	Year = {2001}
}

@InProceedings{caixilharia_2001, 
	Author = {Pereira, H. and Gon\c{c}alves, P.J.S.},
	Title = {Implementa\c{c}\~{a}o de um Sistema de Prepara\c{c}\~{a}o de Obras para a Ind\'{u}stria de Caixilharia em Alum\'{i}nio},
	BookTitle = {1as Jornadas Polit\'{e}cnicas de Engenharia},
	Address = {Leiria, Portugal},
 	Month = {},
	Year = {2001}
}

@InProceedings{ecc_vs_2001, 
	Author = {Gon\c{c}alves, P.J.S.},
	Title = {Kinematic and Dynamic 2D Visual Servoing},
	BookTitle = {Student Forum of ECC2001 - European Control Conference},
	Address = {Porto, Portugal},
 	Month = {September},
	Year = {2001}
}

@InProceedings{vs_robotica_2001, 
	Author = {Gon\c{c}alves, P.J.S. and Pinto, J.R.C.},
	Title = {Experiments on 2D Visual Servoing of a 2 dof Planar Robot Manipulator},
	BookTitle = {Rob\'{o}tica 2001, 1st Portuguese Robotic Festival},
	Address = {Guimar\~{a}es, Portugal},
 	Month = {April},
	Year = {2001}
}

@InProceedings{manchester_ipa_1999, 
	Author = {Pinto, J.R.C. and Mendon\c{c}a, M. and Diniz, D. and Gon\c{c}alves, P.J.S. and Ramalho, M.},
	Title = {An On-Line Measuring System to Support Heart Surgery},
	BookTitle = {7th International Conference on Image Processing and its Applications},
	Volume = {1},
	Pages = {377--381},
	Address = {Manchester, England},
        doi={10.1049/cp:19990347}, 
 	Month = {July},
	Year = {1999}
}

@InProceedings{recpad_1998, 
	Author = {Gon\c{c}alves, P.J.S. and Ramalho, M. and Q, Melo and Pinto, J.R.C.},
	Title = {Mitral Valve Contour Extraction using Active Contour Models},
	BookTitle = {10th Portuguese Conference on Pattern Recognition},
	Address = {Lisbon, Portugal},
 	Month = {March},
	Year = {1998}
}

@PhdThesis{msc_paulo_1998, 
	Author = {Gon\c{c}alves, P. J. S.},
	Title = {Extrac\c{c}\~{a}o de Contornos da V\'{a}lvula Mitral usando Modelos Activos de Contornos (Mitral Valve Contour Extraction using Active Contour Models)},
	School = {Universidade Técnica de Lisboa, Instituto Superior Técnico, Mestrado em Engenharia Mec\^{a}nica (MScThesis)},
	Month = {March},
	Year = {1998}
}