Rui Pedro Duarte Cortesão

    Name: Rui Pedro Duarte Cortesão, Ph.D.
    Position: Associate Professor
    Website: https://www.cienciavitae.pt//D211-0F33-A1FF
    Office: 1.7
    Internal Phone: 421120
    Email: cortesao@isr.uc.pt




    Rui Cortesão received the B.Sc. degree in electrical engineering, the M.Sc. degree in systems and automation, and the Ph.D. degree in control and instrumentation from the University of Coimbra, Coimbra, Portugal, in 1994, 1997, and 2003, respectively. He was a visiting researcher at the German Aerospace Center-DLR, during 1998–2003, where he did his Ph.D. work, Stanford University, USA, LIRMM-CNRS, France, and Barrett Technologies, USA, having worked on medical robotics, tele-robotics and compliant motion control, haptics. He is currently Professor with the University of Coimbra, Head of the Medical Robotics Group at the Institute of Systems and Robotics (ISR-UC), and Director of the technology transfer lab IPN-LAS. Prof. Rui Cortesão has several ongoing projects with Industry, namely, the projects: 1) PrintONorgans, 2. “Advanced Tools for Smart Manufacturing”, and 3. “Robot Sensing for tele-Ecography”. Prof. Rui Cortesão has been Associate Editor of the IEEE conferences ICRA and IROS.

    Supervisor of:
    Vamshi Kodipaka, Ph.D. Student
    Guilherme C. Correia, Ph.D. Student
    João Antunes, M.Sc. Student
    Miguel Meireles Teixeira, M.Sc. Student



    Journals

    R. Cortesão, Robotics & Medicine, Operational Space Symposium, University of Stanford, USA, 2024

    Conferences

    Vamshi Kodipaka, L. Marques, H. Araújo, R. Cortesão, APH-Yolov7t: Yolov7-tiny with Attention Prediction Head for Person Detection on Drone-Captured Search and Rescue Scenarios, Robot2023: Sixth Iberian Robotics Conference, 2023

    Journals

    R. Cortesão, L. Vitória dos Santos, Noise Effects on Quaternion and Axis-Angle Representations in Robotics, EEE Robotics and Automation Letters, Vol. 6, N. 1, pp. 64-71, 2021
    H. Ochoa, R. Cortesão, Impedance control architecture for robotic-assisted micro-drilling tasks, Elsevier Int. Journal of Manufacturing Processes, Vol. 67, pp. 356-363, 2021

    Conferences

    G. Correia, R. Cortesão, Semi-Automatic Tool for Dynamic Contour Tracking in Image-Guided Ultrasound Procedures, IEEE International Conference on Industrial Technology (ICIT), pp. 686-691, 2020

    Journals

    C. Sousa, R. Cortesão, Inertia Tensor Properties in Robot Dynamics Identification: A Linear Matrix Inequality Approach, IEEE/ASME Transactions on Mechatronics, Vol. 24, N. 1, pp. 406-411, 2019

    Conferences

    H. Ochoa, R. Cortesão, Control Architecture for Robotic-Assisted Polishing Tasks Based on Human Skills, IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society, pp. 630-637, Portugal, 2019
    L. Vitória dos Santos, R. Cortesão, João Quintas, Twin Kinematics Approach for Robotic-Assisted Tele-Echography, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1339-1346, Macau, 2019
    J. Amaro, H. Marcos, R. Cortesão, An Energy Study of a LoRaWan Based Electrical Impedance Spectroscopy Module for Tree Health Monitoring, IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society, pp. 2916-2921, 2019
    C. Sousa, R. Cortesão, Inertia Tensor Properties in Robot Dynamics Identification: A Linear Matrix Inequality Approach., IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hong Kong, 2019
    N. Silva, L. Vitória dos Santos, L. Neves, S. Sousa, João Quintas, R. Cortesão, F. Alves, Robotic-Arm Assisted Tele-Sonography: Initial Clinical Results and Feasibility, 105th Scientific Assembly and Annual Meeting of the Radiological Society of North America (RSNA), USA, 2019

    Journals

    L. Vitória dos Santos, R. Cortesão, Computed-Torque Control for Robotic-Assisted Tele- Echography Based on Perceived Stiffness Estimation, IEEE Transactions on Automation Science and Engineering, Vol. 15, No 3, pp. 1337-1354, 2018

    Conferences

    L. Vitória dos Santos, R. Cortesão, Perceived Stiffness Estimation for Robot Force Control, In Proc. of the IEEE/RSJ Int. Conference on Robotics and Automation (ICRA), pp. 1667-1672, Australia, 2018

    Journals

    R. Cortesão, M. Dominici, Robot Force Control on a Beating Heart, IEEE/ASME Transactions on Mechatronics, Vol. 22, No. 4, pp. 1736-1743, 2017

    Journals

    M. Dominici, R. Cortesão, Cascade force control for autonomous beating heart motion compensation, Control Engineering Practice, Vol. 37, pp. 80-88, Elsevier, 2015
    J. Amaro, R. Cortesão, Device and operation mechanism for non-beacon IEEE802. 15.4/Zigbee nodes running on harvested energy, Ad Hoc Networks, Vol. 26, pp. 50-68, 2015
    J. Amaro, R. Cortesão, Harvested Power Wireless Sensor Network Solution for Disaggregated Current Estimation in Large Buildings, n IEEE Transactions on Instrumentation and Measurement, Vol. 64, No. 7, pp. 1847-1857, 2015

    Conferences

    L. Vitória dos Santos, R. Cortesão, A Dynamically Consistent Hierarchical Control Architecture for Robotic-Assisted Tele-Echography with Motion and Contact Dynamics driven by a 3D Time-of-Flight Camera and a Force Sensor, Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), p.p. 2931 - 2937, IEEE, 2015
    http://dx.doi.org/10.1109/ICRA.2015.7139600

    Journals

    C. Sousa, R. Cortesão, Physical Feasibility of Robot Base Inertial Parameter Identification: a Linear Matrix Inequality Approach, Int. Journal of Robotics Research (IJRR), Vol. 33, No. 6, pp. 931 – 944, 2014
    F. Coutinho, R. Cortesão, Online stiffness estimation for robotic tasks with force observers, Control Engineering Practice, Vol. 24, pp. 92-105, Elsevier, 2014

    Conferences

    L. Vitória dos Santos, R. Cortesão, A Dynamically Consistent Hierarchical Control Architecture for Robotic-Assisted Tele-Echography, Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p.p. 1990 - 1996, IEEE, 2014
    http://dx.doi.org/10.1109/IROS.2014.6942827
    14718408

    Journals

    P. Lima, R. Cortesão, IROS 2012 Competitions, IEEE ROBOTICS & AUTOMATION MAGAZINE, Volume: 20, Pages: 10-12, 2013
    http://dx.doi.org/10.1109/MRA.2012.2236232

    Conferences

    L. Vitória dos Santos, R. Cortesão, Admittance control for robotic-assisted tele-echography, Proceedings International Conference on Advanced Robotics (ICAR), IEEE, 2013
    http://dx.doi.org/10.1109/ICAR.2013.6766502
    WOS:14161517

    Conferences

    F. Coutinho, R. Cortesão, Force-Based Stiffness Estimation for Robotic Tasks, IEEE International Conference on Decision and Control, pp. 2164 - 2170, Hawaii, USA, 2012
    P. Amaro, F. J. T. E. Ferreira, R. Cortesão, Powering Wireless Sensor Networks Nodes for Complex Protocols on Harvested Energy, 4TH CONFERENCE OF ENTERPRISE INFORMATION SYSTEMS - ALIGNING TECHNOLOGY, ORGANIZATIONS AND PEOPLE (CENTERIS 2012), Volume: 5, Pages: 518-526, 2012
    http://dx.doi.org/10.1016/j.protcy.2012.09.057
    J. Amaro, F. J. T. E. Ferreira, R. Cortesão, J. Landeck, Energy Harvesting for Zigbee Compliant Wireless Sensor Network Nodes, 38th Annual Conference of the IEEE Industrial Electronics Society (IECON’12), Montréal, Canada, 2012
    F. Coutinho, R. Cortesão, Comparison of Position and Force-Based Techniques for Stiffness Estimation in Robotic Tasks, IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages: 4933-4938, Vilamoura, Portugal, 2012
    P. Amaro, F. J. T. E. Ferreira, R. Cortesão, J. Landeck, In-Field Operation Monitoring of Induction Motors using Wireless Modules Running on Harvested Power, in Proc. of the Annual Conference of the IEEE Industrial Electronics Society (IECON'09), Australia, 2012
    L. Vitória dos Santos, R. Cortesão, Joint space torque control with task space posture reference for robotic-assisted tele-echography, in Proc. of 21st IEEE Symp. on Robot and Human Interactive Communication (RO-MAN 2012), pp 126-131, 2012
    C. Sousa, R. Cortesão, SageRobotics: open source framework for symbolic computation of robot models, in Proceedings of the 27th Annual ACM Symposium on Applied Computing - SAC ’12, pp. 262–267, 2012

    Journals

    F. Coutinho, R. Cortesão, Adaptive Stiffness Estimation for Compliant Robotic Manipulation using Stochastic Disturbance Models, in Int. J. of Systems Science, Vol. 42, No. 8, pp. 1241-1252, 2011

    Conferences

    M. Dominici, R. Cortesão, C. Sousa, Heart Motion Compensation for Robotic-Assisted Surgery: Predictive Approach vs. Active Observer, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA'11), pp. 6252-6257 , China, 2011
    P. Amaro, F. J. T. E. Ferreira, R. Cortesão, J. Landeck, In-Field Operation Monitoring of Induction Motors using Wireless Modules Running on Harvested Power, 37th Annual Conference of the IEEE Industrial Electronics Society (IECON'11), Melbourne, Australia, 2011

    Books

    R. Cortesão, Kalman Techniques for Intelligent Control Systems: Theory and Robotic Experiments, LAP LAMBERT Academic Publishing, ISBN-10: 3843364869, 2010

    Conferences

    R. Cortesão, C. Sousa, P. Queirós, Active Impedance Control Design for Human-Robot Comanipulation, in IEEE American Control Conference (ACC'10), pp. 2805-2810, USA, 2010
    F. Coutinho, R. Cortesão, System stiffness estimation with the candidate observers algorithm, in IEEE Mediterranean Conference on Control and Automation (MED'10), pp. 796-801, Morocco, 2010
    P. Queirós, R. Cortesão, C. Sousa, Haptic tele-manipulation for robotic-assisted Minimally Invasive Surgery with explicit posture control, in IEEE Mediterranean Conference on Control and Automation (MED'10), pp. 808-814, Morocco, 2010
    C. Sousa, R. Cortesão, L. Vitória dos Santos, Computed torque posture control for robotic-assisted tele-echography, in IEEE Mediterranean Conference on Control and Automation (MED'10), pp. 1561-1566, Morocco, 2010
    P. Amaro, F. J. T. E. Ferreira, R. Cortesão, N. Vinagre, R. Brás, Low cost wireless sensor network for in-field operation monitoring of induction motors, in Proc. of the IEEE Int. Conf. on Industrial Technology (ICIT'10), pp. 1044-1049, Chile, 2010

    Journals

    P. Queirós, C. Sousa, R. Cortesão, Robotic Setup for Medical Applications, Robótica, N. 76, pp. 4-6, 2009

    Book Sections

    R. Cortesão, Model-Reference Adaptive Control for Robotic Manipulalation with Kalman Active Observers, in Frontiers in Adaptive Control, invited book chapter, edited by S. Cong, pp. 145-164, In-Tech, 2009

    Conferences

    M. Dominici, P. Poignet, E. Dombre, R. Cortesão, O. Tempier, Compensation for 3D Physiological Motion in Robotic-Assisted Surgery Using a Predictive Force Controller. Experimental Results, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, (IROS'09), pp. 2634-2639, USA, 2009
    F. Coutinho, R. Cortesão, Environment Stiffness Estimation with Multiple Observers, in Proc. of the Annual Conference of the IEEE Industrial Electronics Society (IECON'09), pp. 1539-1544 , Portugal, 2009
    R. Cortesão, P. Queirós, C. Sousa, Control Design for Surgical Robotics: Comanipulation Paradigm, in RSJ Robotics: Science and Systems (RSS'09) Workshop ”Creative Manipulation: Examples using the WAM”, pp. 1-28, USA, 2009
    C. Sousa, R. Cortesão, P. Queirós, Compliant Comanipulation Control for Medical Robotics, in Proc. of the IEEE Int. Conf. On Human-System Interaction (HSI’09), pp. 265-271, Italy, 2009
    R. Cortesão, P. Poignet, Motion Compensation for Robotic Assisted Surgery with Force Feedback, in Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA'09), pp. 3464-3469, Japan, 2009
    P. Poignet, R. Cortesão, Force Control Issues for Telerobotic Surgery, in IEEE Int. Conf. on Robotics & Automation (ICRA'09), Workshop on ”Advanced Sensing and Sensor Integration in Medical Robotics”, pp. 1-28 , Japan, 2009
    R. Cortesão, B. Zenowich, R. Araújo, W. Townsend, Robotic Comanipulation with Active Impedance Control, Proc. ASME/AFM 2009 World Conference on Innovative Virtual Reality (WINVR 2009), p. 1-7, Chalon-sur-Saône, France, 2009
    http://dx.doi.org/10.1115/WINVR2009-724
    WOS:000268025800017

    Conferences

    F. Coutinho, R. Cortesão, Online Stiffness Estimation for Compliant Robotic Manipulation, in Proc. of the Int. Conf. CONTROLO'08, pp. 578-583, Portugal, 2008

    Journals

    R. Cortesão, On Kalman active observers, JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, Volume: 48, Pages: 131-155, 2007
    http://dx.doi.org/10.1007/s10846-006-9045-5

    Conferences

    W. Zarrad, P. Poignet, R. Cortesão, Stability and transparency analysis of a haptic feedback controller for medical applications, IEEE Conference: 46th IEEE Conference on Decision and Control, VOLS 1-14, Pages: 4096-4101, New Orleans, 2007
    W. Zarrad, P. Poignet, R. Cortesão, Towards teleoperated needle insertion with haptic feedback controller, IEEE Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems, VOLS 1-9, Pages: 1260-1265, San Diego, CA, 2007

    Journals

    R. Cortesão, R. Koeppe, U. J. Nunes, G. Hirzinger, Data Fusion for Robotic Assembly Tasks Based on Human Skills, IEEE Transactions on Robotics, vol.20(6), pp.941-952, 2004

    Conferences

    R. T. Maia, R. Cortesão, U. J. Nunes, Differential - Drive Mobile Robot Robust Motion Control, in Proc. of the 6th Portuguese Conference on Automatic Control (CONTROLO 2004), pp. 115-120, Faro, Portugal, 2004

    Conferences

    R. T. Maia, R. Cortesão, U. J. Nunes, V. Silva, J. A. Fonseca, Robust Low-level Motion Control of WMR with Stochastic Active Observers, in: Proc. of the 11th Int. Conference on Advanced Robotics (ICAR 2003), pp 878-882, Coimbra, Portugal, 2003

    Thesis

    R. Cortesão, Kalman techniques for intelligent control systems: theory and robotic experiments, Ph.D. Thesis, Universidade de Coimbra , Portugal, 2003, Supervised by Urbano J. Nunes and G. Hirzinger

    Journals

    R. Cortesão, R. Koeppe, U. J. Nunes, G. Hirzinger, Force Control with a Kalman Active Observer Applied in a Robotic Transfer System, Machine Intelligence & Robotic Control, Special Issue on “Force Control of Advanced Robotic Systems”, vol.2, n.2, pp.59-68, Cyber Scientific, 2000

    Ph.D. Thesis

    Luís Carlos Vitória dos Santos, Control and Estimation Strategies for Robotic-Assisted Tele-Echography (9/2017) Supervised by Rui Pedro Duarte Cortesão

    Michel Dominici, Physiological Motion Compensation for Robotic-Assisted Beating Heart Surgery (1/2016) Supervised by Rui Pedro Duarte Cortesão

    P. Amaro, Wireless Sensor Networks Running on Harvested Power (1/2015) Supervised by Rui Pedro Duarte Cortesão

    M.Sc. Thesis

    Rita Gama, Sistema Robótico Para Impressão Direta In Situ em Orgãos (2/2021) Supervised by Rui Pedro Duarte Cortesão

    Guilherme Correia, Navegação robótica através de imagens médicas ecográficas (4/2019) Supervised by Rui Pedro Duarte Cortesão

    Hugo Marcos, Dispositivo de Espectroscopia de Impedância Elétrica para avaliação do estado fisiológico de plantas utilizando redes de sensores sem fios baseadas no protocolo LoRaWAN (4/2019) Supervised by Rui Pedro Duarte Cortesão

    Rui Fernandes, Tele-Controlo Haptico do Robô Kinova para polimento de peças industriais (4/2019) Supervised by Rui Pedro Duarte Cortesão

    Pedro Lino, Control Architectures for the Baxter Robot (9/2017) Supervised by Rui Pedro Duarte Cortesão

    Ana Reis, Extraction of Sign Language Information through Biosignals (9/2017) Supervised by Rui Pedro Duarte Cortesão

    Daniel Ramos, Estimação de Fricções em Robôs Manipuladores por Métodos Indiretos (9/2017) Supervised by Rui Pedro Duarte Cortesão

    Danilo Bernardo, Análise de Dados de Força para Arquitecturas de Controlo (1/2016) Supervised by Rui Pedro Duarte Cortesão

    Ana Martins, Controlo em binário do robô manipulador Katana (1/2015) Supervised by Rui Pedro Duarte Cortesão

    Renato Vale, Avaliação e controlo da dor em doentes em cuidados paliativos (1/2015) Supervised by Rui Pedro Duarte Cortesão

    R. Garcia, Avaliação e controlo da dor em regime ambulatório em doente em cuidados paliativos usando aplicações móveis de tecnologias de informação e comunicação (1/2015) Supervised by Rui Pedro Duarte Cortesão

    André Ferreira, Robot Control Based on Biosignals (1/2014) Supervised by Rui Pedro Duarte Cortesão