Diego Resende Faria Dr. Diego R. Faria received his Ph.D. degree in Electrical and Computer Engineering from the University of Coimbra, Portugal, in 2014. During his Ph.D. research, he was sponsored by the Portuguese Foundation for Science and Technology. He holds an M.Sc. degree in Computer Science from the Federal University of Parana, Brazil, completed in 2005. In 2001, he earned a Bachelor s degree in Informatics Technology (Data Computing & ) and he has finished a Computer Science Specialization Course in 2002 at the State University of Londrina, Brazil. Dr. Diego Faria has been carrying his research at the Institute of Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra (ISR-UC) within the Automation and Robotics for Human Life group under the thematic line of human-centered robotics. His current research focuses on human-robot interaction, more precisely, Human Activity Recognition in indoor environment using RGB-D sensors and probabilistic inference techniques. He collaborated on the European Project HANDLE- Developmental pathway towards autonomy and dexterity in robot in-hand manipulation, within the 7 framework FP7 (from 2009 to 2013) and on the European project BACS- Bayesian Approach to Cognitive Systems, within the 6 framework FP6 (from 2006 to 2009). From Oct/2013 to Aug/2014 he has collaborated on the project Pedestrian Detection in Urban Challenging Scenarios, and currently he is collaborating on the AMS-HMI project (Assisted Mobility Supported by Shared-Control and Advanced Human-Machine Interfaces), both funded by the Portuguese Foundation for Science and Technology. In 2014, Dr. Diego (as core/responsible researcher) together with Dr. Mahmoud Tavakoli (PI) had the concession of a grant from the CMU-Portugal program for the project: Compliant Robotics Hands with Integrated Soft MEMS Skin (for Medical Prosthesis and Industrial Robotics Applications) - partnership between the ISR-UC and Soft Machine Lab of Robotics Institute at Carnegie Melon University (SML-CMU). Research Interests: Artificial Intelligence; Artificial Perception Systems; Human-Robot Interaction; Grasping & Dexterous Manipulation; Pattern Recognition. Name: Diego Resende Faria Personal Birthplace: Londrina, PR - Brazil Citizenship: Portuguese and Brazilian Personal Website URL: http://home.uc.pt/~diego Contact: +351 962 890 212 fariadiego@gmail.com diego@isr.uc.pt Address: Institute of Systems and Robotics, DEEC- Universidade de Coimbra, Polo II. 3030-290 - Coimbra, Portugal. Formal Education / Degree 04/2014 Ph.D. in Electrical and Computer Engineering Institute of Systems and Robotics, DEEC, University of Coimbra, Portugal. Thesis: Probabilistic Learning of Human Manipulation of Objects towards Autonomous Robotic Grasping. Topics: Cognitive Robotics: Robotic Grasping, Dexterous Manipulation, Learning by Imitation, Pattern Recognition. Major Area: Electrical and Computer Engineering. 04/2003 12/2005 03/2001 05/2002 Masters (M.Sc.) in Computer Science Federal University of Parana (UFPR), Brazil. Topics: Image Processing / Biometrics. Major Area: Computer Science. Specialization in Computer Science (post-graduation Lato Sensu - 376 credit hours). State University of Londrina (UEL), Brazil. Topics: Artificial Intelligence, Networks, and Software Engineering. Major Area: Computer Science. 1
02/1998 02/2001 Bachelor s in Informatics Technology (Data Computing and ) Centro Universitário Filadélfia, UNIFIL, Londrina, Brazil. Topics: Software Engineering, OOP; Database, UML, Networks, Systems. Major Area: Informatics/ Systems/Data Processing Technology 04/2014- present Postdoctorate Institute of Systems and Robotics, University of Coimbra, Portugal Research Topics: human daily activity recognition, robot-assisted living, human-robot interaction, pattern recognition. Work being developed under the project AMS-HMI: Assisted Mobility Supported by Shared-Control and Advanced Human-Machine Interfaces, funded by the Portuguese Foundation for Science and Technology. Professional Experiences Institute of Systems and Robotics, University of Coimbra - Portugal 05/2006 - Present Type of contract: Researcher Grant, Functional Placement: Researcher, Credit Hours: 40, Exclusive Dedication. Researcher. Research field: Cognitive Robotics: Robotic Grasping & Dexterous Manipulation, Artificial Perception Systems; Human Behavior Analysis; Pattern Recognition. Participant as researcher in the European Projects: (2009-2013) HANDLE (Developmental pathway towards autonomy and dexterity in robot inhand manipulation) and (2006-2008) BACS (Bayesian Approach to Cognitive Systems). National Project: (2013-present) PDCS 10 (Pedestrian Detection in Urban Challenging Scenarios); AMS-HMI (Assisted Mobility Supported by Shared- Control and Advanced Human-Machine Interfaces). Technical School of Federal University of Parana, ET-UFPR Curitiba, Brazil 08/2004 10/2005 Type of contract: Temporary labor contract, Functional Placement: Teaching (Assistant Lecturer) Credit Hours: 40 Teaching (for the undergraduate course: Bachelor s in Informatics Technology) Programming Languages I and II (C/C++, Delphi, Java) - Theoretical and Practical Operating System Fundamentals - Theoretical Classes Image Processing - Theoretical and Practical Classes ** First place in the exams of the public tender. FUNPAR Federal University of Parana Foundation for Science Development, Curitiba- Brazil 2005-2005 Type of contract: Collaborator (6 months) Functional Placement: Collaborator, Supervisor and Consultant in System Analysis, Credit Hours: 20 Developed Activities: Supervision of the team and Consultant in UML Analysis and Software Development (OOP) in the Project: Sistema integrado de gestão de projetos (Integrated System for Project Management). 2
Federal University of Parana (UFPR) Curitiba, Brazil 08/2003 07/2004 Type of contract: Scholarship, Functional Placement: Computer Instructor, Credit Hours: 12 Social Project: Teaching basic informatics for society (people with low income). Windows, MS Office, HTML, MS Access. Project De Olho no Futuro (Looking to the future). BRASWEY S/A Industria e Comercio - Cambé, Brazil 09/1998 03/2003 Type of contract: Formal labor contract, Functional Placement: Systems Analyst & Software Engineer, Credit Hours: 44, Exclusive Dedication. UML Analysis and Development of Software/Applications in Visual Basic, Clipper, Access & MS SQL server for administrative & management systems (inventory control, billing, cash/payments, human resources, etc.) and Administration of the network (Novel). Participation in Research Projects 09/2014-present AMS-HMI- Assisted Mobility Supported by Shared-Control and Advanced Human-Machine Interfaces. Reference: RECI/EEI-AUT/0181/2012. Funding entity: Portuguese Foundation for Science and Technology (FCT), cofounded by COMPETE. (Participation as researcher). 2014-present Compliant Robotics Hands with Integrated Soft MEMS Skin (for Medical Prosthesis and Industrial Robotics Applications) - CMUP-EPB/TIC/0036/2013. Partnership between the Institute of Systems and Robotics, University of Coimbra and Soft Machine Lab of Robotics Institute at Carnegie Melon University (SML-CMU). Participation as core researcher with Dr. Mahmoud Tavakoli (PI) and Professor Aníbal Traça de Almeida. 10/2013-08/2014 PDCS10 - Pedestrian Detection in Urban Challenging Scenarios Reference: PTDC/EEA-AUT/113818/2009. Funding entity: Portuguese Foundation for Science and Technology (FCT), cofounded by COMPETE. (Participation as researcher). 2009-2013 EU project: HANDLE - Developmental pathway towards autonomy and dexterity in robot in-hand manipulation Description: Handle was a Large Scale IP project coordinated by the university Pierre and Marie Curie of Paris and included a consortium formed by nine partners from six EU countries: France, UK, Spain, Portugal, Sweden, and Germany. The HANDLE project goals focused on understanding how humans perform the manipulation of objects in order to replicate grasping and skilled in-hand movements with an anthropomorphic artificial hand, and thereby move robot grippers from current best practice towards more autonomous, natural and effective articulated hands. The project implied not only focusing on technological developments but also working with fundamental multidisciplinary research aspects in order to endow the robotic hand system with advanced perception capabilities, high level feedback 3
control and elements of intelligence that allow recognition of objects and context, reasoning about actions and a high degree of recovery from failure during the execution of dexterous tasks. This collaborative project was funded by the European Commission within the Seventh Framework Programme FP7, as part of theme 2: Cognitive Systems, Interaction, Robotics, under grant agreement 231640. Situation: Concluded; (Participation as researcher). 2006-2009 EU project: BACS - Bayesian Approach to Cognitive Systems Description: BACS Bayesian Approach to Cognitive Systems - Integrated Project that was conducted under the Thematic Priority: Society Technologies - Sub-topic: Cognitive Systems - of the 6th Framework Program of the European Commission. The main scientific objectives of this project were: To demonstrate that Bayesian probability theory is a feasible alternative mathematical framework; To propose a new modeling methodology to both, better understand the cognition of living beings, and to build more efficient artificial cognitive systems; To validate the whole approach by demonstrating effective Bayesian cognitive models for living beings and artificial systems by producing results. Situation: Concluded. Sponsor: European community. (Participation as researcher). Academic & Research-oriented Activities (Participated as session chair). 2011. (Participation in International Congress). DoCEIS'11 - Doctoral Conference on Computing, Electrical and Industrial Systems, Costa de Caparica, Lisbon, Portugal. (Participation as chair/member of the jury to evaluate undergraduate research) 2005. CRICTE 2005, Federal University of Parana, UFPR. Curitiba, Brazil. Reviewer of following journals and international conferences: 2012-present Journal: International Journal of Robotics and Automation, Acta Press. 2013-present Journal: RAS Robotics and Autonomous Systems, Elsevier. 2015 Journal: Frontiers of NeuroRobotics 2015 Journal: Sport Medicine, Springer. IEEE IROS 2011, 2012, 2013, 2014, 2015 - IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE ICRA 2012, 2013, 2014 International Conference on Robotics and Automation IEEE IV2015-Intelligent Vehicles Symposium IEEE ITSC 2014, 2015: International Conference on Intelligent Transportation Systems. DoCEIS Doctoral Conf. on Computing, Electrical and Industrial Systems, 2011. Teacher Monitor of the Microprocessor Systems (Practical Classes) during the 2 nd semester of 2009/2010 M.Sc. Thesis Supervision (as co-advisor): (concluded) Mário Vieira. Monitoring Human Daily Activity for Robot-assisted Living. Dep. of Electrical and Computer Eng. ISR-UC, Portugal. M.Sc. Thesis Supervision (as co-advisor): (in progress) José Pedro Medeiros. Child-Robot Interaction adopting Learning by Imitation Strategies. Dep. of Electrical and Computer Eng. ISR-UC, University of Coimbra, Portugal. M.Sc. Thesis Supervision (as co-advisor): (in progress) Rui Almeida. Child-Robot Interaction: Teaching a Robot to Write. Dep. of Electrical and Computer Eng. ISR-UC, University of Coimbra Portugal. 4
Awarded Research Grant / Scholarship Awarded Ph.D. Scholarship: 2007-2011 Portuguese Foundation for Science and Technology Awarded Research Fellowship Concession of a grant from the CMU-Portugal program for the project: Compliant Robotics Hands with Integrated Soft MEMS Skin (for Medical Prosthesis and Industrial Robotics Applications) - partnership between the ISR-UC and Soft Machine Lab of Robotics Institute at Carnegie Melon University (SML-CMU). National (Portuguese) Project (fellowship): AMS-HMI- Assisted Mobility Supported by Shred-Control and Advanced Human-Machine Interfaces (09/2014 - ) National (Portuguese) Project (fellowship): PDCS10 - Pedestrian Detection in Urban Challenging Scenarios (10/2013-08/2014) FP7 HANDLE European Project (fellowship): 01/2011-01/2013 FP6 BACS European Project (fellowship): 05/2006-11/2006 Paper Awarded as Finalist for Kazuo Tanie Award (focusing on practical application or one that can be applied to real products) at IEEE RO-MAN 14: D. R. Faria, C. Premebida, U. Nunes, "A Probalistic Approach for Human Everyday Activities Recognition using Body Motion from RGB-D Images". The 23 rd IEEE Int. Symposium on Robot and Human Interactive Communication. Edinburgh, Scotland, UK, 2014 Skills Computer skills Dominates C, C++, Python, Delphi, Visual Basic, Clipper programming languages Very Good Knowledge on UML Unified Modeling Language OOP, MatLab, Java, Cobol, Fortran, Assembly, PHP/HTML/JavaScript, OpenCV (library for Computer Vision), ROS (Robot Operating System), LINUX operating systems Familiarity with PostgreSQL and MySQL DBMSs (Database Management Systems), Transact-SQL (Microsoft SQLServer) Languages: Portuguese: Native Language; English: Advanced; Spanish: Basic Publications (Peer Reviewed International Journals, International Conferences and Workshops pdfs available at http://home.isr.uc.pt/~diego) Articles in Scientific Journals j2. D. R. Faria ; P. Trindade; J. Lobo; J. Dias, Knowledge-based Reasoning from Human Grasp Demonstrations for Robot Grasp Synthesis. RAS - Elsevier, Robotics and Autonomous Systems, 62, 6, pages 794-817, 2014. DOI: 10.1016/j.robot.2014.02.003 j1. D. R. Faria, R. Martins, J. Lobo, J. Dias. "Extracting Data from Human Manipulation of Objects Towards Improving Autonomous Robotic Grasping. RAS - Elsevier, Robotics and Autonomous Systems, Special Issue on Autonomous Grasping, 60, 3, Pages 396-410, March 2012. DOI: 10.1016/j.robot.2011.07.020 Journal papers under review (jur) j3ur j4ur D. R. Faria, C. Premebida, U. Nunes "Dynamic Bayesian Mixture Model: Probabilistic Classification for Human Daily Activity Recognition", IEEE Trans. PAMI, 2015. J. Vital, D. R. Faria, G. Dias, M. Couceiro, F. Coutinho, N. Ferreira. "Combining Discriminative Spatio-Temporal Features for Daily Life Activity Recognition using Wearable Motion Sensing Suit". PAA Springer: Pattern Analysis and Applications, 2015. 5
Complete Works Published in Proceedings of Conferences 20. Cristiano Premebida, D. R. Faria, Urbano Nunes, "Applying probabilistic mixture models to semantic place classification in mobile robotics. In: IEEE IROS'15, IEEE Int. Conf. on Intelligent Robotics and Systems, 2015. 19. D. R. Faria. ; M. Vieira, C. Premebida, U. Nunes. Probabilistic Human Daily Activity Recognition towards Robot-assisted Living. In: IEEE RO-MAN'15, 2015. 18. Mario Vieira, Diego R. Faria, Urbano Nunes, "Real-time Application for Monitoring Human Daily Activities and Risk Situations in Robot-assisted Living". Proceedings of Robot'15: 2nd Iberian Robotics Conference. Lisbon, Portugal 2015. 17. Diego R. Faria, Cristiano Premebida, Urbano Nunes, "A Probalistic Approach for Human Everyday Activities Recognition using Body Motion from RGB-D Images". The 23 rd IEEE Int. Symposium on Robot and Human Interactive Communication. Edinburgh, Scotland, UK, August 25-29th, 2014. Finalist for Kazuo Tanie Award (focusing on practical application or one that can be applied to real products). 16. Diego R. Faria, Jorge Lobo, Jorge Dias, "Identifying Objects from Hand Configurations during In-hand Exploration". In proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Integration (MFI 12), Hamburg, September, 2012. 15. Diego R. Faria, Ricardo Martins, Jorge Lobo, Jorge Dias. "A probabilistic framework to detect suitable grasping regions on objects". In 10th IFAC Symposium on robot Control (SYROCO'12), Dubrovinik, Croatia, Sept, 2012. 14. Ricardo Martins, Diego R. Faria, Jorge Dias. "Representation framework of perceived object softness characteristics for active robotic hand exploration". In Proceedings of 7th ACM/IEEE HRI'2012 - Workshop on Advances in Tactile Sensing and Touch based Human-Robot Interaction, Boston USA, March 5-8, 2012. 13. S. Jafar Hosseini, Diego R. Faria, Jorge Lobo, Jorge Dias. "Probabilistic Classification of Graqsping Behaviours using Visuo-hapitc Perception". Technological Innovation for Value Creation, IFIP Advances in and Communication Technology Volume 372, pp. 241-248, Springer 2012 (DoCEIS'12). 12. Diego R. Faria, Ricardo Martins, Jorge Lobo, Jorge Dias. "Manipulative Tasks Identification by Learning and Generalizing Hand Motions". Springer - Technological Innovation for Sustainability, IFIP Advances in and Communication Technology Volume 349, pp 173-180, (DoCEIS 11) Springer 2011. 11. Diego R. Faria, Ricardo Martins, Jorge Lobo, Jorge Dias. "Probabilistic Representation of 3D Object Shape by In-Hand Exploration". In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10 - Taipei, Taiwan - October 2010 10. Diego R. Faria, Ricardo Martins, Jorge Dias. "Learning Motion Patterns from Multiple Observations along the Actions Phases of Manipulative Tasks". Proceedings of Workshop on Grasping Planning and Task Learning by Imitation: IEEE/RSJ IROS'2010, - Taipei, Taiwan - October 2010. 9. Ricardo Martins, Diego R. Faria, Jorge Dias. "Symbolic Level Generalization of In-hand Manipulation Tasks from Human Demonstrations using Tactile Data ". Proceedings of Workshop on Grasping Planning and Task Learning by Imitation: IEEE/RSJ IROS'2010, - Taipei, Taiwan - October 2010. 8. Diego R. Faria, Ricardo Martins, Jorge Dias. "Grasp Exploration for 3D Object Shape Representation using Probabilistic Map". Emerging Trends in Technological Innovation, IFIP Advances in and Communication Technology Volume 314, pp 215-222, 2010. Springer (DoCEIS 10) 7. Diego R. Faria, Jorge Dias. "3D Hand Trajectory Segmentation by Curvatures and Hand Orientation for Classification through a Probabilistic Approach". In Proceedings of The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'09, St. Louis, MO, USA - October 2009. 6
6. Diego R. Faria, Jose Prado, Paulo Drews Jr., Jorge Dias. "Object Shape Retrieval through Grasping Exploration". 4th European Conference on Mobile Robots, ECMR'09, Mlini/Dubrovnik, Croatia, September 2009, pp.43-48. 5. Diego R. Faria, Hadi Aliakbarpour, Jorge Dias, "Grasping Movements Recognition in 3D Space Using a Bayesian Approach", in Proceedings of ICAR'2009 - The 14th International Conference on Advanced Robotics - Munich, Germany, June 22-26, 2009. Print ISBN: 978-1-4244-4855-5 4. Diego R. Faria, Ricardo Martins, Jorge Dias, "Human reach-to-grasp generalization strategies: a Bayesian approach" - Robotics Science and Systems 2009: Workshop on "Understanding the Human Hand for Advancing Robotic Manipulation" - Jully 28, 2009 - Dillon Eng Seattle, WA, USA 3. Diego R. Faria, Jorge Dias, "Bayesian Techniques for Hand Trajectory Classification", RECPAD 2008-14th Portuguese Conference on Pattern Recognition, Coimbra- Portgal, 31st October, 2008. 2. Diego R. Faria, Jorge Dias, "Hand Trajectory Segmentation and Classification Using Bayesian Techniques", Workshop on "Grasp and Task Learning by Imitation" 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Acropolis Convention Center, Nice, France Sept, 22-26, 2008, pp.44-49. 1. Carlos Simplicio, Diego R. Faria, Jorge Dias, "3D Photo-realistic talking head for human-robot interaction" - VR@P 2007-3rd Int. Conf. on Adv. Research in Virtual and Rapid Prototyping, ESTG- Leiria, September, 2007. Virtual and Rapid Manufacturing Bártolo et. Al. (eds), Taylor & Francis Group, London, UK, ISBN 13: 978-0-415-41602-3. Bibliographical Production (Ph.D. and Master Thesis) 2. Ph.D. Thesis: Diego R. Faria, "Probabilistic Learning of Human Manipulation of Objects towards Autonomous Robotic Grasping". Ph.D. in Electrical and Computer Engineering. Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Coimbra, Portugal. The research was carried out at the Institute of Systems and Robotics, DEEC, University of Coimbra. Advisor: Prof. Jorge Miranda Dias, co-advisor: Prof. Jorge Lobo. 1. M.Sc. Dissertation: Diego R. Faria, Reconhecimento de Impressões Digitais com Baixo Custo Computacional para um Sistema de Controle de Acesso (Fingerprint recognition with low computational cost for an access control system). Computer Science Department, Federal University of Parana, UFPR, Curitiba-Brazil, 2005. October, 2015 7