Bruno Vilhena Adorno

Bruno Vilhena Adorno Married, 39 years old The University of Manchester Brazilian citizenship School of Engineering Sex: Male Department of Electrical and Electronic Engineering Sackville Street, Manchester M13 9PL, United Kingdom https://personalpages.manchester.ac.uk/staff/bruno.adorno/default.htm Email: [email protected]

Biosketch Bruno Vilhena Adorno received the BSc degree (2005) in Mechatronics Engineering and the MSc degree (2008) in Electri- cal Engineering, both from the University of Brasília (Brazil), and the Ph.D. degree (2011) from the University of Montpellier (France). He is currently a Senior Lecturer in Robotics at the Department of Electrical and Electronic Engineering of the Uni- versity of Manchester. Prior to joining the University of Manchester, he was an Associate Professor with the Department of Electrical Engineering at the Federal University of Minas Gerais (UFMG), Brazil, where he co-founded and co-led the Mecha- tronics, Control, and Robotics research group (MACRO). He is also an IEEE Senior Member and the current chair of the Technical Committee on Robotics of the Brazilian Society of Automatics (2017–2018 and 2019–2020). He has authored or co-authored 17 journal papers and 39 conference papers/book chapters. He is an Associate Editor for the IEEE Robotics and Automation Letters and for the Journal of Control, Automation and Electrical Systems. He also has been serving on the Editorial Board of the RSJ/IEEE International Conference on Intelligent Robots and Systems and the Brazilian Congress of Automatics since 2017 and was the Tutorial/Workshops Chair for the 19th International Conference on Advanced Robotics (ICAR). His current research interests include both practical and theoretical aspects related to robot kinematics, dynamics, and control with applications to mobile manipulators, humanoids, cooperative manipulation systems, and human-robot interaction.

Education [10/2008–10/2011] Ph.D. in Automatic and Microelectronic Systems Two-arm Manipulation: From Manipulators to Enhanced Human-Robot Collaboration. Supervisor: Philippe Fraisse Department of Robotics University of Montpellier, France [03/2006–09/2008] MSc in Electrical Engineering with focus on Automation and Systems Probabilistic path planning in conﬁguration space and applications to mobile robots. Supervisor: Geovany Araújo Borges University of Brasília (UnB), Brazil [08/1999–02/2005] BSc in Mechatronics Engineering Control of velocity and trajectory for the robot Sonic-Shark. Supervisor: Geovany Araújo Borges University of Brasília (UnB), Brazil

Academic Positions [10/2020–present] The University of Manchester / Department of Electrical and Electronic Engineering - Senior Lecturer in Robotics (equivalent to Associate Professor). Manchester, United Kingdom. [01/2020–10/2020] Federal University of Minas Gerais (UFMG) / Department of Electrical Engineering - Associate Pro- fessor. Belo Horizonte, Brazil. [01/2012–10/2019] Federal University of Minas Gerais (UFMG) / Department of Electrical Engineering - Tenured Assis- tant Professor (Professor Adjunto, in Portuguese). Belo Horizonte, Brazil. [10/2008–10/2011] University of Montpellier / Laboratoire d’Informatique, de Robotique et Microélectronique de Mont- pellier (LIRMM) - Researcher (PhD Candidate). Montpellier, France. [10/2008–07/2011] École Nationale Supérieur de Chimie de Montpellier (ENSCM) - Teaching Assistant (monitorat). Course: Computer programming. Montpellier, France. [02/2006–01/2007] Universidade Paulista (Unip) - Teaching Associate. Courses: Electrical Installations, Digital Systems, Control and Automation. Brasília, Brazil. [08/2006–12/2006] University of Brasília (UnB) - Teaching Assistant. Course: Lab of dynamical control systems. Brasília, Brazil. 1 Other Employment

[10/2006–09/2008] University of Brasília (UnB) / Laboratory of Robotics and Automation (LARA) - CARCARAH project, funded by Expansion S.A. Researcher responsible for the development of a software for real time simulation and 3D visualization of an unmanned helicopter. Brasília, Brazil. [12/2004–03/2006] Ztec - Engineer responsible for speciﬁcation and development of embedded systems (hardware and software). Brasília, Brazil. [01/2004–04/2004] Fundação de Empreendimentos Cientíﬁcos e Tecnológicos (FINATEC) - Development of an embedded system applied to logistics automation. Brasília, Brazil.

[04/2003–10/2003] Accenture - Internship on Information Technology: databases and Unix administration, and programming using C language. Brasília, Brazil. [09/2002–03/2003] Centro de Desenvolvimento Tecnológico (CDT) - Internship: research and development of a blood transfusion machine. Brasília, Brazil.

Publications

Peer-reviewed international journals1

1. Paula Assis Fonseca, Mariana de, Bruno Vilhena Adorno, and Philippe Fraisse. 2020. “Task-Space Admittance Con- troller with Adaptive Inertia Matrix Conditioning.” Journal of Intelligent & Robotic Systems. https://doi.org/10.1007/s10846- 020-01275-0. I.F. (2019): 2.259 2. B. V. Adorno and M. Marques Marinho, “DQ Robotics: A Library for Robot Modeling and Control,” IEEE Robotics & Automation Magazine, pp. 1–15, 2020. https://doi.org/10.1109/MRA.2020.2997920. I.F. (2019): 3.591

3. M. P. A. Fonseca, B. V. Adorno, and P. Fraisse, “Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping,” IEEE Robotics and Automation Letters, pp. 1–8, 2020. https://doi.org/10.1109/LRA.2020.3010458. I.F. (2019): 3.608

4. V. M. Goncalves, B. V. Adorno, A. Crosnier, and P. Fraisse, “Stable-by-Design Kinematic Control Based on Optimiza- tion,” IEEE Transactions on Robotics, vol. 36, no. 3, pp. 644–656, Jun. 2020. I.F. (2019): 6.123

5. H. J. Savino, L. C. A. Pimenta, J. A. Shah, and B. V. Adorno, “Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators,” Journal of the Franklin Institute, vol. 357, no. 1, pp. 142–178, Jan. 2020. I.F. (2019): 4.036 6. J. J. Quiroz-Omana and B. V. Adorno, “Whole-Body Control With (Self) Collision Avoidance Using Vector Field Inequalities,” IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4048–4053, Oct. 2019. https://doi.org/10.1109/ LRA.2019.2928783 I.F. (2019): 3.608 7. M. M. Marinho, B. V. Adorno, K. Harada, and M. Mitsuishi, “Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities,” IEEE Transactions on Robotics, vol. PP, no. 5, pp. 1–20, Oct. 2019. https://doi.org/10.1109/ TRO.2019.2920078. I.F. (2019): 6.123

8. H.L. Pham, B.V. Adorno, V. Perdereau, and P. Fraisse. 2018. “Set-Point Control of Robot End-Effector Pose Using Dual Quaternion Feedback.” Robotics and Computer-Integrated Manufacturing 52 (August): 100–110. doi: 10.1016/ j.rcim.2017.11.003. I.F. (2019): 5.057 9. J. J. Quiroz-Omaña and B. V. Adorno. 2018. “Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming.” Journal of Intelligent & Robotic Systems 91 (2): 263–78. doi: 10.1007/s10846-017-0713- 4. I.F. (2019): 2.259 10. F. F. A. Silva and B. V. Adorno. 2018. “Whole-Body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra.” Journal of Intelligent & Robotic Systems 91 (2): 249–62. doi: 10.1007/s10846-017- 0686-3. I.F. (2019): 2.259 11. H. T. M. Kussaba, L. F.C. Figueredo, J. Y. Ishihara, and B. V. Adorno. 2017. “Hybrid Kinematic Control for Rigid Body Pose Stabilization Using Dual Quaternions.” Journal of the Franklin Institute, February. doi:10.1016/ j.jfranklin.2017.01.028. I.F. (2019): 4.036

1I.F. stands for Impact Factor according to the Clarivate Analytics’s Journal Citation Reports. 2 12. B. V. Adorno and P. Fraisse. 2017. “The Cross-Motion Invariant Group and Its Application to Kinematics.” IMA Journal of Mathematical Control and Information 34 (4): 1359–1378. doi:10.1093/imamci/dnw032. I.F. (2019): 1.034 13. V. M. Goncalves, P. Fraisse, A. Crosnier, and B. V. Adorno. 2016. “Parsimonious Kinematic Control of Highly Re- dundant Robots.” IEEE Robotics and Automation Letters 1 (1): 65–72. doi:10.1109/LRA.2015.2506259. I.F. (2019): 3.608

14. B. V. Adorno, A. P. L. Bó, and P. Fraisse. 2015. “Kinematic Modeling and Control for Human-Robot Cooperation Considering Different Interaction Roles.” Robotica 33 (2): 314–231. doi:10.1017/S0263574714000356. I.F. (2019): 1.509

15. E. P. Lana, B. V. Adorno, and C. J. Tierra-Criollo. 2015. “Detection of Movement Intention Using EEG in a Human- Robot Interaction Environment.” Research on Biomedical Engineering 31 (4): 285–294. doi:10.1590/2446-4740.0777. I.F. (2019): N/A

16. M. C. Bernardes, B. V. Adorno, G. A. Borges, and P. Poignet. 2014. “3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation.” Journal of Control, Automation and Electrical Systems 25 (2): 216–227. doi:10.1007/s40313-013-0104-4. I.F. (2019): N/A

17. M. C. Bernardes, B.V. Adorno, P. Poignet, and G.A. Borges. 2013. “Robot-Assisted Automatic Insertion of Steerable Needles with Closed-Loop Imaging Feedback and Intraoperative Trajectory Replanning.” Mechatronics 23 (6). Elsevier Ltd: 630–645. doi:10.1016/j.mechatronics.2013.06.004. I.F. (2018): 2.978

Journal preprints

1. L. F. C. Figueredo, B. V. Adorno, and J. Y. Ishihara, “Robust H-inﬁnity kinematic control of manipulator robots using dual quaternion algebra,” Nov. 2018. https://arxiv.org/abs/1811.05436 (Under review in Automatica—third round.) I.F. (2019): 5.541 2. F. F. A. Silva, J. J. Quiroz-Omaña, and B. V. Adorno, “Dynamics of Serial Manipulators using Dual Quaternion Alge- bra,” Jul. 2020. http://arxiv.org/abs/2007.08444 (Under review in ASME Journal of Mechanisms and Robotics - ﬁrst round) I.F. (2019): 2.377

Peer-reviewed international conference papers

1. M. P. A. Fonseca, B. V. Adorno, and P. Fraisse, “An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator Joint-Space Inertia Matrix,” in 2019 19th International Conference on Advanced Robotics (ICAR), 2019, pp. 111–116. 2. Marinho, M. M., Adorno, B. V., Harada, K., Deie, K., Deguet, A., Kazanzides, P., Taylor, R., Mitsuishi, M. (2019). A Uniﬁed Framework for the Teleoperation of Surgical Robots in Constrained Workspaces. 2019 IEEE International Conference on Robotics and Automation (ICRA), 2721–2727. 3. M. M. Marinho, B. V. Adorno, K. Harada, and M. Mitsuishi, “Active Constraints Using Vector Field Inequalities for Surgical Robots,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 5364–5371.

4. L. S. Mello, G. V Raffo, and B. V Adorno, “Robust Whole-body Control of an Unmanned Aerial Manipulator,” in 2016 European Control Conference, 2016, pp. 702–707. 5. E. P. Lana, B. V. Adorno, and C. A. Maia, “A New Algebraic Approach for the Description of Robotic Manipulation Tasks,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 3083–3088. 6. M. M. Marinho, L. F. C. Figueredo, and B. V Adorno, “A dual quaternion linear-quadratic optimal controller for trajectory tracking,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 4047–4052. 7. L. F. C. Figueredo, B. V Adorno, J. Y. Ishihara, and G. A. Borges, “Switching Strategy for Flexible Task Execution using the Cooperative Dual Task-Space Framework,” in IEEE/RSJ International Conference on Intelligent Robots and System (IROS’14), 2014, pp. 1703–1709.

8. L. F. C. Figueredo, B. V. Adorno, J. Y. Ishihara, and G. A. Borges, “Robust kinematic control of manipulator robots using dual quaternion representation,” in 2013 IEEE International Conference on Robotics and Automation, 2013, pp. 1949–1955. 3 9. E. P. Lana, B. V. Adorno, and C. J. Tierra-Criollo, “An ERD/ERS analysis of the relation between human arm and robot manipulator movements,” in ISSNIP Biosignals and Biorobotics Conference, BRC, 2013, pp. 1–7. 10. M. C. Bernardes, B. V. Adorno, P. Poignet, and G. A. Borges, “Semi-automatic needle steering system with robotic manipulator,” in Proceedings - IEEE International Conference on Robotics and Automation, 2012, pp. 1595–1600. 11. B. V. Adorno, A. P. L. Bo, and P. Fraisse, “Interactive manipulation between a human and a humanoid: When robots control human arm motion,” in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 4658–4663. 12. M. C. Bernardes, B. V Adorno, P. Poignet, N. Zemiti, and G. A. Borges, “Adaptive path planning for steerable needles using duty-cycling,” in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 2545– 2550. 13. B. V. Adorno, A. P. L. Bó, P. Fraisse, and P. Poignet, “Towards a cooperative framework for interactive manipulation involving a human and a humanoid,” in Proceedings - IEEE International Conference on Robotics and Automation, 2011, pp. 3777–3783. 14. B. V. Adorno, P. Fraisse, and S. Druon, “Dual position control strategies using the cooperative dual task-space framework,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 3955–3960. 15. H.-L. Pham, V. Perdereau, B. V. Adorno, and P. Fraisse, “Position and orientation control of robot manipulators using dual quaternion feedback,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 658–663. 16. B.V. Adorno and G.A. Borges, iARW: An incremental path planner algorithm based on adaptive random walks, The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, USA: 2009, pp. 988– 993.

Book chapters

1. B. V. Adorno and G. A. Borges, “Planejamento de Rotas,” in Robótica Móvel, R. A. F. Romero, E. Prestes, F. Osório, and D. Wolf, Eds. Rio de Janeiro: Editora LTC, 2014, pp. 84–110.

Peer-reviewed national and Latin American conference papers

1. Almada Campos, Ana Christina, and Bruno Vilhena Adorno. 2020. “Development of Human-Robot Communication Technologies for Future Interaction Experiments.” In 2020 Latin American Robotics Symposium (LARS), 2020 Brazil- ian Symposium on Robotics (SBR) and 2020 Workshop on Robotics in Education (WRE), 1–6. IEEE. https://doi.org/ 10.1109/LARS/SBR/WRE51543.2020.9306965. 2. Diniz Urban, Stella, and Bruno Vilhena Adorno. 2020. “Biped Walking Control Based on Quadratic Programming and Differential Inequalities.” In Anais Do Congresso Brasileiro de Automática 2020, 1–8. https://doi.org/10.48011/ asba.v2i1.1029. 3. S. Pereira, Marcos, and Bruno V. Adorno. 2020. “Manipulation Task Planning with Constrained Kinematic Controller.” In Anais Do Congresso Brasileiro de Automática 2020, 1–8. https://doi.org/10.48011/asba.v2i1.1276. 4. R. P. Brito, B. V. Adorno, and L. C. A. Pimenta. 2018. “Convergência e Cobertura de Curvas Por Sistemas Multi- Robôs.” In Anais Do XXII Congresso Brasileiro de Automática, 1–8. 5. M. P. A. Fonseca, B. V. Adorno, and P. Fraisse. 2018. “Design of an Adaptive Controller to Improve the Condition Number of the Inertia Matrix of Serial Manipulators.” In Anais Do XXII Congresso Brasileiro de Automática, 1–8. 6. D. S. Alban and B. V. Adorno. 2017. “External Hybrid Force/pose Controller for Manipulator Robots Using Dual Quaternion Algebra.” In 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR), 1–6. Curitiba: IEEE. doi:10.1109/SBR-LARS-R.2017.8215334. 7. B. S. Rego, B. V. Adorno, and G. V. Raffo. 2016. “Formation Backstepping Control Based on the Cooperative Dual Task-Space Framework: A Case Study on Unmanned Aerial Vehicles.” In 2016 XIII Latin American Robotics Sympo- sium and IV Brazilian Robotics Symposium (LARS/SBR), 163–68. IEEE. doi:10.1109/LARS-SBR.2016.34. 8. J. J. Quiroz-Omana and B. V. Adorno. 2016. “Parsimonious Kinematic Control of Nonholonomic Mobile Manipula- tors.” In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 73–78. IEEE. doi:10.1109/LARS-SBR.2016.19. 4 9. M. P. A. Fonseca and B. V. Adorno. 2016. “Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra.” In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 103–8. IEEE. doi:10.1109/LARS-SBR.2016.24. 10. F. F. A. Silva and B. V. Adorno. 2016. “Whole-Body Control of a Mobile Manipulator Using Feedback Linearization Based on Dual Quaternions.” In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 293–98. IEEE. doi:10.1109/LARS-SBR.2016.56. 11. A. C. Oliveira and B. V. Adorno, “Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework,” in XII Simpósio Brasileiro de Automação Inteligente (SBAI), 2015, pp. 485 – 490. 12. L. S. Mello, B. V. Adorno, and G. V. Raffo, “Whole-Body Modeling and Control of an Unmanned Aerial Manipulator,” in XII Simpósio Brasileiro de Automação Inteligente (SBAI), 2015, pp. 969–974. 13. R. P. Brito, H. J. Savino, B. V Adorno, and L. C. A. Pimenta, “Consenso utilizando a álgebra de Quatérnios Duais em sistemas compostos por manipuladores móveis,” in XII Simpósio Brasileiro de Automação Inteligente (SBAI), 2015, pp. 1907 – 1912. 14. F. R. Salazar-Sangucho and B. V. Adorno, "Modelagem e Controle de Corpo Completo Usando Quatérnios Duais para um Manipulador Móvel." In Congresso Brasileiro de Automática. 2014, 1544–1551. 15. E. P. Lana, B. V. Adorno, and C. A. Maia, "Descrição Geométrica, Cinemática e de Esforços para Tarefas de Manipu- lação Usando Quatérnios Duais." In Congresso Brasileiro de Automática. 2014, 965–972. 16. R. G. Durães, G. L. Vieira, P. N. Pena, and B. V. Adorno. Teoria de Controle Supervisório e Controle Dirigido Ótimo: Solução de um Problema de Sequenciamento. In Congresso Brasileiro de Automática. 2014, 1608–1615. 17. M. M. Marinho and B. V. Adorno, “Design Of Singularity-robust and Task-priority Kinematic Controllers in the Unit Dual Quaternion Space,” in Anais do Simpósio Brasileiro de Automação Inteligente, 2013, pp. 1–6. 18. E. P. Lana, B. V. Adorno, and C. J. Tierra-Criollo, “Assistance Task Using a Manipulator Robot and User Kinematics Feedback,” in Simpósio Brasileiro de Automação Inteligente (SBAI), 2013, pp. 1–6. 19. B. V. Adorno, “Manipulação Cooperativa Descentralizada Usando o Espaço Dual de Cooperação,” in XIX Congresso Brasileiro de Automática (CBA), 2012, pp. 1–8. 20. B. V. Adorno and G. A. Borges, "Planejamento de caminho usando BI-ARW melhorado e mapa de rotas." In: Simpósio Brasileiro de Automação Inteligente (SBAI), 2007, Florianópolis. p. 1-6. 21. B. V. Adorno and G. A. Borges, "Um método de planejamento de trajetória para robôs móveis através de passeios aleatórios adaptativos e mapa de rotas." In: Congresso Brasileiro de Automática (CBA), 2006, Salvador. 22. B. V. Adorno, C. S. R. Aguiar, and G. A. Borges, "Planejamento de trajetória para o robô Omni usando o algoritmo Mapa de Rotas Probabilístico." In: Simpósio Brasileiro de Automação Inteligente (SBAI), 2005, São Luís. VII SBAI/ II IEEE LARS, 2005. p. 1-8.

Funding2

Funded Projects (Role: Principal Investigator)3

Summary: R$ 98,712.79 (approx. US$ 32,904.26)

[2017–present] Cooperative manipulation and movement coordination between human, humanoids and mobile manipulators. Funding: Conselho Nacional de Desenvolvimento Cientíﬁco e Tecnológico (CNPq). R$ 21,045.00 (approx. US$ 7,000.00) [2015–2018] Cooperative manipulation and movement coordination between human and humanoid. Funding: Fundação de Amparo à Pesquisa do Estado de Minas Gerais (FAPEMIG). R$ 36,981.79 (approx. US$ 12.333,00) [2014–2016] Development of a framework for risk-aware heterogeneous multi-agent cooperative manipulation. Funding: Conselho Nacional de Desenvolvimento Cientíﬁco e Tecnológico (CNPq); Massachusetts Institute of Technology (MIT). R$ 34,686.00 (approx. US$ 11.562,00)

2Since currency rate varied throughout the years, 1US$ = R$ 3.00 was used in the approximations. 3Research projects funded by Brazilian funding agencies do not include budget for funding human resources. However, there are separate competitive funding opportunities for that. Please see the section "Postdoc and Graduate Student Funding." 5 [2012–2014] Uniﬁed theory for kinematic and dynamic control of complex robotic systems based on dual quaternion algebra. Funding: Federal University of Minas Gerais (Pró-reitoria de Pesquisa). R$ 6000.00 (US$2000,00)

Postdoc and Graduate Student Funding

Summary: R$ 815,434.35 (approx. US$ 271,811.45) Current funding

1. Ana Christina Almada Campos (Master - 2 years): R$ 36,000.00 (approx. US$ 12,000.00) 2. Frederico Fernandes Afonso Silva (PhD - 4 years): R$ 100,800.00 (approx. US$ 33,600.00) 3. Juan José Quiroz Omaña (PhD - 4 years): R$ 100,800.00 (approx. US$ 33,600.00)

4. Mariana de Paula Assis Fonseca (PhD - 4 years): R$ 100,800.00 (approx. US$ 33,600.00) 5. Rafael Palma de Brito (PhD - 4 years): R$ 100,800.00 (approx. US$ 33,600.00) Past funding

1. Marcos da Silva Pereira (Master - 2 years): R$ 36,000.00 (approx. US$ 12,000.00)

2. Stella Diniz Urban (Master - 2 years): R$ 36,000.00 (approx. US$ 12,000.00) 3. Diana Sabina Albán Peñaﬁel (PhD - 4 years): R$ 100,800.00 (approx. US$ 33,600.00) 4. Luis Felipe da Cruz Figueredo (Postdoc - 1 year): R$ 49,200.00 (approx. US$ 16,400.00)

5. Heitor Judiss Savino (PhD internship at MIT - 1 year): R$ 46,234.35 (approx. US$ 15,411.45) 6. Juan José Quiroz Omaña (Master - 2 years): R$ 36,000.00 (approx. US$ 12,000.00) 7. Frederico Fernandes Afonso Silva (Master - 2 years): R$ 36,000.00 (approx. US$ 12,000.00) 8. Ana Christine de Oliveira (Master - 2 years): R$ 36,000.00 (approx. US$ 12,000.00)

International Collaboration

1. Collaboration with Prof. Julie Shah (Massachusetts Institute of Technology - MIT) in the context of the institutional joint project "Development of a framework for risk-aware heterogeneous multi-agent cooperative manipulation."

2. Collaboration with Prof. Kanako Harada and Prof. Mamoru Mitsuishi (University of Tokyo) in the context of the institutional joint project "Study on Robotic Control for Surgical Applications." 3. Collaboration with Prof. Philippe Fraisse and André Crosnier (University of Montpellier/LIRMM).

Students4

Current graduate students

1. Bandar Hulayyil Aldhafeeri (Ph.D. at the UoM, expected graduation date: 03/2024) 2. Frederico Fernandes Afonso Silva (Ph.D. at UFMG, expected graduation date: 07/2021) 3. Juan José Quiroz Omaña (Ph.D. at UFMG, expected graduation date: 07/2021)

4. Rafael de Palma Brito (Ph.D. at UFMG, 05/2021) 5. Ana Christina Almada Campos (MSc at UFMG, 05/2021) 6. Stella Diniz Urban (MSc at UFMG, expected graduation date: 02/2021)

4The Brazilian BSc/BEng has a nominal duration of ﬁve years, the MSc has a nominal duration of two years after the BSc/BEng, and the PhD has a nominal duration of 4 years.

6 Past postdocs

1. Luis Felipe da Cruz Figueredo (Postdoc at UFMG)

Past Ph.D students

1. Mariana de Paula Assis Fonseca (Ph.D. at UFMG) 2. Luis Felipe da Cruz Figueredo (Ph.D. at the University of Brasília. Co-supervision with João Ishihara.)

Past MSc students 1. Marcos da Silva Pereira (MSc at UFMG) 2. Frederico Fernandes Afonso Silva (MSc at UFMG) 3. Mariana de Paula Assis Fonseca (MSc at UFMG) 4. Juan José Quiroz Omaña (MSc at UFMG) 5. Rafael Palma de Brito (MSc at UFMG. Co-supervision with Luciano Pimenta.) 6. Laysa Santos Mello (MSc at UFMG. Co-supervision with Guilherme Raffo.) 7. Ana Christine de Oliveira (MSc at UFMG) 8. Fredy Rolando Salazar Sangucho (MSc at UFMG) 9. Murilo Marques Marinho (MSc at the University of Brasília. Co-supervision with Antônio Bó and Mariana Bernardes.) 10. Ernesto Pablo Lana Ulloa (MSc at UFMG. Co-supervision with Carlos Julio Tierra-Criollo.) 11. Ryad Chellal (MSc at the University of Montpellier. Co-supervision with Philippe Fraisse.)

Awards, Recognitions, and Fellowships

1. IEEE Senior Member; 2. CNPq Research Productivity Fellow (2019-2021): highly competitive scholarship awarded for the most productive scientists in Brazil in their respective fields; 3. Honorable mention for the work entitled "Human-Robot Interaction in the Design of Brain-Machine Interfaces," awarded by Brazilian Biomedical Engineering Society. 4. First prize in the "Brasília 50 anos Award" for the master thesis entitled "Planejamento Probabilístico de Rotas no Espaço de Configuração e sua Aplicação em Robótica Móvel (Probabilistic Path Planning in Configuration Space and Applications to Mobile Robots)", which was ranked first among all graduate works in engineering in the Federal District (Brazil) in 2010. 5. Honorable mention for the master thesis entitled "Planejamento Probabilístico de Rotas no Espaço de Configuração e sua Aplicação em Robótica Móvel (Probabilistic Path Planning in Configuration Space and Applications to Mobile Robots)" by the Brazil Engineering Award 2010, in the Graduate category, which comprised all Brazilian graduate works (PhD dissertations and master theses) included in the thematic area of Digital Technologies and Communications.

Editorial and review activities

• Publons profile: https://publons.com/researcher/1266332/bruno-vilhena-adorno/. • Verified reviews: 98. • Verified editor records: 85.

Associate Editor [2019-present] Associate Editor for the IEEE Robotics and Automation Letters. [2018–present] Associate Editor (robotics track) for the Journal of Control, Automation and Electrical Systems. 7 Associate Editor for Conference Papers [2019] Associate Editor for the 19th International Conference on Advanced Robotics. [2017–2020] Associate Editor for the IEEE/RSJ International Conference on Intelligent Robots and Systems.

Reviewer work (selected journals) [2011–2012] Paladyn. Journal of Behavioral Robotics [2013–present] IEEE Robotics & Automation Magazine [2014–present] Mechatronics (Oxford) [2014–present] IEEE Transactions on Robotics [2015–present] Robotica (Cambridge) [2017–present] IEEE Robotics and Automation Letters [2017–present] Autonomous Robots [2017–present] Journal of Intelligent & Robotic Systems [2017–present] Transactions of the ASME Journal of Mechanisms and Robotics [2018–present] Robotics and Autonomous Systems [2018–present] The International Journal of Robotics Research [2019-present] Automatica

Reviewer work (selected conferences) IEEE International Conference on Robotics and Automation (ICRA), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Robotics: Science and Systems (RSS), IEEE-RAS International Conference on Humanoid Robots, ACM/IEEE International Conference on Human-Robot Interaction.

Organization CBA Program Committee member for the 2018 and 2020 Brazilian Congress of Automatics (Congresso Brasileiro de Au- tomática). ICAR Tutorials/Workshops chair for the 19th International Conference on Advanced Robotics. SBAI Program Committee member for the 2019 Brazilian Symposium on Intelligent Automation (Simpósio Brasileiro de Au- tomação Inteligente). Workshop Co-organizer of the Workshop on Applications of Dual Quaternion Algebra to Robotics that took place in ICAR 2019.

Invited talks

[2019] Keynote speaker for the Workshop on Applications of Dual Quaternion Algebra to Robotics: "Dual Quaternion Algebra as a Uniﬁed Mathematical Language for Modeling, Control, and Planning of Complex Robotic Systems." Belo Horizonte, Brazil. [2017] Invited speaker for the VI Workshop do Programa de Pós-Graduação em Engenharia de Sistemas Eletrônicos e de Automação: "Manipuladores móveis: história, desaﬁos e pesquisas atuais." Brasília, Brazil. [2016] Keynote speaker for the VIII Bolivian Engineering and Technology Congress: “Mobile Manipulators: history, challenges, and ongoing research.” Cochabamba, Bolivia. [2014] Invited speaker for the 5th Brazilian-German Frontiers of Science and Technology Symposium: “Assistant Robots: Applications, Challenges, and Recent Developments.” Recife, Brazil. [2012] Keynote speaker for Automática: “Manipulação cooperativa: da aplicação a sistemas robóticos complexos à interação humano-robô.” Campinas, Brazil. 8 [2012] Keynote speaker for Primer Seminário Internacional de Elétrica, Electronica y Software: “Cooperative manipulation: from complex robotic systems to human-robot interaction.” Latacunga, Ecuador. [2012] Keynote speaker for VI Simpósio de Neurociências: “Neuro-robótica - Interação entre humanos e robôs: experi- mentos e perspectivas.” Belo Horizonte, Brazil.

Boards, committees and positions of trust (selected)

Federal University of Minas Gerais [11/2013–03/2019] Deputy Administrative Board Member of the Department of Electrical Engineering. [04/2016–04/2018] Board member of the Graduate Program in Electrical Engineering. [10/2012–10/2014] Board member of the Undergraduate Program in Control and Automation Engineering.

[2011–2012] Member of the Working Group for the Design and Implementation of Project-based Learning Laboratories for the undergraduate program in Systems Engineering.

Membership in Societies [2009-present] IEEE Robotics and Automation Society. Currently a Senior Member. [2012–present] Brazilian Society of Automatics. Chair for two consecutive terms (2017–2020) of the Technical Com- mittee on Robotics.

Participation in Evaluation Boards PhD Dissertations (8 committees): Federal University of Ceará (1), Federal University of Rio de Janeiro (1), University of Brasília (2), Federal University of Minas Gerais (4). PhD qualifying exams (15 committees): Federal University of Minas Gerais (12), Federal University of Rio de Janeiro (1), University of Brasília (2). MSc theses (19 committees): Federal University of Minas Gerais (15), National Commission for Nuclear Engineering (1), University of Brasília (1), University of São Paulo (1), University of Rio de Janeiro (1). BSc senior projects commitees (18 Committees): Federal University of Minas Gerais (18).

Selected Teaching Assignments

Graduate courses [2019–2020] Logic and Mathematical Reasoning (~18 students on the module) [2014–2020] Advanced Robot Kinematics (~8 students on the module) [2012] Robot Navigation (~20 students on the module)

Undergraduate courses [2013–2020] Robot Manipulators (~15 students on the module) [2012–2019] Project-based Learning Laboratory (~15 students on the module) [2013–2016] Discrete Event Systems (~30 students on the module)

Free Software Development

[DQ Robotics] DQ Robotics is a standalone open-source (LGPLv3) library for robot modeling and control. It provides dual quaternion algebra and kinematic calculation algorithms in Python3, Matlab, and C++11. Webpage: dqrobotics. github.io

9 Languages

[Portuguese] Mother language.

[English] Advanced level. [French] Advanced level.

May 15, 2021