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International Journals

T. Sousa, C. Amaral, J. Andrade, G. Pires, U. Nunes, and M. Castelo-Branco (2017), "Pure visual imagery as a potential approach to achieve three classes of control for implementation of BCI in non-motor disorders", Journal of Neural Engineering, 2017, IOP Science, doi: 10.1088/1741-2552/aa70ac [link].

A. Lopes, J. Rodrigues, J. Perdigao, G. Pires, U. Nunes (2016), "A New Hybrid Motion Planner: Applied in a Brain-Actuated Robotic Wheelchair", IEEE Robotics & Automation Magazine, 99, December, 2016, doi:10.1109/MRA.2016.2605403, [link] and [PDF draft version].

S. Barbosa, G. Pires, U. Nunes (2016), "Toward a reliable gaze independent hybrid BCI combining visual and natural auditory stimuli", Journal of Neuroscience Methods, 261, Elsevier, 2016, doi:10.1016/j.jneumeth.2015.11.026, [link] and [PDF draft version].

T. Sousa, A. Cruz, S. Khalighi, G. Pires, U. Nunes (2015), "A two-step automatic sleep stage classification method with dubious range detection", Computers in Biology and Medicine, Elsevier, 2015, vol. 59, 42-53, doi:10.1016/j.compbiomed.2015.01.017, [link].

M. Teixeira, G. Pires, M. Raimundo, S. Nascimento, V. Almeida, M. Castelo-Branco (2014), "Robust single trial identification of conscious percepts triggered by sensory events of variable saliency", PLoS ONE 9(1): e86201. doi:10.1371/journal.pone.0086201, January 2014 [link - Open access].

S. Khalighi, T. Sousa, G. Pires, U. Nunes (2013), "Automatic Sleep Staging: A Computer Assisted Approach for Optimal Combination of Features and Polysomnographic Channels", Expert Systems with Applications, Elsevier, 2013, 40(17), 7046-7059, Dec. 2013, dx.doi.org/10.1016/j.eswa.2013.06.023 [link]

A. Lopes, G. Pires, U. Nunes (2013), "Assisted Navigation for Brain-actuated Intelligent Wheelchair", Robotics and Autonomous Systems, Elsevier, 2013, 61(3), 245–258, dx.doi.org/10.1016/j.robot.2012.11.002 [link][PDF]

G. Pires, U. Nunes, M. Castelo-Branco (2012), "Comparison of a Row-column Speller vs a Novel Lateral Single-character Speller: assessment of BCI for severe motor disabled patients ", Clinical Neurophysiology, Elsevier, 2012, 123(6), 1168–1181, doi:10.1016/j.clinph.2011.10.040 [link] [PDF]

 G. Pires, U. Nunes, M. Castelo-Branco (2011), "Statistical Spatial Filtering for a P300-based BCI: Tests in able-bodied, and Patients with Cerebral Palsy and Amyotrophic Lateral Sclerosis", Journal of Neuroscience Methods, Elsevier, 2011, 195(2), Feb. 2011: doi:10.1016/j.jneumeth.2010.11.016 [link] [PDF]

 G. Pires and U. Nunes, (2002), "A Wheelchair Steered Through Voice Commands and Assisted by a Reactive Fuzzy Logic Controller", Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, vol. 34, nº3, pp. 301-314, July 2002 [link][PDF]


International Conferences

J. Perdiz, G. Pires and U. J. Nunes (2017), Emotional State Detection Based on EMG and EOG Biosignals: a Short Survey, 5th Portuguese Meeting in Bioengineering IEEE-EMBS (ENBENG’2017) [link][PDF].

A. Cruz, D. Garcia, G. Pires (2015), U. Nunes, Facial Expression Recognition Based on EOG Toward Emotion Detection for Human-Robot Interaction, 8th International Conference on Bio-inspired Systems and Signal Processing, BIOSIGNALS2015, pag. 31-37 [link][PDF].

R. Parafita, G. Pires, U. Nunes, and M. Castelo-Branco (2013), “A spacecraft game controlled with a brain-computer interface using SSVEP with phase tagging”, IEEE 2nd Int.l Conf. on Serious Games and Applications for Health, SeGAH2013 [link][PDF] .

G. Pires, U. Nunes, M. Castelo-Branco (2012), Evaluation of Brain-computer Interfaces in Accessing Computer and other Devices by People with Severe Motor Impairments, Proceedings of the 4th International Conference on Software Development for Enhancing Accessibility and Fighting Info-exclusion (DSAI 2012), Procedia Computer Science, Volume 14, 2012, pag. 283–292 [link]

A. Lopes, G. Pires, and U. Nunes (2012),RobChair: Experiments Evaluating Brain-Computer Interface to Steer a Semi-autonomous Wheelchair”, video Competition of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Portugal, October, 2012 [link to video]

Sousa T, Oliveira D, Khalighi S, Pires G, Nunes U. (2012) Neurophysiologic and statistical analysis of failures in automatic sleep stage classification. In BIOSIGNALS - International Conference on Bio-inspired Systems and Signal Processing 2012; 423-428 [PDF].

 G. Pires, M. Torres, N. Casaleiro, U. Nunes and M. Castelo-Branco (2011),  Playing Tetris with non-invasive BCI”, IEEE 1st International Conference on Serious Games and Applications for Health (SeGAH 2011), Braga, November, 2011 [link] [PDF]

G. Pires, U. Nunes, M. Castelo-Branco (2011), GIBS Block Speller: Toward a Gaze-Independent P300-Based BCI”, 33rd International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC11), USA, August, 2011 [link] [PDF].

 Lopes, G. Pires, L. Vaz, U. Nunes (2011), Wheelchair Navigation Assisted by Human-machine Shared-control and a P300-based BCI”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), USA, October, 2011  [link] [PDF].

 M. Teixeira, G. Pires, M. Raimundo, S.M. Nascimento, V.M. de Almeida and M. Castelo-Branco (2011),  "Neural bases of visual attention and saliency: detecting feature independent perceptual saliency at a single trial level using oddball EEG signals". IBILI Meeting 2011, 2011 [Abstract]

 S. Khalighi, T. Sousa, D. Oliveira, G. Pires, U. Nunes (2011),  Efficient Feature Selection for Sleep Staging Based on Maximal Overlap Discrete Wavelet Transform and SVM”, 33rd International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC11), USA, 2011 [link] [PDF].

 H. Simões, G. Pires, U. Nunes and V. Silva (2010), Feature Extraction and Selection for Automatic Sleep Staging using EEG”, 7th International Conference On Informatics in Control, Automation and Robotics – ICINCO2010, 15-18 June 2010, Funchal, Portugal [PDF]

 G. Pires, U. Nunes, M. Castelo-Branco, (2009), P300 Spatial Filtering and Coherence-Based Channel Selection”, Proceedings of the 4th International IEEE EMBS Conference on Neural Engineering Antalya, Turkey, April 29 - May 2, 2009,  pp 311-314 [link] [PDF].

 G. Pires and U. Nunes, (2009), A Brain Computer Interface Methodology Based on a Visual P300 Paradigm”, in 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS2009), St. Louis, USA, 11-15 October, 2009, pp. 4193-4198 [link][PDF].

 A. Ribeiro, A. Sirgado, J. Aperta, A. Lopes, J. Guilherme, P. Correia, G. Pires and U. Nunes, (2009), A Low-Cost EEG Stand-Alone Device for Brain Computer Interface, 2nd International Joint Conference on Biomedical Engineering Systems and Technologies - BIODEVICES2009, 14-17 Janeiro 2009, Porto, Portugal, pp. 430-433 [PDF].

 G. Pires, U. Nunes, M. Castelo-Branco, (2008), Brain Computer Interface Approaches to Control Mobile Robotic Devices”, published on Advances in Mobile Robotics, World Scientific, Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal September 8-10, 2008, pp 489-496 [PDF]

 G. Pires, M. Castelo-Branco, U. Nunes, (2008), Visual P300-based BCI to steer a Wheelchair: a Bayesian Approach”, Proceedings of the 30th Annual International IEEE EMBS Conference, Vancouver, British Columbia, Canada, August 20-24, 2008, pp 658-661 [link][PDF]

G. Pires, U. Nunes, M. Castelo-Branco, (2007), Single-Trial EEG classification of Movement Related Potential”, Proceedings of the 2007 IEEE 10thInternational Conference on Rehabilitation Robotics, June 12-15, Noorwijk, The Netherlands pp. 569 – 574 [link][PDF]

G. Pires, R. Araújo, U. Nunes, (1998), "Fuzzy-Based Navigation System of a Powered Wheelchair", Fifteenth National Conference on Artifitial Intelligence - Integrating Artificial Intelligence and Assistive Technology, USA Wiscosin, July 1998, pp. 55-60 [PDF].

G. Pires, R. Araújo, U. Nunes, A.T. Almeida, (1998), "Robchair - A Powered Wheelchair using a Behaviour-Based Navigation", AMC'98 (Advanced Motion Control) Proceedings, Coimbra Portugal, University of Coimbra, June 1998, pp. 536-541 [link] [PDF].

 G. Pires, U. Nunes and A. T Almeida, (1998), "RobChair - A Semi-Autonomous Wheelchair for Disabled People", IAV'98 Proceedings of the 3rd IFAC Symposium on Intelligent Autonomous Vehicles, Madrid Spain, University Carlos III, March 1998, vol.2, pp. 648-652 [PDF].

 G. Pires, N. Honório, C. Alexandra, U. Nunes and A. T. Almeida, (1997), "Autonomous Wheelchair for Disabled People", ISIE'97 Proceedings of IEEE International Symposium on Industrial Electronics, Guimarães Portugal, University of Minho, July 1997, vol. 1, pp. 797-801 [link] [PDF].

 G. Pires, N. Martins, R. Almeida, F. Moita, U. Nunes, A. T. Almeida (1996), "Optimisation of the Tri-Aural System, Detection and Identification of Different Reflectors", In Proceedings of the Conference Mechatronics'96, Guimarães Portugal, University of Minho September 1996, vol.2, pp. 255-260 [PDF]


Book Chapters

U. Nunes, G. Pires, P. Coelho, (2000), "Assistive Navigation Control Architecture", in Book: System and Control: Theory and Applications, World Scientific Publisher, 2000, pp. 38-43 [PDF].


National Journals

G. Pires, R. Araújo, U. Nunes, J. Coimbra, (2001), "Development of the RobChair Assistive Navigation System", Revista Robótica: Automação, Controlo e Instrumentação, n.º 43, 2º Trimestre 2001, pp. 25-28 [PDF].


National \ Iberian \ Ibero-American Conferences

N. Reis, S. Godinho, A. Lopes and G. Pires (2014), "SAM: Sistema de Assistência à Mobilidade", 2as Jornadas Ibero-Americanas em Geração Distribuída e Microrredes Elétricas Inteligentes (REGMEI), Tomar, Julho 2014.

J. Cunha, P. Coelho, A. Lopes, G. Pires (2014), "Sistema de Estacionamento Paralelo Automático", 2as Jornadas Ibero-Americanas em Geração Distribuída e Microrredes Elétricas Inteligentes (REGMEI), Tomar, Julho 2014.

B. Carrilho, E. Ribeiro, T. Martins, P. Correia, G. Pires (2012), "A multi-sensorial interface for driving a motorized wheelchair", Matchmaking Research workshop, Guarda, 2012.

 L. Conde, G. Pires, U. Nunes, (2002), "A Behaviour Based Fuzzy Control Architecture for Path-Tracking and Obstacle Avoidance", 5th Portuguese Conference on Automatic Control, University of Aveiro, pp. 341-346, September 2002 [link]


Invited Talks and Lectures

G. Pires (2017), "Usability of Brain-Computer Interfaces in Clinical Context", - 2º Simpósio - Esclerose Lateral Amiotrófica, Faculdade de Farmácia da Universidade de Lisboa, 29 de abril 2017, [Program]

G. Pires (2017), Keynote Talk - "Reliability of P300-based Brain Computer Interfaces", 5th IEEE Portuguese Meeting on BioEngineering (IEEE-EMBS ENBENG’2017), Coimbra, 17.Feb.2017 [Program]

G. Pires (2016), “Controlo de dispositivos domóticos e acessibilidade em situações de distrofia muscular”, Fórum Politécnico em “Tecnologias de Reabilitação e Apoio para o Bem-Estar e Acessibilidades”, promovido pelo Conselho Coordenador dos Institutos Superiores Politécnicos (CCISP), em estreita colaboração com o Programa de modernização e valorização do ensino politécnico, promovido pelo MCTES, 29 de setembro de 2016;

G. Pires (2016), Lecture “Introduction to Brain-Computer Interfaces (BCI)”, PDBEB Course (together with the Neuroscience course – PD Bioengineering, MIT-Portugal) - Neuronal Circuits & Behavior 2016, CNC - Center for Neuroscience and Cell Biology, University of Coimbra, and Seminar  “P300-based BCI as an assistive tool for individuals with motor disabilities: methods, challenges and applications”, April 22-29, 2016.

G. Pires (2016), “Aplicações de interfaces cérebro-computador”, 3as Jornadas de Fisioterapia da Escola Superior de Saúde Egas Moniz, Monte da Caparica, 12 de março 2016.

G. Pires (2015), “Gaze-independent BCI combining visual and natural auditory stimuli”, Workshop on Brain-Computer Interfaces for Neurorehabilitation-BCI-Neurorehab 2015, in conjunction with the Int. Congress on Neurotechnology, Electronics and Informatics - NEUROTECHNIX 2015, Lisbon, 17th November 2015.

G. Pires (2015), "Environment control with BCI", Internet of Things, Ciclo de Conferências em Engenharia Informática, Instituto Politécnico de Tomar, Tomar, 12-14 de maio de 2015.

G. Pires (2014), "BCI applications in movement disorders: Toward practical issues", Brain-Computer Interface Workshop & hands-on seminar: "Current and future applications of non-invasive and invasive BCIs", Organized by g.tec medical engineering (Austria) and IBILI - University of Coimbra (Portugal), Coimbra, 8th October 2014.

G. Pires (2014), "Classificação automática de sinais electroencefalográficos para interfaces cérebro-computador", I WORKSHOP on Computational Data Analysis and Numerical Methods (I WCDANM), Instituto Politécnico de Tomar, Tomar, 25 de julho de 2014.

G. Pires (2013), "Non-invasive Brain-Computer Interfaces: Overview and challenges", XX SINFO - Biotecnologia e Cibernética Aplicada à Saúde, Instituto Superior Técnico, Lisboa, 28 de fevereiro de 2013.

G. Pires (2013), " Workshop em Interfaces Homem-Máquina", II Congresso In4Med do NEM/AAC, Faculdade de Medicina da Universidade de Coimbra, Coimbra, 17 de fevereiro de 2013.

G. Pires (2010), "Interfaces Emergentes para a Melhoria da Acessibilidade de Pessoas com Paralisia Cerebral",  1ª Conferência Ciência e Qualidade de Vida na Paralisia Cerebral – 50 Anos em Portugal, Lisboa, 18 Dezembro, 2010.



PhD Thesis: G. Pires,  "Biosignal Classification for Human Interface with Devices and Surrounding Environment", Department of Electrical Engineering, University of Coimbra, 2011 (supervisors: Prof. Urbano Nunes and Prof. Miguel Castelo-Branco) ( [Direct PDF download or from Official University Repository (see Errata of this version) )

 MSc Thesis: G. Pires, "Navegação Assistida de uma Cadeira de Rodas Controlada por Computador e com Interface de Voz" (portuguese), Department of Electrical Engineering, University of Coimbra, 2001 [PDF] (16MB) [PS] (48MB)

 “Licenciatura” graduation (5 years programme) Thesis: G. Pires, N. Martins, R. Almeida, "Optimização do Sistema Tri-Aural" (portuguese), Department of Electrical Engineering, University of Coimbra, 1995



Algumas notícias relacionadas com o desenvolvimento de interfaces cérebro-computador e prémio Fraunhofer Portugal Challenge 2012: Exame informática1, Exame Informática2 , Tecnologia.com

Entrevista para a revista  e.Ciencia , 2005 – Pessoas com necessidades especiais – Apoio à autonomia – [PDF] pag.20

Online press article in innovations report [link]

Online press article in Brightsurf Science news [link]