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006
Publications

2019

Modeling and simulation of a spherical vehicle for underwater surveillance

Authors
Grande, D; Bascetta, L; Martins, A;

Publication
OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Abstract
This paper presents the modeling and simulation of a spherical autonomous underwater vehicle. The robot was developed under the European Union H2020 innovation action UNEXMIN for the exploration of underground flooded mines, and is a small spherical robot with thrusters and an internal pendulum for pitch control. A model of the vehicle is presented, initially without the pendulum, then an extended formulation is derived accounting for a multibody dynamic description of the system. Experimental identification results for the determination of drag parameters are presented as well. A Modelica based simulator is developed for dynamic simulation of the vehicle, and is integrated with the Matlab/Simulink environment. The simulator is then validated based on preliminary experimental results. © 2018 IEEE.

2019

ISEP/INESC TEC Aerial Robotics Team for Search and Rescue Operations at the euRathlon 2015

Authors
Sousa, P; Ferreira, A; Moreira, M; Santos, T; Martins, A; Dias, A; Almeida, J; Silva, E;

Publication
Journal of Intelligent and Robotic Systems: Theory and Applications

Abstract
This paper presents the results from search and rescue missions performed with the aerial robot OTUS in the the context of the ISEP/INESC TEC aerial robotics team participation on the euRathlon 2015 robotics competition. The multi-domain (land, sea and air) search and rescue scenario is described and technical solution adopted is presented with emphasis on the perception system. The calibration of the image based system is addressed. Results from the operational missions performed are also discussed. The aerial autonomous vehicle was able to successfully perform multiple tasks from the aerial reconnaissance and 3D mapping to the identification of leaking pipes, obstructed passages and missing workers. The system was validated a realistic operational scenario and won the Grand Challenge in cooperation with land and marine robotics partner teams. This challenge was the first time that a real time collaborative team of aerial, land and marine robots was deployed successfully in a search and rescue mission. © 2018 Springer Science+Business Media B.V., part of Springer Nature

2018

Control-law for oil spill mitigation with an autonomous surface vehicle

Authors
Pedrosa, D; Dias, A; Martins, A; Almeida, J; Silva, E;

Publication
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

Abstract
Oil spill incidents in the sea or harbors occur with some regularity during exploration, production, and transport of petroleum products. In order to mitigate the impact of the oil spill in the marine life, immediate, safety, effective and eco-friendly actions must be taken. Autonomous vehicles can assume an important contribution by establishing a cooperative and coordinated intervention. This paper presents the development of a path planning control-law methods for an autonomous surface vehicle (ASV) being able to contour the oil spill while is deploying microorganisms and nutrients (bioremediation) capable of mitigating and contain the oil spill spread with the collaboration of a UAV vehicle. An oil spill simulation scenario was developed in Gazebo to support the evaluation of the cooperative actions between the ASV and UAV and to infer the ASV path planning for each one of the proposed control-law methods. © 2018 IEEE.

2018

EVA a hybrid ROV/AUV for underwater mining operations support

Authors
Martins, A; Almeida, J; Almeida, C; Matias, B; Kapusniak, S; Silva, E;

Publication
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

Abstract
This paper presents EVA, a new concept for an hybrid ROV/AUV designed to support the underwater operation of an underwater mining machine, developed in the context of the European H2020 R&D ¡VAMOS! Project. This project is briefly presented, introducing the main components and concepts, providing the reader with clear picture of the operational scenario and allowing to understand better the functionality requirements of the support robotic vehicle developed. The design of EVA is detailed presented, addressing the mechanical design, hardware architecture, sensor system and navigation and control. The results of EVA both in water test tank, in the !VAMOS! Field trials in Lee Moor, UK, and in an harbor scenario are presented and discussed © 2018 IEEE

2018

Supervised vs unsupervised approaches for real time hyperspectral imaging maritime target detection

Authors
Freitas, S; Silva, H; Almeida, J; Martins, A; Silva, E;

Publication
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

Abstract
This paper addresses the use of supervised and unsupervised methods for classification of hyperspectral imaging data in maritime border surveillance domain. In this work supervised (SVM) and unsupervised (HYDADE) approaches were implemented. An evaluation benchmark was performed in order to compare methods results using real hyperspectral imaging data taken from an Unmanned Aerial Vehicle in maritime border surveillance scenario. © 2018 IEEE.

Supervised
thesis

2017

Real Time Stereo Cameras System Calibration Tool and Attitude and Pose Computation with Low Cost Cameras

Author
NÉLSON CASIMIRO CASTRO DE CAMPOS

Institution
IPP-ISEP

2017

Controlo de locomoção do veículo robótico submarino TURTLE com recurso a sistema de variação de flutuabilidade

Author
HÉLDER JOEL FERNANDES OLIVEIRA

Institution
IPP-ISEP

2016

Extração de features de sinais acústicos

Author
JOSÉ MANUEL GONÇALVES DE ARAÚJO

Institution
IPP-ISEP