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Details

  • Name

    José Miguel Almeida
  • Role

    Centre Coordinator
  • Since

    01st March 2011
048
Publications

2023

Methodological insights from unmanned system technologies in a rock quarry environment and geomining heritage site: coupling LiDAR-based mapping and GIS geovisualisation techniques

Authors
Pires, A; Dias, A; Silva, P; Ferreira, A; Rodrigues, P; Santos, T; Oliveira, A; Freitas, L; Martins, A; Almeida, J; Silva, E; Chaminé, HI;

Publication
Arabian Journal of Geosciences

Abstract

2022

3DupIC: An Underwater Scan Matching Method for Three-Dimensional Sonar Registration

Authors
Ferreira, A; Almeida, J; Martins, A; Matos, A; Silva, E;

Publication
SENSORS

Abstract
This work presents a six degrees of freedom probabilistic scan matching method for registration of 3D underwater sonar scans. Unlike previous works, where local submaps are built to overcome measurement sparsity, our solution develops scan matching directly from the raw sonar data. Our method, based on the probabilistic Iterative Correspondence (pIC), takes measurement uncertainty into consideration while developing the registration procedure. A new probabilistic sensor model was developed to compute the uncertainty of each scan measurement individually. Initial displacement guesses are obtained from a probabilistic dead reckoning approach, also detailed in this document. Experiments, based on real data, demonstrate superior robustness and accuracy of our method with respect to the popular ICP algorithm. An improved trajectory is obtained by integration of scan matching updates in the localization data fusion algorithm, resulting in a substantial reduction of the original dead reckoning drift.

2022

An holistic monitoring system for measurement of the atmospheric electric field over the ocean - the SAIL campaign

Authors
Barbosa, S; Dias, N; Almeida, C; Amaral, G; Ferreira, A; Lima, L; Silva, I; Martins, A; Almeida, J; Camilo, M; Silva, E;

Publication
OCEANS 2022

Abstract
The atmospheric electric field is a key characteristic of the Earth system. Despite its relevance, oceanic measurements of the atmospheric electric field are scarce, as typically oceanic measurements tend to be focused on ocean properties rather than on the atmosphere above. This motivated the set-up of an innovative campaign on board the sail ship NRP Sagres focused on the measurement of the atmospheric electric field in the marine boundary layer. This paper describes the monitoring system that was developed to measure the atmospheric electric field during the planned circumnavigation expedition of the sail ship NRP Sagres.

2022

A SMACC based mission control system for autonomous underwater vehicles

Authors
Carvalho, D; Martins, A; Almeida, JM; Silva, E;

Publication
2022 OCEANS HAMPTON ROADS

Abstract
Scientific and environmental focused deep sea exploration is being expanded and as such a new class of Autonomous Underwater Vehicle (AUV) capable of accessing deep underwater sea bed environment for long periods of time is being deployed. This type of vehicle and the mission environment poses challenges to the mission development as these operations contain many systems that must work together to ensure that the mission requirements are met and that the vehicle is operated safely. As such, a solution based on the SMACC library for Robotic Operating System (ROS) was proposed and tested using a simulator. The results shown were based on the simulation of three missions representative of different scenarios for a deep sea exploration AUV and they were evaluated on the completion of the mission plan.

2022

Feedfirst: Intelligent monitoring system for indoor aquaculture tanks

Authors
Teixeira, B; Lima, AP; Pinho, C; Viegas, D; Dias, N; Silva, H; Almeida, J;

Publication
2022 OCEANS HAMPTON ROADS

Abstract
The Feedfirst Intelligent Monitoring System is a novel tool for intelligent monitoring of fish nurseries in aquaculture scenarios, mainly focusing on monitoring three essential items: water quality control, biomass estimation, and automated feeding. The system is based on machine vision techniques for fish larvae population size detection, and larvae biomass estimation is monitored through size measurement. We also show that the perception-actuation loop in automated fish tanks can be closed by using the vision system output to influence feeding procedures. The proposed solution was tested in a real tank in an aquaculture setting with real-time performance and logging capabilities.

Supervised
thesis

2018

Sistema de Perceção 3D Subaquático com Projetor Laser rotativo: Calibração e Reconstrução Tridimensional

Author
EDUARDO JOSÉ PINTO SOARES

Institution
IPP-ISEP

2018

Análise comparativa entre métodos de Northseeking para veículo de mineração subaquática

Author
CAIO TEIXEIRA LOMBA

Institution
IPP-ISEP

2018

Calibração dos parâmetros extrı́nsecos de um LiDAR num UAV

Author
ANDRÉ FILIPE MARTINS FERREIRA

Institution
IPP-ISEP

2018

Real-Time LiDAR-based Power Lines Detection for Unmanned Aerial Vehicles

Author
FÁBIO ANDRÉ COSTA AZEVEDO

Institution
IPP-ISEP

2017

Mapeamento 3D com sistemas LiDAR e GNSS

Author
MACIEJ CEREKWICKI

Institution
IPP-ISEP