Abstract
This paper describes the environmental monitoring / regatta beacon buoy under development at the Laboratory of Autonomous Systems (LSA) of the Polytechnic Institute of Porto. On the one hand, environmentalmonitoring of open water bodies in real or deferred time is essential to assess and make sensible decisions and, on the other hand, the broadcast in real time of position, water and wind related parameters allows autonomous boats to optimise their regatta performance. This proposal, rather than restraining the boats autonomy, fosters the development of intelligent behaviour by allowing the boats to focus on regatta strategy and tactics. The Nautical and Telemetric Application (NAUTA) buoy is a dual mode reconfigurable system that includes communications, control, data logging, sensing, storage and power subsystems. In environmental monitoring mode, the buoy gathers and stores data from several underwater and above water sensors and, in regatta mode, the buoy becomes an active course mark for the autonomous sailing boats in the vicinity. During a race, the buoy broadcasts its position, together with the wind and the water current local conditions, allowing autonomous boats to navigate towards and round the mark successfully. This project started with the specification of the requirements of the dual mode operation, followed by the design and building of the buoy structure. The research is currently focussed on the development of the modular, reconfigurable, open source-based control system. The NAUTA buoy is innovative, extensible and optimises the on board platform resources.

Abstract
Aerial Robots has become very popular in robotics groups. This ongoing interest is driven by a significant number of potential end-user applications where it is necessary to reduce human intervention. The validation of control/cooperation algorithms not always is an easy task and requires a large number of humans to keep tests safety. Is present in this paper the simulation of a quadrotor model in SimTwo simulation environment and evaluated the flight dynamic of the robot. To do that was developed a control layer responsible to the hovering maneuver and “go to” position function. The results prove that the objectives were achieved successfully and the simulation was validated. The navigation simulation is left as future work.

Abstract
Current practices and major trends in unmanned aircraft systems (UAS) for maritime operations are presented along with projections of future UAS maritime applications. First, various aspects of UAS program management, including organization, operator responsibilities, program operation, and overall program costs, are reviewed. Next, maritime aircraft missions and required capabilities are outlined, and current practices for both manned and unmanned aircraft are described. Technological trends relating to UAS are also discussed, focusing on developments relevant to maritime UAS operations. This information provides a background for assessing potential future maritime UAS operations. Trends including miniaturization of sensors and computer systems, high energy density of power sources, and increased subsystem standardization and modularity will have important effects in the future. However, another significant trend is towards increased system autonomy via new command and control frameworks that facilitate integration of UAS into higher level maritime observing systems through new concepts of operation for networked systems and new business models. © Springer Science+Business Media Dordrecht 2015.

Abstract
The atmospheric electric field near the Earth's surface is dominated by atmospheric pollutants and natural radioactivity, with the latter directly linked to radon (Rn-222) gas. For a better comprehension on the temporal variability of both the atmospheric electric field and the radon concentration and its relation with local atmospheric variables, simultaneous measurements of soil-emitted gamma radiation and potential gradient (defined from the vertical component of the atmospheric electric field) were taken every minute, along with local meteorological parameters (e.g., temperature, atmospheric pressure, relative humidity and daily solar radiation). The study region is Amieira, part of the Alqueva lake in Alentejo Portugal, where an interdisciplinary meteorological campaign, ALEX2014, took place from June to August 2014. Soil gamma radiation is more sensitive to small concentrations of radon as compared with alpha particles measurements, for that reason it is more suited for sites with low radon levels, as expected in this case. Preliminary results are presented here: statistical and spectral analysis show that i)the potential gradient has a stronger daily cycle as compared with the gamma radiation, ii) most of the energy of the gamma signal is concentrated in the low frequencies (close to 0), contrary to the potential gradient that has most of the energy in frequency 1 (daily cycle) and iii) a short-term relation between gamma radiation and the potential gradient has not been found. Future work and plans are also discussed.

Abstract
The presence or absence of long-range correlations in the environmental radioactivity fluctuations has recently attracted considerable interest. Among a multiplicity of practically relevant applications, identifying and disentangling the environmental factors controlling the variable concentrations of the radioactive noble gas radon is important for estimating its effect on human health and the efficiency of possible measures for reducing the corresponding exposition. In this work, we present a critical re-assessment of a multiplicity of complementary methods that have been previously applied for evaluating the presence of long-range correlations and fractal scaling in environmental radon variations with a particular focus on the specific properties of the underlying time series. As an illustrative case study, we subsequently re-analyze two high-frequency records of indoor radon concentrations from Coimbra, Portugal, each of which spans several weeks of continuous measurements at a high temporal resolution of five minutes.Our results reveal that at the study site, radon concentrations exhibit complex multi-scale dynamics with qualitatively different properties at different time-scales: (i) essentially white noise in the high-frequency part (up to time-scales of about one hour), (ii) spurious indications of a non-stationary, apparently long-range correlated process (at time scales between some hours and one day) arising from marked periodic components, and (iii) low-frequency variability indicating a true long-range dependent process. In the presence of such multi-scale variability, common estimators of long-range memory in time series are prone to fail if applied to the raw data without previous separation of time-scales with qualitatively different dynamics.

Abstract
Radon monitoring at different levels of the cover of the Urgeirica tailings shows that the sealing is effective and performing as desired in terms of containing the strongly radioactive waste resulting from uranium ore processing. However, the analysis of the time series of radon concentration shows a very complex temporal structure, particularly at depth, including very large and fast variations from a few tens of kBq m(-3) to more than a million kBq m(-3) in less than one day. The diurnal variability is strongly asymmetric, peaking at 18 h/19 h and decreasing very fast around 21 h/22 h. The analysis is performed for summer and for a period with no rain in order to avoid the potential influence of precipitation and related environmental conditions on the radon variability. Analysis of ancillary measurements of temperature, relative humidity, wind speed and wind direction, as well as atmospheric pressure reanalysis data shows that the daily averaged radon concentration in the taillings material is anti-correlated with the atmospheric pressure and that the diurnal amplitude is associated with the magnitude of atmospheric pressure daily oscillations.