Abstract
Is there a limit to the maximum resolution one can achieve when representing the signal's energy in the Time-Frequency plane? Some authors sustain that such a limit exists, and ignoring it is the cause of the known difficulties with some joint Time-Frequency distributions; others maintain that there is no such limit. In this article, we propose to analyze the merits and demerits of the several existing approaches, and suggest further arguments one might wish to consider. This will take us to the conclusion that, both from a tool-specific and from a general information-theoretic point of view, there is, indeed, a lower limit on the achievable resolution, even though the expression for that limit can not be given by the traditional Heisenberg-Gabor relations.

Abstract
Ville's definition of Instantaneous Frequency (IF), even though widely used and accepted, fails in most cases of practical interest. This failure has been often reported, namely in the multicomponent case. In this paper, we will analyze the advantages and shortcomings of that definition, and determine when and why it fails, integrating all previously reported cases of failure in a simple unified theory. We will also be able to extrapolate and predict the behavior of the traditional definition for any type of multicomponent signal. Alternative definitions of IF are discussed.

Abstract
The nesting problem consists of defining the cutting plan of a piece of raw material in smaller irregular shapes, and has applications in the apparel and footwear industries. Due to its NP-hard nature, the optimal solution can only be guaranteed by exhaustively trying all possible solutions and choosing the best one. Because this is impractical in real-life industrial problems, automatic approaches are based on optimization meta-heuristics that search for sub-optimal but good enough solutions. These optimization techniques rely on the construction and evaluation of several solutions, thus requiring heavy geometric manipulation of the irregular polygons that constitute the problem data. Efficient processing of this geometric information is thus necessary to make effective fully automatic approaches to nesting problems in industrial environments. This paper describes Fafner, an FPGA-based custom computing machine that is used to accelerate the geometric operations, that are in the core of heuristic solutions to the nesting problem. The system is used as an auxiliary processor attached to a low cost personal computer, and combines a custom programmable processor with an array of custom circuits for the processing of irregular polygons.

Abstract
In this paper, we address the current developments of the "PISCIS" project. We focus on the experimental results from recent operational missions with an AUV in a estuarine environment. Besides describing mission planning and logistic details, we also present tools for oceanographic data processing and visualization. This will be demonstrated with some examples of collected data.

Abstract
A reliable navigation system is a key factor for the success of an operational mission with an AUV in a real scenario. In this paper, we address the main issues involved in the implementation of a long baseline (LBL) navigation system for a REMUS AUV. This system replaces both the original hardware and software of the vehicle with a simpler, faster, less expensive and more precise system, based on a Kalman filter. We also discuss the influence of transponder location in the overall performance of the LBL navigation, and present results obtained with this new system in operational missions.

Abstract
This paper describes the specification and design of a prototype of a low cost open system for the inspection of underwater structures based on a remotely operated underwater vehicle under the project IES, a 3 year long effort funded by the Portuguese R&D program Praxis XXI. Unlike commercial approaches, a modular open system characterised by the incorporation of an on-board computer allowing for advanced control capabilities is envisaged. The control console is based on a standard PC and the tether is used only for power delivery and to establish a simple communication channel. In this project, we use advanced hybrid control techniques for sophisticated semi-autonomous operation management and control. The control architecture reuses part of the one designed for the underwater vehicle Isurus operated by the Laboratory of Underwater Systems and Technologies of Porto University. The implementation is designed in order to allow for multiple sensor configurations specified as add-ins. This leads to a dynamic, scalable and flexible system that can be easily configured according to the user specifications.