Abstract
The in-situ investigation and characterization of ISC'2 experimental site comprised the application of several geophysical borehole, penetration and surface methods, namely S waves high resolution shallow reflection (SHRR), ground penetrating radar (GPR), P and S waves seismic cross-hole (CH), downhole (DII), refraction, electrical resistivity, as well as geotechnical tests, namely SPT, CPT, DMT, among others. The site, located within the campus of Faculty of Engineering of the University of Porto (FEUP), is geologically fortned by an upper layer of heterogeneous residual granite soil overlaying rather weathered granite contacting a gneissic migmatite. Direct and indirect results from some of the referred surveys are compared between them and with some of the available geological and geotechnical information, in particular hereby (Part II), those obtained from SHRR, GPR, and CH seismic tests. The integration of the available information was then used to build a tentative geological interpretation model. One of the objectives of this component of the global study, hereby presented, was to evaluate the possibility of obtaining valid infortnation from a single technique, particularly, S waves shallow reflection.

Abstract
In this paper we describe an algorithm that produces a post mission estimate of the spatial evolution of the Isurus AUV. To make this post processing possible, the navigation system records on the vehicle logging system all the navigation data received during the mission execution. The data comprise the depth of the vehicle, the outputs of the tilt sensors and digital compass, the angular velocity of the propeller, as well as acoustic range measurements to a set of transponders. After mission completion, the logged data is then processed to produce the estimate of the evolution of the vehicle. The algorithm used to process this data is based on a fixed interval nonlinear stochastic smoothing scheme and produces an estimate that evolves continuously in time. For each instant of time, the post mission position estimate is based on all the information collected during the mission, as opposed to real time estimates that can only take into account past data.

Abstract
The latest technological developments on electronics, mechanics, optics, and other areas have made possible the availability of low cost and high performance sensors for navigation. This opens doors to the development of high accuracy navigation systems to be used on low cost small size underwater vehicles. This paper describes th development and implementation of the navigation system for the remotely operated vehicle (ROV) of the IES Project.

Abstract
This paper describes the design and implementation status of the Control and Localisation systems of the ISePorto robotic football team for participation in Robocup Middle Size League (F2000). The objectives guiding the project were the applications and research in hybrid control and coordination systems. The system has also an educational support role. 4 special attention is made to the custom design to allow the execution of complex manoeuvres and team coordinated behaviours. The robot has different pass, shot, and manoeuvre capabilities providing high level tactical and strategic planing and coordination.

Abstract
System and mission requirements for the use of Autonomous Underwater Vehicles (AUV) were defined. A requirement analysis was done having in mind the definition of search methodologies involving multiple cooperating vehicles. Control and navigation issues were addressed. Various search strategies were proposed and analyzed in terms of control, navigation and overall system requirements.

Abstract
The coordinated use of multiple Autonomous Underwater Vehicles can provide important advantages for oceanographic missions. One important mission application scenario can be the search of underwater plumes such as sources of freshwater of hydrotermal vents. These plumes characterize the environment by creating a gradient field of some measurable physical quantity. An innovative integrated acoustic navigation system and coordination control maneuver for a formation of 3 AUVs and I surface craft to gradient search and following missions is proposed. The specific formation geometry and topology takes in account the navigation and coordination requirements. It was designed to achieve an efficient, low cost and technically feasible solution. The system can operate in 3 modes depending on formation distances. Varying pinging rates and offsets are used to communicate parameters and mode changing. No additional underwater communication systems neither acoustic transponder deployment are needed for the vehicle coordination. This way a high degree of energy efficiency and overall mission low cost and simpler logistics is achieved. The hybrid nature of the coordinating maneuver allows the formation gradient survey and following with the efficient exploitation of the environment structuring by the phenomena to be studied. The individual control laws were designed in order to minimize the inter-vehicle communication. The coordination factors are the knowledge by the vehicles of each other behavior (since all vehicles execute the same control laws) and the detection of formation distortions. These distortions are detected by the relative navigation system. The proposed approach allows the low cost implementation of a multiple AUV coordinating control for a large range of oceanographic missions.