Abstract
<p>The management of natural hazards is a vital concern for the sustainable development of any country and information is the single most important factor to tackle the risks from natural hazards within the risk reduction phase, and to manage response during a crisis. To cope with these challenges it is required, on one hand, to collect baseline information on the natural systems to understand their current state, to identify changes and predict or forecast their future behaviour and, on the other hand, to update information during crisis to review and determine management strategies.</p><p>One major difficulty to this approach is the economic weight of the classic monitoring systems, requiring heavy investments, costly maintenance, and substantial human resources. To overcome these obstacles, an alternative concept was developed based on low-cost and fast deployable wireless sensors networks made by autonomous devices, each capable to communicate to a cloud computing service that compiles and processes data, producing information readily accessible via web.</p><p>The 2021 eruption of the Cumbre Vieja volcano presented an excellent opportunity for a proof of concept of this idea. A trial run was set up on this challenging environment, focusing mainly on the detection and measurement of eruptive products, targeting the measurement of eruptive plume components, such as carbon dioxide (CO<sub>2</sub>), sulphur dioxide (SO<sub>2</sub>) and ash (particle matter, PM), and the monitoring of lava flows entering the sea. Besides the sensor’s setups, also the automatic data processing and different communications were tested.</p><p>The experiment consisted of a proximal network of different stations measuring CO<sub>2</sub>, SO<sub>2</sub>, PM<sub>10</sub>, PM<sub>2.5</sub>, temperature, and humidity; a set of trials to intercept the eruptive plume with weather balloons to measure in-situ the same parameters; a distal aethalometer to detect particles from the distal plume; and a set of buoys to monitor hydroacoustic and environmental parameters in the proximity of the lava deltas. The proximal network allowed for a continuous monitoring with information immediately available via web, with good spatial and temporal correlations between different parameters. The atmospheric soundings allowed to measure particle mass concentrations and sulphur dioxide along a profile of the eruptive plume and characterize its vertical profile, with in situ measurements, while back trajectory of air parcel analyses and aethalometer measurements carried out at Izaña Atmospheric Observatory (2367 m.a.s.l.) showed attenuation variability that could be associated with small volcanic particles transported to at least 140 km from the source. The buoys trial allowed to record the acoustic environment near the lava deltas and to test the design and configurations of the device regarding sensors integration and communications.</p><p>The Cumbre Vieja eruption experiment allowed to try-out a fast deployment low-cost multi-sensor system with good results on volcanic plume characterization and real-time data production that proved to be useful for managing volcanic crisis and demonstrated the relevance of this alternative monitoring concept.</p>

Abstract
<p>Volcanic gases and particulate matter (PM) can be hazardous for population not only during an eruptive event, but also during the post-eruption phase, even at significant distances from the volcanic edifice. Volcanic plume dispersion can be affected by diverse factors, such as the weather conditions (<em>e.g</em>., wind speed and direction, rainfall) and/or the topography. Several studies have showed that gas concentrations and PM impacts on the quotidian life during a volcanic crisis can be significant, highlighting the importance of setting up permanent monitoring systems.</p><p>Instruments with carbon dioxide (CO<sub>2</sub>), sulphur dioxide (SO<sub>2</sub>)<sub></sub>and particulate matter (PM<sub>2.5</sub> and PM<sub>10</sub>) low-cost sensors were developed in order to easily and continuously monitor any volcanic area, and the 2021 Cumbre Vieja eruption was chosen as test site to deploy and validate the instrumentation. A network of nine instruments was set up around the volcanic eruption site, covering both the north and south areas of the lava flows, at distances varying between 1.6 and 7 km from the volcano craters. Five instruments were designed to work autonomously in the field, powered by batteries, and the electrical network powered the other four sensors. All nine instruments broadcasted the recorded data via LoRa communication.</p><p>The network settled after the 9<sup>th</sup> December 2021, closer to the ending of the eruptive period, recorded maximum CO<sub>2</sub> concentrations of 1585 ppm at station named “Perm-2”, located at about 4.8 km distance from the volcanic craters, on the 21<sup>st</sup> December 2021. Regarding particulate matter, even if the 24 hour-mean standards set by the World Health Organization (WHO) for the PM<sub>2.5</sub> and PM<sub>10</sub> (25 mg/m<sup>3</sup> and 50 mg/m<sup>3</sup>, respectively) were not exceeded during the monitored period, maximum concentrations were also recorded for these two parameters (470 and 874 mg/m<sup>3</sup>) at “Perm-2” in the 21<sup>st</sup> December. For the same period, the station located closer to the volcano craters measured maximum SO<sub>2</sub> concentrations of 1.11 ppm. Maximum PM values were recorded also at other two monitoring sites in the same day, suggesting spatial and temporal correlation between the different parameters. In this particular case, and considering that maximum concentrations were registered during the night in the exclusion zone, one can reject the potential association of the measured values with suspended ashes resulting from sweeping and cleaning activities. For other periods, particularly after the ending of the eruption, this association must be considered. The highest concentrations of particles post-eruption were measured in the 31<sup>st</sup> December 2021 and 3<sup>rd</sup> January 2022.</p><p>The installed instruments seem to be adequate for an easier and faster deploy during a volcanic crises, allowing recognizing the presence of hazardous gas and particulate matter concentrations, crucial to reduce potential health effects on the population, even after the end of the eruptive phase.</p>

Abstract
Autonomous Underwater Vehicles (AUVs) are seen as a safe and cost-effective platforms for performing a myriad of underwater missions. These vehicles are equipped with multiple sensors which, combined with their long endurance, can produce large amounts of data, especially when used for video capturing. These data need to be transferred to the surface to be processed and analyzed. When considering deep sea operations, where surfacing before the end of the mission may be unpractical, the communication is limited to low bitrate acoustic communications, which make unfeasible the timely transmission of large amounts of data unfeasible. The usage of AUVs as data mules is an alternative communications solution. Data mules can be used to establish a broadband data link by combining short-range, high bitrate communications (e.g., RF and wireless optical) with a Delay Tolerant Network approach. This paper presents an enhanced version of UDMSim, a novel simulation platform for data muling communications. UDMSim is built upon a new realistic AUV Motion and Localization (AML) simulator and Network Simulator 3 (ns-3). It can simulate the position of the data mules, including localization errors, realistic position control adjustments, the received signal, the realistic throughput adjustments, and connection losses due to the fast SNR change observed underwater. The enhanced version includes a more realistic AML simulator and the antenna radiation patterns to help evaluating the design and relative placement of underwater antennas. The results obtained using UDMSim show a good match with the experimental results achieved using an underwater testbed. UDMSim is made available to the community to support easy and faster evaluation of underwater data muling oriented communications solutions and to enable offline replication of real world experiments.

Abstract
To gather hydrological measurements is a difficult task for Autonomous Surface Vessels. It is necessary for precise navigation considering underwater obstacles, shallow and fast water flows, and also mitigate misreadings due to disturbs caused by their propulsion system. To deal with those problems, this paper presents a new topology of an Autonomous Surface Vessel (ASV) based on a catamaran boat with an aerial propulsion system with azimuth control. This set generates an over-actuated 3 Degree of Freedom (DoF) ASV, highly maneuverable and able of operating over the above-mentioned situations. To deal with the high computational cost of the over-actuated control allocation (CA) problem, this paper also proposes a Fast CA (FCA) approach. The FCA breaks the initial nonlinear system into partially-dependent linear subsystems. This approach generates smaller connected systems with overlapping solution spaces, generating fast and robust convergence, especially attractive for embedded control devices. Both proposals, i.e., ASV and FCA, are assessed through mathematical simulations and real scenarios.

Abstract
In underwater navigation, sonars are useful sensing devices for operation in confined or structured environments, enabling the detection and identification of underwater environmental features through the acquisition of acoustic images. Nonetheless, in these environments, several problems affect their performance, such as background noise and multiple secondary echoes. In recent years, research has been conducted regarding the application of feature extraction algorithms to underwater acoustic images, with the purpose of achieving a robust solution for the detection and matching of environmental features. However, since these algorithms were originally developed for optical image analysis, conclusions in the literature diverge regarding their suitability to acoustic imaging. This article presents a detailed comparison between the SURF (Speeded-Up Robust Features), ORB (Oriented FAST and Rotated BRIEF), BRISK (Binary Robust Invariant Scalable Keypoints), and SURF-Harris algorithms, based on the performance of their feature detection and description procedures, when applied to acoustic data collected by an autonomous underwater vehicle. Several characteristics of the studied algorithms were taken into account, such as feature point distribution, feature detection accuracy, and feature description robustness. A possible adaptation of feature extraction procedures to acoustic imaging is further explored through the implementation of a feature selection module. The performed comparison has also provided evidence that further development of the current feature description methodologies might be required for underwater acoustic image analysis.

Abstract
The growth of undersea exploration is pushing both the length and the complexity of propeller-driven autonomous underwater vehicles (AUVs) missions, leading to more stringent energy requirements. One approach to decrease the energy consumption of a hovering capable AUV is to use variable buoyancy systems (VBS) as a complement to the propeller actuators. These devices only require energy consumption during limited periods of time, taking into advantage the fact that whenever buoyancy is different from zero, the vehicle will continuously ascend or descend. Nevertheless, literature is scarce regarding the choice of the type of the VBS and of its constitutive elements, and regarding their effects on the energy required for buoyancy changes. This work presents structured and detailed static models of electromechanical and electrohydraulic VBSs that allow the calculation of the power required to actuate them. Based on the VBS desired characteristics and on manufacturer's data, the power consumption in each element of the VBS can be pinpointed to determine critical elements. Furthermore, a direct energy comparison with propeller-based solutions can be performed, allowing an easy evaluation of the energy gains provided by the VBS in different scenarios. This work also presents the preliminary development of an electromechanical and electrohydraulic VBS for an existing AUV at the University of Porto, Porto, Portugal. Based on the developed VBS and the developed model, numerical examples are provided for typical mission profiles. It is shown that the use of a VBS in the case of the existing AUV at the University of Porto leads to considerable energetic improvements.