Abstract
In this article, we describe the effort being carried out in the analysis, design and implementation of the control architecture for a mobile platform for autonomous transportation, surveillance and inspection in structured and semi-structured industrial environments. The control architecture is based in a hierarchical structure organized linguistically permitting the real-time parallel execution of tasks. This, architecture is composed of three levels, Organization, Coordination and Functional, structured according to the Increasing Precision with Decreasing Intelligence Principle.

Abstract

Abstract
This work addresses reconstructing an ancient mining site in three-dimensional (3D) modelling with robotic systems, processing the information from two visible spectrum cameras. The developed solution, GeoTec System, was validated in an underground environment in the Monastery of Tibães (Braga, NW Portugal). This study was developed under the MineHeritage project's scope, aiming to attain society on the importance of raw materials across a historical approach. The outputs acquired from the datasets developed in a successful 3D reconstruction of the main gallery and secondary tunnels of the Aveleiras mine in Tibães. However, the investigation is still ongoing to contribute to applying 3D reconstruction technologies, GIS-based mapping and geovisualization techniques in the underground heritage environment.

Abstract
Gamma radiation over the Atlantic Ocean was measured continuously from January to May 2020 by a NaI(Tl) detector installed on board the Portuguese navy's ship NRP Sagres. Enhancements in the gamma radiation values are identified automatically by an algorithm for detection of anomalies in mean and variance as well as by visual inspection. The anomalies are typically +50% above the background level and relatively rare events (similar to<10% of the days). All the detected anomalies are associated with simultaneous precipitation events, consistent with the wet deposition of scavenged radionuclides. The enhancements are detected in the open ocean even at large distances (+500 km) from the nearest coastline. Back trajectories reveal that half of these events are associated with air masses experiencing continental land influences, but the other half do not display evidence of recent land contact. The enhancements in gamma radiation very far from land and with no evidence of continental fetch from back trajectories are difficult to explain as resulting only from radionuclides with a terrestrial source such as radon and its progeny. Further investigation and additional measurements are needed to improve understanding on the sources of ambient radioactivity in the open ocean and assess whether gamma radiation in the marine environment is influenced not only by radionuclides of terrestrial origin, but also cosmogenic radionuclides, like Beryllium-7, formed in the upper atmosphere but with the ability to be transported downward and serve as a tracer of the aerosols to which it attaches. Plain Language Summary Radioactive elements such as the noble gas radon and those produced by its radioactive decay are naturally present in the environment and used as tracers of atmospheric transport and composition. In particular, the noble gas radon, being inert and of predominantly terrestrial origin, is used to identify pristine marine air masses with no land contamination. Precipitation over land typically brings radon from the atmosphere to the surface, enhancing gamma radiation on the ground, but such enhancements have not been identified before nor expected over the ocean due to the low amount of radon typical of marine air masses. Here we report, for the first time, gamma radiation enhancements associated with precipitation in the oceanic environment, using measurements performed over the Atlantic Ocean in a campaign onboard the Portuguese navy ship NRP Sagres.