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
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
<p>The UNEXUP project, funded under EIT Raw Materials, is a direct continuation of the Horizon 2020 UNEXMIN project. While in UNEXMIN efforts were made towards the design, development and testing of an innovative exploration technology for underground flooded mines, in UNEXUP the main goal is to push the UNEXMIN technology into the market, while further improving the system’s hardware, software and capabilities. In parallel, the aim is to make a strong business case for the improved UNEXUP technology, as a result of tests and data collection from previous testing. Improvements to the UX-1 research prototypes will raise technology readiness levels from TRL 6, as verified at the end of the UNEXMIN project, to TRL 7/8 by 2022. A "real service-to-real client" approach will be demonstrated, supporting mineral exploration and mine surveying efforts in Europe with unique data from flooded environments that cannot be obtained without high costs, or risks to human lives, in any other ways.</p><p>The specific purpose of UNEXUP is to commercially deploy a new raw materials exploration / mine mapping service based on a new class of mine explorer robots, for non-invasive resurveying of flooded mines. The inaccessibility of the environment makes autonomy a critical and primary objective of the project, which will present a substantial effort in resurveying mineral deposits in Europe where the major challenges are the geological uncertainty, and technological / economic feasibility of mine development. The robot’s ability to gather high-quality and high-resolution information from currently inaccessible mine sites will increase the knowledge of mineral deposits in Europe, whilst decreasing exploration costs – such as the number of deep exploration drillholes needed. This can potentially become a game changing technology in the mining panorama, where the struggle for resources is ever increasing.</p><p>On the technical side, a fourth robot, modular in nature, will be added to the current multi-robot platform, providing additional functionalities to the exploration system, including better range and depth performance. Hardware and software upgrades, as well as new capabilities delivered by the platform will greatly extend the usefulness of the platform in different environments and applications. Among these: rock sampling, better data acquisition and management, further downsizing, extended range, improved self-awareness and decision making, mature post-processing (such as the deployment of 3D virtual reality models), ability to rescue other robots, and interaction with the data will be targeted during the next years. Upgrading the overall technology with these tools, and possibly additional ones, will allow the system to operate with more reliability and security, with reduced costs.</p><p>These added functions arise from different stakeholders’ feedbacks from the UNEXMIN project. UNEXUP targets parties from the mining, robotics and mineral exploration sectors, as well as all other sectors that have any kind of underwater structure that needs to be surveyed – caves, underground reservoirs, water pipelines and fisheries are among them. For the purpose of exploitation of the technology, a joint company was founded, “UNEXMIN GeoRobotics Ltd”, which is part of the UNEXUP consortium, and is responsible for selling the service to the market.</p>

Abstract
<p class="western" align="justify"><span lang="en-US">The study of the electrical properties of the atmospheric marine boundary layer is important as the effect of natural radioactivity in driving near surface ionisation is significantly reduced over the ocean, and the concentration of aerosols is also typically lower than over continental areas, allowing a clearer examination of space-atmosphere interactions. Furthermore, cloud cover over the ocean is dominated by low-level clouds and most of the atmospheric charge lies near the earth surface, at low altitude cloud tops. </span></p> <p class="western" align="justify"><span lang="en-US">The relevance of electric field observations in the marine boundary layer is enhanced by the the fact that the electrical conductivity of the ocean air is clearly linked to global atmospheric pollution and aerosol content. The increase in aerosol pollution since the original observations made in the early 20th century by the survey ship Carnegie is a pressing and timely motivation for modern measurements of the atmospheric electric field in the marine boundary layer. Project SAIL (Space-Atmosphere-Ocean Interactions in the marine boundary Layer) addresses this challenge by means of an unique monitoring campaign on board the ship-rigged sailing ship NRP Sagres during its 2020 circumnavigation expedition. </span></p> <p class="western" align="justify"><span lang="en-US">The Portuguese Navy ship NRP Sagres departed from Lisbon on January 5th in a journey around the globe that will take 371 days. Two identical field mill sensors (CS110, Campbell Scientific) are installed </span><span lang="en-US">o</span><span lang="en-US">n the mizzen mast, one at a height of 22 m, and the other at a height of 5 meters. </span><span lang="en-US">A visibility sensor (SWS050, Biral) was also set-up on the same mast in order to have measurements of the extinction coefficient of the atmosphere and assess fair-weather conditions.</span><span lang="en-US"> Further observations include gamma radiation measured with a NaI(Tl) scintillator from 475 keV to 3 MeV, cosmic radiation up to 17 MeV, and atmospheric ionisation from a cluster ion counter (Airel). The</span><span lang="en-US"> 1 Hz measurements of the atmospheric electric field</span><span lang="en-US"> and from all the other sensors</span><span lang="en-US"> are </span><span lang="en-US">linked to the same rigorous temporal reference frame and precise positioning through kinematic GNSS observations. </span></p> <p class="western" align="justify"><span lang="en-US">Here the first results of the SAIL project will be presented, focusing on fair-weather electric field over the Atlantic. The observations obtained in the first three sections of the circumnavigation journey, including Lisbon (Portugal) - Tenerife (Spain), from 5 to 10 January, Tenerife - Praia (Cape Verde) from 13 to 19 January, and across the Atlantic from Cape Verde to Rio de Janeiro (Brasil), from January 22nd to February 14th, will be presented and discussed.</span></p>