Abstract
This research proposes positioning obstacle detection sensors by multirotor unmanned aerial vehicles (UAVs) dedicated to detailed inspections in high voltage towers. Different obstacle detection sensors are analyzed to compose a multisensory architecture in a multirotor UAV. The representation of the beam pattern of the sensors is modeled in the CoppeliaSim simulator to analyze the sensors' coverage and detection performance in simulation. A multirotor UAV is designed to carry the same sensor architecture modeled in the simulation. The aircraft is used to perform flights over a deactivated electrical tower, aiming to evaluate the detection performance of the sensory architecture embedded in the aircraft. The results obtained in the simulation were compared with those obtained in a real scenario of electrical inspections. The proposed method achieved its goals as a mechanism to early evaluate the detection capability of different previously characterized sensor architectures used in multirotor UAV for electrical inspections.

Abstract
The recent advances in precision agriculture are due to the emergence of modern robotics systems. For instance, unmanned aerial systems (UASs) give new possibilities that advance the solution of existing problems in this area in many different aspects. The reason is due to these platforms' ability to perform activities at varying levels of complexity. Therefore, this research presents a multiple-cooperative robot solution for UAS and unmanned ground vehicle (UGV) systems for their joint inspection of olive grove inspect traps. This work evaluated the UAS and UGV vision-based navigation based on a yellow fly trap fixed in the trees to provide visual position data using the You Only Look Once (YOLO) algorithms. The experimental setup evaluated the fuzzy control algorithm applied to the UAS to make it reach the trap efficiently. Experimental tests were conducted in a realistic simulation environment using a robot operating system (ROS) and CoppeliaSim platforms to verify the methodology's performance, and all tests considered specific real-world environmental conditions. A search and landing algorithm based on augmented reality tag (AR-Tag) visual processing was evaluated to allow for the return and landing of the UAS to the UGV base. The outcomes obtained in this work demonstrate the robustness and feasibility of the multiple-cooperative robot architecture for UGVs and UASs applied in the olive inspection scenario.

Abstract
This work presents a methodology for characterizing ultrasonic and LASER sensors aimed at detecting obstacles within the context of electrical inspections by multirotor Unmanned Aerial Vehicles (UAVs). A set of four ultrasonic and LASER sensor models is evaluated against eight target components, typically found in high-voltage towers. The results show that ultrasonic sensor arrays displaced 25. apart reduce the chances of problems related to crosstalk and angular uncertainty. Within the LASER sensor suite, solar exposure directly affects the detection behavior among lower power sensors. Based on the results obtained, a set of sensors capable of detecting multiple obstacles belonging to a high-voltage tower was identified. In this reasoning, it becomes possible to model sensor architectures for multirotor UAVs to detect multiple obstacles and advance in the state of the art in obstacle avoidance systems by UAVs in inspections of high-voltage towers.

Abstract
Navigation is one of the most important tasks for a mobile robot and the localisation is one of its main requirements. There are several types of localisation solutions such as LiDAR, Radio-frequency and acoustic among others. The well-known line follower has been a solution used for a long time ago and still remains its application, especially in competitions for young researchers that should be captivated to the scientific and technological areas. This paper describes two methodologies to estimate the position of a robot placed on a gradient line and compares them. The Least Squares and the Machine Learning methods are used and the results applied to a real robot allow to validate the proposed approach.

Abstract
Simulators have been increasingly used on development and tests on several areas. They allow to speed up the development without damage and no extra costs. On realistic simulators, where kinematics play an important role, the modelling process should be imported for each component to be accurately simulated. Some robots are not yet modelled, as for example the Monera. This paper presents a model of a small vibration robot (Monera) that is acquired in a developed test-bed. A localisation ground truth is used to acquire the position of the Monera with actuating it. Linear and angular speeds acquired from real experiments allow to validate the proposed methodology.

Abstract
Pharmaceuticals have emerged as contaminants in aquatic ecosystems, challenging the water quality concept. These compounds enter wastewater treatment plants, where inefficient treatments pose concerns for long-term river and tap water quality, consequently impacting environmental and human health. Considering this, the present study first reports the simultaneous quantification of paracetamol, salicylic acid, and carbamazepine by electrochemistry with carbon screen-printed electrodes, as well as liquid chromatography-tandem mass spectrometry (LC-MS/MS). At pH 7.4 and by optimized DPV, LODs were 0.783, 1.53, and 0.113 mu M for paracetamol, salicylic acid, and carbamazepine, respectively. The recovery values obtained by LC-MS/MS in tap water are not satisfactory regarding the data obtained in river water with DPV electrochemical experiments. Moreover, in both analytical methods, the highest sensitivity was obtained for carbamazepine, with the lowest RSD values. These analytical data highlight the remarkable sensitivity and detection skills of DPV and LC-MS/MS analysis. Developing portable potentiostats for in situ pharmaceutical detection and monitoring outside the labs is crucial for ensuring environmental and health safety. Herein two portable approaches are tested: commercial SensitSmart (R) and homemade electrochemical Internet-of-Things (IoT)-enabled devices. The results of SensitSmart (R) are reliable but lower than those obtained with a benchtop potentiostat and require a USB connection with PCs, tablets, or smartphones. The practical application of a homemade IoT device was validated with potassium ferricyanide with an output similar to benchtop potentiostat, which represents a proof of concept. In the future, these IoT devices will operate without external components or specific software.