Abstract
This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the Autonomous Surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.

Abstract
In this work a forest fire detection solution using small autonomous aerial vehicles is proposed. The FALCOS unmanned aerial vehicle developed for remote-monitoring purposes is described. This is a small size UAV with onboard vision processing and autonomous flight capabilities. A set of custom developed navigation sensors was developed for the vehicle. Fire detection is performed through the use of low cost digital cameras and near-infrared sensors. Test results for navigation and ignition detection in real scenario are presented.

Abstract
The design and development of the Swordfish Autonomous Surface Vehicle (ASV) system is discussed. Swordfish is an ocean capable 4.5m long catamaran designed for network centric operations (with ocean and air going vehicles and human operators). In the basic configuration, Swordfish is both a survey vehicle and a communications node with gateways for broadband, Wi-Fi and GSM transports and underwater acoustic modems. In another configuration, Swordfish mounts a docking station for the autonomous underwater vehicle Isurus from Porto University. Swordfish has an advanced control architecture for multi-vehicle operations with mixed initiative interactions (human operators are allowed to interact with the control loops).

Abstract

Abstract
Underwater acoustic networks can be quite effective to establish communication links between autonomous underwater vehicles (AUVs) and other vehicles or control units, enabling complex vehicle applications and control scenarios. A communications and control framework to support the use of underwater acoustic networks and sample application scenarios are described for single and multi-AUV operation.

Abstract
The basic statistical features of radon time series from continuous radon monitoring at the Elat granite, Israel are analysed. A similar analysis is carried out for ancillary and possibly related geophysical parameters for the Elat area. The results show that air temperature, precipitable water and longwave radiation time series exhibit constant variance over the analyzed period, while radon time series, atmospheric pressure, short-wave radiation and total electron content exhibit heteroscedasticity. Furthermore, for radon and shortwave radiation the variability is associated with the overall mean level, while for atmospheric pressure such an association is not present. The analyzed radon time series not only are non-stationary but also nonlinear, reflecting the complex dynamics of radon emanation and transport in natural subsurface systems.