Abstract
The demonstration of robotic technologies in real environments is essential for technology developers and end-users to fully showcase the benefits of theirs solutions, and contributes to the promotion of the transition of inspection and maintenance methodologies towards automated robotic strategies. However, before allowing technologies to be demonstrated in real, operating offshore wind-farms, there is a need to de-risk the technology, to ensure its safe operation offshore. As part of the ATLANTIS project, a pioneer pilot infrastructure, the ATLANTIS Test Centre, was installed in Viana do Castelo, Portugal. This infrastructure will allow the demonstration of key enabling robotic technologies for offshore inspection and maintenance. The Test Centre is composed of two distinct testbeds, and a supervisory control centre, enabling the de-risking, testing, validation and demonstration of technologies, in both near-real and real environments. This paper presents the details of the Coastal Testbed of the ATLANTIS Test Centre, from implementation to available resources and infrastructures and environment details.

Abstract
Given the increased interest in offshore wind energy, there is a greater need for advancements in operation and maintenance technology. As a result, robotic solutions are required to avoid human risky behavior and reduce associated operational costs. In order to accommodate the need for inspecting multiple domains, multiple robotic vehicles are utilized, which requires the deployment of control stations that can effectively monitor, facilitate communication among different vehicles, and ensure successful completion of the overall mission. A shore control centre (SCC) is a communication software infrastructure capable of monitoring, localizing and planning missions for a group of multi-domain heterogeneous robots within a local network. This paper proposes an SCC as: (i) an active monitor by continuously observing the local behaviour of each robot and the global progress of the mission and its safety; (ii) a mission planner that provides and supervises its execution while constantly checking for critical failures and intervening in the case of unexpected events. Also, The control centre is able to connect to multiple vehicles from various domains and monitor real-time data. Accordingly, validation procedures were carried out in real conditions.

Abstract
A growing interest in ocean exploration for scientific and commercial research has been shown, mainly due to the technological developments for maritime and offshore industries. The use of Autonomous surface vehicles (ASV) have a promising role to revolutionize the transportation, monitorization, operation and maintenance areas, allowing to perform distinct task from offshore assets inspection to harbor patrolling. This work presents SENSE, an autonomouS vEssel for multi-domaiN inSpection and maintEnance. It provides an open-source hardware and software architecture that is easy to replicate for both research institutes and industry. This is a multi-purpose vehicle capable of acquiring multi-domain data for inspecting and reconstructing maritime infrastructures. SENSE provides a research platform which can increase the situational awareness capabilities for ASVs. SENSE full configuration provides multimodal sensory data acquired from both domains using a Light Detection And Ranging (LiDAR), a stereoscopic camera, and a multibeam echosounder. In addition, it supplies navigation information obtained from a real-time kinematic satellite navigation system and inertial measurement units. Moreover, the tests performed at the harbor of Marina de Leca, at Porto, Portugal, resulted in a dataset which captures a fully operational harbor. It illustrates several conditions on maritime scenarios, such as undocking and docking examples, crossings with other vehicles and distinct types of moored vessels. The data available represents both domains of the maritime scenario, being the first public dataset acquired for multi-domain observation using a single vehicle. This paper also provides examples of applications for navigation and inspection on multi-domain scenarios, such as odometry estimation, bathymetric surveying and multi-domain mapping.

Abstract
The offshore wind power industry is an emerging and exponentially growing sector, which calls to a necessity for a cyclical monitoring and inspection to ensure the safety and efficiency of the wind farm facilities. Thus, the emersed (aerial) and immersed (underwater) scenarios must be reconstructed to create a more complete and reliable map that maximizes the observability of all the offshore structures from the wind turbines to the cable arrays, presenting a multi domain scenario.This work proposes the use of an Autonomous Surface Vehicle (ASV) to map both domains simultaneously. As such, it will produce a multi-domain map through the fusion of navigational sensors, GPS and IMU, to localize the vehicle and aid the registration process for the perception sensors, 3D Lidar and Multibeam echosounder sonar. The performed experiments demonstrate the ability of the multi-domain mapping architecture to provide an accurate reconstruction of both scenarios into a single representation using the odometry system as the initial seed to further improve the map with data filtering and registration processes. An error of 0.049 m for the odometry estimation is observed with the GPS/IMU fusion for simulated data and 0.07 m for real field tests. The multi-domain map methodology requires an average of 300 ms per iteration to reconstruct the environment, with an error of at most 0.042 m in simulation.

Abstract
Automated Program Repair (APR) is an area of research focused on the automatic generation of bug-fixing patches. Current APR approaches present some limitations, namely overfitted patches and low maintainability of the generated code. Several works are tackling this problem by attempting to come up with algorithms producing higher quality fixes. In this experience paper, we explore an alternative. We believe that by using existing low-cost APR techniques, fast enough to provide real-time feedback, and encouraging the developer to work together with the APR inside the IDE, will allow them to immediately discard proposed fixes deemed inappropriate or prone to reduce maintainability. Most developers are familiar with real-time syntactic code suggestions, usually provided as code completion mechanisms. What we propose are semantic code suggestions, such as code fixes, which are seldom automatic and rarely real-time. To test our hypothesis, we implemented a Visual Studio Code extension (named pAPRika), which leverages unit tests as specifications and generates code variations to repair bugs in JavaScript. We conducted a preliminary empirical study with 16 participants in a crossover design. Our results provide evidence that, although incorporating APR in the IDE improves the speed of repairing faulty programs, some developers are too eager to accept patches, disregarding maintenance concerns.