Abstract

Abstract

Abstract
Autonomous Surface Vehicles (ASVs), operating near ship harbors or relatively close to shorelines must be able to steer away from incoming vessels and other possible obstacles, be they dynamic or not. To do this, one must implement some type of multi-target tracking and obstacle avoidance algorithms that lets the vehicle dodge obstacles. This paper presents a radar-based multi-target tracking system developed for obstacle detection in a small unmanned surface vehicle. The system was designed for ROAZ II ASV belonging to INESC TEC/ISEP and implemented in Robot Operating System (ROS) for easier integration with the already existing software.

Abstract

Abstract

Abstract
The Braçal –Malhada mining region, 30km NE of Aveiro included several silver-lead mines that operated until mid 20th century. Mineralization consists on sulphides (galena, sphalerite, pyrite) in quartz veins occurring in the complex Porto-Tomar shear zone, Fig. 1. Veins develop in a 10km wide area, show different orientations, are found in granites, schists and even quartzite, and can pass through different rock types with no alteration. Exploration work in the area dates from the 1950´s and 70’s. This study compiles recent geological mapping, preliminary regional geochemical and geophysical surveys. It aims to obtain a general information on the area, delineate regions for further studies, that is, fieldwork with closer grids, complementary methods (such as electromagnetics, induced polarization), etc. Because of space limitations, only selected maps are given herein. Geophysics consisted on preliminary magnetic and gravimetric mapping. Residual, gradient, second derivative and Euler deconvolution magnetic and gravimetric maps were produced, interpreted against known geology, tectonics and interesting features for further exploration work are revealed. A stream sediments sampling geochemical campaign, overall 101 samples, was carried out and allowed identifying the main geochemical association of elements. Finally, geophysical and geochemical data are integrated to provide an enhanced view of the area.