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Publicações

Publicações por Alfredo Martins

1999

Estuarine environment studies with Isurus, a REMUS class AUV

Autores
Cruz, N; Matos, A; Martins, A; Silva, J; Santos, D; Boutov, D; Ferreira, D; Pereira, FL;

Publicação
OCEANS '99 MTS/IEEE : RIDING THE CREST INTO THE 21ST CENTURY, VOLS 1-3

Abstract
In this paper, we address the current developments of the "PISCIS" project. We focus on the experimental results from recent operational missions with an AUV in a estuarine environment. Besides describing mission planning and logistic details, we also present tools for oceanographic data processing and visualization. This will be demonstrated with some examples of collected data.

1999

Development and implementation of a low-cost LBL navigation system for an AUV

Autores
Matos, A; Cruz, N; Martins, A; Pereira, FL;

Publicação
OCEANS '99 MTS/IEEE : RIDING THE CREST INTO THE 21ST CENTURY, VOLS 1-3

Abstract
A reliable navigation system is a key factor for the success of an operational mission with an AUV in a real scenario. In this paper, we address the main issues involved in the implementation of a long baseline (LBL) navigation system for a REMUS AUV. This system replaces both the original hardware and software of the vehicle with a simpler, faster, less expensive and more precise system, based on a Kalman filter. We also discuss the influence of transponder location in the overall performance of the LBL navigation, and present results obtained with this new system in operational missions.

1999

IES an open system for underwater inspection

Autores
Martins, A; Matos, A; Cruz, N; Pereira, FL;

Publicação
OCEANS '99 MTS/IEEE : RIDING THE CREST INTO THE 21ST CENTURY, VOLS 1-3

Abstract
This paper describes the specification and design of a prototype of a low cost open system for the inspection of underwater structures based on a remotely operated underwater vehicle under the project IES, a 3 year long effort funded by the Portuguese R&D program Praxis XXI. Unlike commercial approaches, a modular open system characterised by the incorporation of an on-board computer allowing for advanced control capabilities is envisaged. The control console is based on a standard PC and the tether is used only for power delivery and to establish a simple communication channel. In this project, we use advanced hybrid control techniques for sophisticated semi-autonomous operation management and control. The control architecture reuses part of the one designed for the underwater vehicle Isurus operated by the Laboratory of Underwater Systems and Technologies of Porto University. The implementation is designed in order to allow for multiple sensor configurations specified as add-ins. This leads to a dynamic, scalable and flexible system that can be easily configured according to the user specifications.

1995

On the design and implementation of a mobile robotic system

Autores
SOUSA, JB; PEREIRA, FL; DASILVA, EP; MARTINS, A; MATOS, A; ALMEIDA, J; CRUZ, N; TUNES, R; CUNHA, S;

Publicação
PROCEEDINGS OF THE 1995 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL

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.

2016

ISEP/INESC TEC Aerial Robotics Team for Search and Rescue Operations at the EuRathlon Challenge 2015

Autores
Sousa, PM; Ferreira, A; Moreira, M; Santos, T; Martins, A; Dias, A; Almeida, JM; da Silva, EP;

Publicação
2016 International Conference on Autonomous Robot Systems and Competitions, ICARSC 2016, Bragança, Portugal, May 4-6, 2016

Abstract

2023

Autonomous UAV Landing Approach for Marine Operations

Autores
Moura, A; Antunes, J; Martins, JJ; Dias, A; Martins, A; Almeida, JM; Silva, E;

Publicação
OCEANS 2023 - LIMERICK

Abstract
The use of autonomous vehicles in maritime operations is a technological challenge. In the particular case of autonomous aerial vehicles (UAVs), their application ranges from inspection and surveillance of offshore power plants, and marine life observation, to search and rescue missions. Manually landing UAVs onboard water vessels can be very challenging due to limited space onboard and wave agitation. This paper proposes an autonomous solution for the task of landing commercial multicopter UAVs with onboard cameras on water vessels, based on the detection of a custom landing platform with computer vision techniques. The autonomous landing behavior was tested in real conditions, using a research vessel at sea, where the UAV was able to detect, locate, and safely land on top of the developed landing platform.

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