Abstract
This paper presents the perception system designed for the underwater mine exploration UNEXMIN robot. This autonomous underwater vehicle was designed in the context of the European 112020 ENEXIVIIN project to explore flooded underground mines The presented work addresses the sensor choice and placement options, the characterization of the system with results obtained in test tank and on field missions in mines. The perception software and computational architecture is also discussed with details on its distributed features. This perception system is comprised of one multibeam imaging/profiling sonar, one mechanically scanning sonar, digital cameras and a set of custom developed laser based structured light systems. The presented results from the Kaatiala mine (Finland) field trials and the Idrija mine tests (Slovenia) are discussed and allow for the performance analysis of the system.

Abstract
3D path planning with unmanned aerial vehicles in search and rescue scenarios is an important research area, due to the ability to explore damage areas that could be inaccessible for vehicles like ground robots. This paper presents two innovative real-time path planning algorithms based on PRM (Probabilistic Road Map) able to be implemented in UAV’s denoted by Grid Path Planning Roadmap Planning (GPRM) and the Particle Probabilistic Roadmap (PPRM). With the requirement of being implemented in a real search and rescue scenario like the EuRathlon competition, the GPRM method will produce a roadmap building step with obstacles inside a predefined grid while PPRM will follow a different approach by introducing an associated probability to each computed path in order to support the next sampling step path planning iteration. Both methods were evaluated and compared with the well known 3D path planning PRM in a search and rescue earthquake simulation environment developed in MORSE (Modular Open Robots Simulation Engine). © 2018 by World Scientific Publishing Co. Pte. Ltd.

Abstract
The use of the odometry and SLAM visual methods in autonomous vehicles has been growing. Optical sensors provide valuable information from the scenario that enhance the navigation of autonomous vehicles. Although several visual techniques are already available in the literature, their performance could be significantly affected by the scene captured by the optical sensor. In this context, this paper presents a comparative analysis of three monocular visual odometry methods and three stereo SLAM techniques. The advantages, particularities and performance of each technique are discussed, to provide information that is relevant for the development of new research and novel robotic applications. © Springer International Publishing AG 2018.

Abstract
This paper presents the modeling and simulation of a spherical autonomous underwater vehicle. The robot was developed under the European Union H2020 innovation action UNEXMIN for the exploration of underground flooded mines, and is a small spherical robot with thrusters and an internal pendulum for pitch control. A model of the vehicle is presented, initially without the pendulum, then an extended formulation is derived accounting for a multibody dynamic description of the system. Experimental identification results for the determination of drag parameters are presented as well. A Modelica based simulator is developed for dynamic simulation of the vehicle, and is integrated with the Matlab/Simulink environment. The simulator is then validated based on preliminary experimental results.

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.

Abstract
The development of Low-Density Fan-Out (LDFO), formerly Wafer Level Fan-Out (WLFO), platforms to encompass the requirements of potential new markets and applications such as the Internet of Things (IoT) is crucial to maintain LDFO as the leading Fan-Out technology. This drives the development of a new set of capabilities in the current standard LDFO process flow to break through the existing technology boundaries. One of the most widely discussed advantages of LDFO packaging is heterogeneous high-density system integration in a package. LDFO System in Package (LDFO SiP) integrates active dies, passive components and even already-packaged components using other packaging technologies. This heterogeneous integration is based on a wide range of different geometries and materials placed inside the LDFOSiP with high accuracy. Ultimately, heterogeneous integration will be fundamental to achieve new levels of miniaturization. However, multi-die solutions face several challenges such as bare-die availability, passives integration, antenna integration, low power budget, test complexity and reliability. Package research and development (R&D) must overcome all of these issues to build a product with high volume manufacturability. The wafer level SiP (WLSiP) technology required to enable the new features and processes needs to be ready for high volume manufacturing of new products at high yield and reasonable cost. This paper presents the approaches used to effectively enable LDFO SiPs (WLSiPs): 1. A pre-formed vias solution is employed to connect front to back side of the package, including development for high accuracy via bar placement. 2. A wafer front-side to back-side redistribution layer (RDL) alignment solution was developed. 3. Space requirement reduction between components to achieve the smallest possible package. 4. Miniaturized Bluetooth antenna integration in the RDL. 5. Creation of a stacking concept (vertical connections to create a modular system that enables easy addition of new features to the final product). Inside the package (excluding the area reserved for the antenna), components are densely packed: several sensors, power management components, radio communication and all required passives are incorporated into a single WLSiP. Connecting all these features to create a component that works by connecting only a single battery required implementing a double sided, multi-layer RDL, while maintaining the ability to create a 3D solution by stacking vertical connections for several other solutions. The result is an approach that easily adapts the system to a variety of customers' needs. The work done is part of the collaborative COMPETE2020-PT2020 funding program under "IoTiP-Internet of Thing in Package" project no 017763, Projetos de I&DT Empresas em CoPromocao.