Autonomous behaviors for an unmanned mini-aerial vehicle

This thesis aims at addressing the development of autonomous behaviors, for search and exploration with a mini-UAV (Unmanned Aerial Vehicle), or also called MAV (Mini Aerial Vehicle) prototype, in order to gather information in rescue scenarios. The platform used in this work is a four rotor helicopter, known as quad-rotor from the German company Ascending Technologies GmbH, which is later assembled with a on-board processing unit (i.e. a tiny light weight computer) and a on-board sensor suite (i.e. 2D-LIDAR and Ultrasonic Sonar). This work can be divided into two phases. In the first phase an Indoor Position Tracking system was settled in order to obtain the Cartesian coordinates (i.e. X, Y, Z) and orientation (i.e.heading) which provides the relative position and orientation of the platform. The second phase was the design and implementation of medium/high level controllers on each command input in order to autonomously control the aircraft position, which is the first step towards an autonomous hovering flight, and any autonomous behavior (e.g. Landing, Object avoidance, Follow the wall). The main work is carried out in the Laboratory ”Intelligent Systems for Emergencies and Civil Defense”, in collaboration with ”Dipartimento di Informatica e Sistemistica” of Sapienza Univ. of Rome and ”Istituto Superiore Antincendi” of the Italian Firemen Department.

Molecular diversity of bla genes in Klebsiella pneumoniae and Escherichia coli isolates

Dissertation presented to obtain a Ph.D. degree in Biology, speciality Microbiology, by Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

Real time mobile system for support in firefighting environments

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

Microeukaryoticdiversity in the extreme environments of the Iberian PyriteBelt: a comparison between universal and fungi-specific primer sets, temperature gradient gel electrophoresis and cloning

FEMS Microbiology Ecology, Vol. 57, nº 1

The Neogene of the Lower Tagus Basin (Portugal)

Revista Española de Paleontologia 19 (2), 229-242

Le gisement de Asseiceira, Portugal (Miocène supérieur) Données complémentaires sur Freiria de Rio Maior

A new upper Miocene locality at Asseiceira (Rio Maior), near the top of the "Calcários de Almoster e Santarém" unit (Almoster and Santarém limestones) is studied. Animal and plant fossils are described. Comparisons are drawn to other localities related to the same unit: Freiria and Azambujeira (middle and upper levels, both with large mammals). Small mammals from Asseiceira and Freiria point out to a rather old age amidst the upper Vallesian, MN 10 mammal-unit. This gives a fairly accurate datation for the "Calcários de Almoster e Santarém" and for the short time span of the corresponding sedimentation. Climate was warm and quite dry, with contrasting seasons and arid events. During upper Vallesian times, climate in Iberian Peninsula was varied but drier than in France, and specially so in the inner basins. However in Portugal and in Catalonia climate would he less different in comparison with that of the Rhône basin. Environmental evolution has been important: at Freiria and Azambujeira (middle level) there were mainly shallow lacustrine environments that received ressurgence waters from the nearby "Maciço calcário". Humid areas were closely surrounded by dense forests and these by broader and drier savanna or steppe areas. Still later, carbonate sedimentation ended. For some time there was still a river system with oxbows; humid areas probably were decreasing in favour of surrounding, rather dry environments. This study stressed the nced for revision of the geology of the region of Rio Maior and for a new geological mapping of that area. Environmental evolution has been important: at Freiria and Azambujeira (middle level) there were mainly shallow lacustrine environments that received ressurgence waters from the nearby "Maciço calcário".

The Cristo Rei section (Lower Miocene). Distal fluviatile environments in a marine series, plants, vertebrates and other evidence, age

The section at Cristo Rei shows sandy beds with intercalated clayey lenses (IVb division from the Lisbon Miocene series) that correspond to a major regression event dated from between ca. 17.6 and 17 Ma. They also correspond to a distal position (relatively to the typical fluviatile facies in Lisbon), nearer the basin's axis. Geologic data and paleontological analysis (plant fossils, fishes, crocodilians, land mammals) allow the reconstruction of environments that were represented in the concerned area: estuary with channels and ox-bows; upstream, areas occupied by brackish waters where Gryphaea griphoides banks developped; still farther upstream, freshwaters sided by humid forests and low mountain subtropical forests under warm temperate and rainy conditions, as well as not far away, seasonally dry environments (low density tree or shrub cover, or steppe).

Coastal sedimentary environments and sea-level changes

A detailed knowledge of the 3-D arrangement and lateral facies relationships of the stacking patterns in coastal deposits is essential to approach many geological problems such as precise tracing of sea level changes, particularly during small scale fluctuations. These are useful data regarding the geodynamic evolution of basin margins and yield profit in oil exploration. Sediment supply, wave-and tidal processes, coastal morphology, and accommodation space generated by eustasy and tectonics govern the highly variable architecture of sedimentary bodies deposited in coastal settings. But these parameters change with time, and erosional surfaces may play a prominent role in areas located towards land. Besides, lateral shift of erosional or even depositional loci very often results in destruction of large parts of the sediment record. Several case studies illustrate some commonly found arrangements of facies and their distinguishing features. The final aim is to get the best results from the sedimentological analysis of coastal units.

A middleware for service oriented computing in dynamic environments

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do Grau de Mestre em Engenharia Informática

Static laws in dynamic environments (bridging science to legislation)

Proceedings of the First International Conference on Coastal Conservation and Management in the Atlantic and Mediterranean, p. 193-200

Models and tools for value systems analysis in collaborative environments

Dissertation to obtain the degree of Doctor in Electrical and Computer Engineering, specialization of Collaborative Networks

An integration bridge for heterogeneous e-service environments

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Measuring data transfer in heterogeneous IoT environments

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Organising interoperability information on highly dynamic and heterogeneous environments

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

A flexible navigation system for autonomous robots operating in heterogeneous environments

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores