Vertébrés (crocodilians, poisons) du Miocène marin de l’Algarve occidentale

Karst fillings rich in fossils from carbonate series, Miocene in age, exposed on the coast of Algarve, yielded some thousands of teeth and other vertebrate remains. A crocodilian and more than fifty species of fishes (Selacians, Teleosteans) have been identified (see tableau 1). This fauna is consistent as a whole with a Burdigalian (maybe late) and/or Langhian age. It also indicates shallow waters, warmer than at present in the same region although not strictly tropical. This fauna shows more affinities with others of the same age from mediterranean region (i.e. Baleares) than with those from Lisbon.

Goldra: premier gisement karstique en Algarve, faune et industries

A bone breccia from Goldra, near Loulé, is studied. It corresponds to the infilling of a karst depression, consisting of: rather worn and probably transported dolomite pebbles at the bottom; accumulations of frequently burnt bone scraps, much broken and with acute edges (no transport), certainly debris of human food, suggesting habitat level (s); in association with the former, stone (flint, quartz, quartzite, graywacke) rather uncharacteristic artifacts that seem compatible with middle and upper Paleolithic, or with Epipaleolithic; and small mammal teeth and bones. Fauna includes an extinct species, Microtus brecciensis recognized for the first time in Portugal. It is not older than Riss-Wiirm interglacial, and may be of this age or later, maybe that of one of wurm's first interstades. Fauna points out to a varied landscape with open country and woods; and to a rather warm and dry temperate, or dry subtropical mediterranean climate. Climate differences should not be significant in comparison with the extant situation. The presence of the mammal species found so far is consistent with modern distribution.

LADAR based mapping and obstacle detection system for service robots

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

A volumetric hybrid representation for obstacle detection in all-terrain robots

This dissertation presents an approach aimed at three-dimensional perception’s obstacle detection on all-terrain robots. Given the huge amount of acquired information, the adversities such environments present to an autonomous system and the swiftness, thus required, from each of its navigation decisions, it becomes imperative that the 3-D perceptional system to be able to map obstacles and passageways in the most swift and detailed manner. In this document, a hybrid approach is presented bringing the best of several methods together, combining the lightness of lesser meticulous analyses with the detail brought by more thorough ones. Realizing the former, a terrain’s slope mapping system upon a low resolute volumetric representation of the surrounding occupancy. For the latter’s detailed evaluation, two novel metrics were conceived to discriminate the little depth discrepancies found in between range scanner’s beam distance measurements. The hybrid solution resulting from the conjunction of these two representations provides a reliable answer to traversability mapping and a robust discrimination of penetrable vegetation from that constituting real obstructions. Two distinct robotic platforms offered the possibility to test the hybrid approach on very different applications: a boat, under an European project, the ECHORD Riverwatch, and a terrestrial four-wheeled robot for a national project, the Introsys Robot.