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.

Comparative evaluation of aerial lime mortars for architectural conservation

Journal of Cultural Heritage 9 (2008) 338-346

Tectónica da região de Sintra

Photo-interpretation of aerial stereopairs of the Sintra region on the approx. 1/32 000 scale together with field work allowed the production of the present Tectonic Map of the Sintra region. It is now possible to separate structures which resulted from two different tectonic events: one, corresponding to the intrusion of the Late Cretaceous Sintra igneous diapir, and the other the Miocene compressive event, the most important tectonic inversion phase of the Lusitanian Basin. The former are present to the south, southeast and east of the intrusion and within the intrusion itself, affecting the peripheral granites and their contacts with the gabbro-syenite core. These structures comprehend: i) faults and conical fractures striking parallel to the massif boundary, which were intruded by dykes, ii) vertical faults and fractures of two conjugate sets, dextral NNW-SSE and sinistral NNE-SSW. These faults are certainly associated with the E-W striking massif's northwards directed thrust and indicate a N-S oriented horizontal maximum compressive stress. The Miocene compressive event reactivated most of the inherited structures as follows. The NNWSSE faults located on the Sintra southern platform were reactivated as dextral strike slip faults and the E-W thrust along the northern boundary of the massif was also reactivated. This thrust propagated to the east. It also enhanced the asymmetry of the rim-syncline, uplifted the massif and reactivated the NNE-SSW faults as sinistral lateral ramps, which also accommodated vertical throw. The present Tectonic Map of Sintra together with the available geophysical data (MOREIRA, 1984, KULLBERG et al., 1991, SILVA & MIRANDA, 1994) allowed reassessment of the models proposed for the emplacement of the Sintra, Sines and Monchique igneous massifs, which intruded during Late Cretaceous times along the deep dextral NNW-SSE oriented strike slip fault (RIBEIRO et al., 1979; TERRINHA, 1998; TERRINHA & KULLBERG, 1998).

Tectónica da cadeia da Arrábida

Geociências, Museu Nac. Hist. Nat. Univ. Lisboa, nº 2, 35-84

Development of biocolonization resistant mortars: preliminary results

Restoration of Buildings and Monuments, vol. 13, nº 6 (2007), p.389-400

Lime mortars with rice husk ash for ancient masonry

HMC08 - 1st Historical Mortars Conference: Characterization, Diagnosis, Conservation, Repair and Compatibility, LNEC, Lisbon, 24-26 September 2008

Geospatial assessment of pest-induced forest damage through the use of UAV-bases NIR imaging and Gi-technology

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

UAV - based imagery processing using structure from motion and remote sensing technology

With the recent advances in technology and miniaturization of devices such as GPS or IMU, Unmanned Aerial Vehicles became a feasible platform for a Remote Sensing applications. The use of UAVs compared to the conventional aerial platforms provides a set of advantages such as higher spatial resolution of the derived products. UAV - based imagery obtained by a user grade cameras introduces a set of problems which have to be solved, e. g. rotational or angular differences or unknown or insufficiently precise IO and EO camera parameters. In this work, UAV - based imagery of RGB and CIR type was processed using two different workflows based on PhotoScan and VisualSfM software solutions resulting in the DSM and orthophoto products. Feature detection and matching parameters influence on the result quality as well as a processing time was examined and the optimal parameter setup was presented. Products of the both workflows were compared in terms of a quality and a spatial accuracy. Both workflows were compared by presenting the processing times and quality of the results. Finally, the obtained products were used in order to demonstrate vegetation classification. Contribution of the IHS transformations was examined with respect to the classification accuracy.

Internationalization strategy of Skypro Shoes to Japan

Skypro is a footwear brand targeted at the aviation professionals’ niche market, explored by the Portuguese microenterprise Abotoa Lda..The saturation of the Portuguese market led Skypro to expand to different worldwide countries and to be a footwear supplier of Airlines from the USA, Qatar or Australia, among others. Abotoa aims for its 2014’s exports to represent around 80% of total sales and this Internationalization Plan for Japan represents the possibility of further exploring the Asian market. Japan appears as the 2nd worldwide footwear importer and the 5th footwear consumer, with a high purchasing power – GDP per capita (PPP). This country possesses two enormous Airlines (ANA and JAL) that employ more than 15000 on-board personnel, the world’s 4th busiest Airport in 2013 (Tokyo’s Haneda International Airport) and a geographic structure with more than 6500 islands, implying high frequency of aerial transportation in the medium-run. These aspects make Japan an adequate country to invest in. At the course of this Work Project, trustworthy recommendations are provided for the current state of Abotoa and for the introduction and implementation of this Internationalization Plan. These findings strongly suggest that Skypro should indeed penetrate Japan’s market.

Analysis of classification algorithms for crop detection using LANDSAT 8 images

Remote sensing - the acquisition of information about an object or phenomenon without making physical contact with the object - is applied in a multitude of different areas, ranging from agriculture, forestry, cartography, hydrology, geology, meteorology, aerial traffic control, among many others. Regarding agriculture, an example of application of this information is regarding crop detection, to monitor existing crops easily and help in the region’s strategic planning. In any of these areas, there is always an ongoing search for better methods that allow us to obtain better results. For over forty years, the Landsat program has utilized satellites to collect spectral information from Earth’s surface, creating a historical archive unmatched in quality, detail, coverage, and length. The most recent one was launched on February 11, 2013, having a number of improvements regarding its predecessors. This project aims to compare classification methods in Portugal’s Ribatejo region, specifically regarding crop detection. The state of the art algorithms will be used in this region and their performance will be analyzed.

Geopolymers as infill material for conservation of azulejos

The restoration materials currently used to fill gaps in architectural historical azulejos (e.g. lime or organic resin pastes) usually show serious drawbacks in terms of compatibility, effectiveness and durability. The existing solutions do not fully protect azulejos in outdoor conditions and frequently result in further deterioration. Geopolymers can be a potential solution for azulejo lacunae infill given the chemical-mineralogical similitude to the ceramic body, and also the durability and versatile range of physical properties that can be obtained through the manipulation of their formulation and curing conditions. This work presents and discusses the viability of the use of geopolymeric pastes to fill lacunae in azulejos or to act as “cold” cast ceramic tile surrogates reproducing missing azulejo fragments. The formulation of geopolymers, namely the type of activators, the aluminosilicate source, the amount of water (to meet adequate workability requirements) and curing conditions were studied. The need for post-curing desalination was also considered envisaging their application in the restoration of outdoor architectural historical azulejos frequently exposed to adverse environmental conditions. The possible advantages and disadvantages of the use of geopolymers in the conservation of azulejos are also discussed. Several techniques were used to study the chemical and physical behavior of geopolymers, namely FT-IR, XRD, MIP, SEM-EDS, WDXRF, electrical conductivity, open porosity, bending strength, adhesion strength, water vapour permeability, thermal expansion and hydric expansion. The results indicate that geopolymers are a promising material for restoration of azulejos, exhibiting some properties, such as adhesion to the ceramic substrate, higher than inorganic materials used nowadays, such as aerial lime based pastes.

Arqueologia, património e museus na Câmara Municipal de Almeida

Este relatório apresenta as atividades desenvolvidas ao longo do estágio curricular na Câmara Municipal de Almeida, como componente não letiva de formação no Mestrado de Arqueologia da Faculdade de Ciências Sociais e Humanas da Universidade Nova de Lisboa. O estágio teve como principal objetivo a elaboração da carta arqueológica do território das freguesias da Amoreira, Parada e Cabreira, uma parcela do concelho de Almeida. A carta foi elaborada a partir de evidências arqueológicas identificadas em prospeções, de análises da toponímia, da topografia, cartografia, fotografias aéreas e fontes orais do território almeidense. Paralelamente, e no quadro do Museu Histórico-Militar de Almeida, realizou-se um trabalho de organização da reserva arqueológica do município, através da inventariação de todo o espólio arqueológico existente e a elaboração de uma proposta preliminar de conservação preventiva do depósito museal, criando deste modo condições para a receção de novas coleções arqueológicas.