物件導向軟體之架構(Object-Oriented Software Construction)探討

Unmanned surface vehicles: An overview of developments and challenges

Automatic Red-Channel underwater image restoration

To celebrate the 40th Anniversary of the Oceanic Engineering Society (OES) at the MTS/IEEE OCEANS 2008 Conference in Quebec City a series of review papers were requested from OES technical committee chairs. In response to that request this paper provides a review of the field of unmanned surface vehicles (USVs) and autonomous surface craft (ASCs). The paper discusses the enabling technologies that have allowed USVs to emerge as a viable platform for marine operations as well as the application areas where they offer value. The paper tracks developments in technology from early systems developed by the author in 1993 through the latest developments and demonstration programs. The future outlook for USV technology is also described.

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Unmanned surface vehicles, 15 years of development

Robotics and autonomous systems

RESUMO A esclerose sistemica e uma doenca relativamente rara sendo a terceira doenca mais frequente do tecido conjuntivo, logo apos a artrite rewnatoide e o lupus eritematoso sistemico. A sua forma de apresentacao e variada e depende dos orgao afectados. Os autores apresentam um caso clinico de fibrose pulmonar em doente do sexo feminino de 68 anos, apresentando queixas de dispneia ha varaos anos e que foram sempre atribuidas a insuficiencia cardiaca. O estudo da doence permitiu concluir tratarse de urn caso de doenca intersticial pulmonar (pneumonia intersticial usual) enquadrado no quadro de esclerose sistemica. REV PORT PNEUMOL 2002; VIII (5): 425-431

Esclerose sistémica progressiva – Um caso clínico

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Operations with Multiple Autonomous Underwater Vehicles Operations: The PISCIS project

A dead reckoning algorithm especially conceived for localization of rail vehicles in GNSS-denied environments is presented. The vehicle’s three-dimensional position is computed through one-dimensional measurements, given by incremental encoders attached to the wheels, combined with railroad models, obtained from georeferenced track coordinates. Given that the platform may travel along several kilometers and considering that dead reckoning techniques accumulate errors over time leading to increasing global uncertainty, a method was designed to correct the estimates and also smooth trajectory errors backwards in time, through visualization of global landmarks along the way. The current document reports real railroad experiments, featuring a specially designed non-motorized mobile modeling vehicle.

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Rail vehicle localization exploiting rail track georeferenced coordinates

This paper presents an autonomous robotic system, IRIS, designed for lost fishing gear recovery. The vehicle was developed in the context of the NetTag project. This is a European Union project funded by EASME the Executive Agency for Small and Medium Enterprises addressing marine litter, and the reduction of quantity and impact of lost fishing gears in the ocean. NetTag intends to produce new technological devices for location and recovery of fishing gear and educational material about marine litter, raise awareness of fisheries industry and other stakeholders about the urgent need to combat marine litter and increase scientific knowledge on marine litter problematic, guaranteeing the engagement of fishers to adopt better practices to reduce and prevent marine litter derived from fisheries. The design of IRIS is presented in detail, addressing the mechanical design, hardware architecture, sensor system and navigation and control. Preliminary tests in tank and in controlled sea conditions are presented and ongoing developments on the recovery system are discussed.

Eduardo Silva

Papers

Esclerose sistémica progressiva – Um caso clínico

Operations with Multiple Autonomous Underwater Vehicles Operations: The PISCIS project

Rail vehicle localization exploiting rail track georeferenced coordinates

A robotic solution for NETTAG lost fishing net problem