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ASSOCIATE LABORATORY INSTITUTE FOR SYSTEMS AND ROBOTICS - LISBON

ISR-LISBONIMAR-DOP/UAç

IN+CREMINER

ACTIVITIES REPORT (SHORT VERSION)

2006

ISR – Torre Norte, IST Av. Rovisco Pais, 1049-001 Lisboa, PORTUGALFax: 351-21-8418291Tel: 351-21-8418289E-mail: [email protected]

mailto:[email protected]

http://in3.dem.ist.utl.pt/

Introduction

ISR-Lisbon, together with three other partner research institutions, IN+, IMAR-DOP/UAç and Creminer, were awarded by the Ministry of Science and Technology the status of Associate Laboratory (AL) starting January 2002. This status was awarded by a period of 10 years with a mid term external evaluation, in recognition of the high scientific merit of the institution (and its partner institutions) according to external international and independent evaluations, and on the basis of the proven capacity for cooperating, on a steady, competent and efficient form, in the implementation of the specific objectives of the national scientific and technological policies.2006 was the fifth year of activities of the Associate Laboratory ISR-Lisbon and work has been done in cooperation by the four research units that integrate the Associate Laboratory. This Activities Report provides a short summary of the research activity of faculty and research students developed during 2006, along the four Thematic Areas

A – Technologies for Ocean ExplorationB – Monitoring and Surveillance using Robotic AgentsC – Sustainable technologies and Environmental SystemsD – Signal Processing for Communications Networks and Multimedia

The main indicators that reflect the activities of the four thematic areas are listed in the table.

A - Publications Books (author)

Books (author) – in press 1 Books (editor) 2

Book (editor) – in press 1 Books (chapters in books) 9

Books (chapters in books) – in press 14 Papers in international journals 70

Papers in international journals – in press 65 Papers in national journals 6B - Comunications In international conferences 196 In national conferences 28C- Reports 18D – Organization of Seminars and Conferences 10E – Advanced Training Ph.D Thesis (concluded) 5 M.Sc Thesis (concluded) 10 OtherF - Models 2G – Software Applications 2H - Pilot Instalations 26I - Laboratory PrototypesJ - Patents 1K - Others 7L – Invited Oral Presentations 48

ISR-Lisbon Associate Laboratory – Activity Report 2006 (short version) P a g e | 1

Thematic Area ATECHNOLOGY FOR OCEAN EXPLORATION

SHORT REPORT OF ACTIVITIES

In 2006, the scientists involved in the activities of Area A of the ISR-Associate Lab pursued research and development in a vast number of issues that are at the crossroad of science and engineering. This is line with the long term goals of fostering basic research and bridging the gap between marine science and technology.

From an engineering standpoint, a large spectrum of problems was addressed, the solutions of which are key to the development of advanced technology for marine exploration. Theoretical work focused on algorithms for navigation, guidance, and control of autonomous systems, as well as coordinated motion control of multiple heterogeneous uninhabited systems. Especially relevant were the development of new methodologies for robust adaptive control of highly uncertain systems, vision-based pose estimation and motion control, acoustic and geophysical-based navigation, trajectory tracking and path following for marine and aerial vehicles, and coordinated control of multiple marine vehicles in the presence of stringent communication constraints. Work was also done towards the development (and at sea testing) of the network tomography concept for rapid environmental assessment: data fusion based on 3D empirical orthogonal functions and coherent spatial matched filtering.

From a practical standpoint, 2006 witnessed the participation of ISR researchers in i) tests with the MAYASub AUV in Goa (India) in the scope of a joint Indo-Portuguese project in which the IMAR-DOP/UAç also participates, ii) tests with the MEDIRES platform for automatic breakwater surveying in Sines, and iii) the MOMARETO cruise in the Azores, where, in cooperation with the IMAR/DOP/UAç, instrumentation and algorithms for acoustic backscatter data acquisition were used to automate the process of marine habitat mapping classification near deep water hydrothermal vents. The year 2006 witnessed also the start of three large European projects in the general areas of marine science, underwater archaeology, and marine robotics.

On the scientific front, Creminer and IMAR-DOP/UAç have continued their solid program of research on a very large number of issues related to marine science. Many of the practical problems arising in the scope of their investigation (namely those related to the means of acquiring data at sea fast and realiably) continue to pose considerable challenges to the engineers of ISR, effectively shaping much of their R&D program.

Researchers at CREMINER have actively continued the characterization of Azores Sea hydrothermal sites and their comparison with other, present-day oceanic sites and ancient hydrothermal mineral deposits. Hydrothermal activity on earth is also being compared with that on Mars, through the work of a doctoral student (in co-operation with Prof. Ivo Alves, U of Coimbra). The models of sub-seafloor mineralizations developed will also be tested in the Artic part of the Mid-Atlantic Ridge (Greenland Sea) in a situation of ultra-slow sea-floor spreading, through participation in a EuroMARC project led by Norway. The Deep Biosphere will be one of the main topics, with participation of the Creminer team. This Laboratory has also continued to produce a vast array of studies and publications on mineral deposits on the geological record, especially sea-floor hydrothermal deposits.

The studies and work developed at IMAR-DOP/UAç in 2006 were done in the scope of a very large number of research initiatives that included scientific projects and contracts with the civilian society. The IMAR-DOP/UAç has continued to invest highly on scientific research. At the same time, and in line with a long standing tradition, it has intensified the aspects of dissemination of science to the public at large while striving to meet societal needs. In 2006, the key thrust of the work done was focused on a wide range of issues, of which the following are but representative examples: Deep Sea, Marine Habitat Mapping, Circulation Patterns, Open Sea Ecology, Fisheries, Scientific Dissemination and Education.


INDICATORS IN 2006 (published and/or presented papers)

A - Publications Books (author)

Books (editor) Books (editor) - In Press

21

Books (chapters in books) Books (chapters in books) - In Press

29

Papers in international journals Papers in international journals - In Press

5047

Papers in national journals 4B - Comunications In international conferences 86 In national conferences 20C- Reports 7D – Organization of Seminars and Conferences 2E – Advanced Training Ph.D Thesis (concluded) 2 M.Sc Thesis (concluded) 2 OtherF - ModelsG – Software ApplicationsH - Pilot Instalations 12I - Laboratory PrototypesJ - Patents K - OthersL – Invited Oral Presentations 33

DESCRIPTION OF INDICATORS IN 2006

A - 2) BOOKS (EDITOR) (2)

[1] A. Caiti, N. Ross Chapman, J.-P. Hermand and S.M. Jesus, Acoustic Sensing Techniques for the Shallow Water Environment - Inversion Methods and Experiments, Springer, 2006.

[2] Barriga FJAS, Binns RA, Miller DJ, and Herzig PM (Eds), 2004-2007. Proc. ODP, Sci. Results, 193, [Online]. Available from World Wide Web: < publications www-odp.tamu.edu.

A - 2) BOOKS (EDITOR) (in press - 1)

[1] Pitcher, T. J., T. Morato, P. J. B. Hart. M. R. Clark, N. Haggan & R. S. Santos (Eds.) 2007. Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

A-3) CHAPTERS IN BOOKS (2)

[1] Reza Ghabcheloo, António Pascoal, Carlos Silvestre, I. Kaminer, “Nonlinear Coordinated Path Following Control with Bidirectional Communication Constraints”,


Springer Series on Lecture Notes in Control and Information Sciences, K. Pettersen, J. Gravdahl, and H. Nijmeier (Eds.), pp. 93-111, 2006.

[2] António Pascoal, Carlos Silvestre, and Paulo Oliveira,“Vehicle and Mission Control of Single Multiple Autonomous Marine Robots, In Advances in Unmanned Marine Vehicles,” IEE Contol Engineering Series, G. Roberts and R. Sutton (Eds), pp. 353-386, 2006.

A-3) CHAPTERS IN BOOKS (in press - 9)

[1] Brewin, P. E., K. I. Stocks & G. Menezes 2007. A History of Seamount Research (Chapter 3). In: T. J. Pitcher, T. Morato, P. J. B. Hart. M. R. Clark, N. Haggan & R.S. Santos (Eds.). Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

[2] Fulton, B., T. Morato & T. J. Pitcher 2007. Modelling Seamount Ecosystems and Their Fisheries (Chapter 15). In: T. J. Pitcher, T. Morato et al. (Eds.). Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

[3] Morato, T. & M. R. Clark 2007. Seamount Fishes: Ecology and Life Histories (Chapter 9). In: T. J. Pitcher, T. Morato et al. (Eds.). Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

[4] Pitcher, T., T. Morato, P. Hart. M. Clark, N. Haggan & R.S. Santos 2007. The Depths of Ignorance: An Ecosystem Evaluation Framework for Seamount Ecology, Fisheries and Conservation (Chapter 21). In: T. J. Pitcher, T. Morato et al. (Eds.). Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

[5] Porteiro, F. M. & T. Sutton 2007. Midwater Fish Assemblages and Seamounts (Chapter 6). In: T. J. Pitcher, T. Morato et al. (Eds.). Seamounts: Ecology, Fisheries and Conservation. Blackwell Publishing (2007). In press.

[6] Probert, P. K., S. Christiansen, K. M. Gjerde, S. Gubbay & R. S. Santos 2007. Management and conservation of seamounts (Chapter 20). In: T. J. Pitcher, T. Morato et al. (Eds.). Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

[7] Santos, M. A., A. B. Bolten, H. R. Martins, B. Riewald & K. A. Bjorndal 2007. Air-breathing Visitors to Seamounts Section B: Sea Turtles (Chapter 12B). In: T. J. Pitcher, T. Morato et al. (Eds.). Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

[8] Silva. H. S. & M. R. Pinho 2007. Small-Scale Fishing On Seamounts Chapter 16 In: T. J. Pitcher, T. Morato et al. (Eds.). Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

[9] White, M., I. Bashmachnikov, J. Arístegui & Ana Martins 2007. Physical Processes and Seamount Productivity (Chapter 4). In: T. J. Pitcher, T. Morato et al. (Eds.). Seamounts: Ecology, Fisheries and Conservation. Fish and Aquatic Resources Series, Blackwell Publishing, Oxford, UK. In press.

A -4) IN INTERNATIONAL JOURNALS (50)

[1] R. Ghabcheloo, A. Pascoal, C. Silvestre, I. Kaminer, “Coordinated Path Following Control of Multiple Wheeled Robots using Linearization Techniques”, International Journal of Systems Science: Sspecial Issue on Cooperative Control Approaches for Multiple Mobile Robots. Taylor & Francis. Vol. 37, No.6. May 2006. pp. 399 - 414.

[2] António Aguiar, João P. Hespanha, “Minimum-Energy State Estimation for Systems with Perspective Outputs”, IEEE Transactions on Automatic Control, Vol. 51, No. 2, pp. 226-241, 2006.


[3] Sajjad Fekri, Michael Athans, and António Pascoal, “Issues, progress and new results in robust adaptive control”, Int. J. of Adaptive Control and Signal Process., Vol. 20, Issue 10, Dec. 2006, pp 519-579

[4] J. Sarrazin, P. M. Sarradin, A. G. Allais, D. Almeida, S. Bernagout, R. Bettencourt, E. Bonnivard, V. Brandou, P. Briand, M. Bruneaux, E. Buffier, J. B. Burnet, N. Byrne, F. Cardigos, E. Coiras, R. P. Cosson, D. Cottin, D. Cuvelier, S. Dentrecolas, D. Desbruyères, P. Dorval, J. Dupont, M. C. Fabri, P. Gavaia, A. Godfroy, M. Gouillou, J. Gronemman, G. Hamel, M. Hamon, D. Higuet, U. Hoge, D. Jollivet, C. Le Gall, P. Legendre, D. Leroux, F. Lesongeur, J. Legrand, P. Léon, J. P. Lévèque, I. Martins, H. Ondréas, V. Riou, P. Rodier, E. Sauter, E. Savino, Luís Sebastião, B. Shillito, P. Siméoni, A. Schultz, J. M. Sinquin, J. P. Sudreau, A. Tanguy, P. Taylor, R. Vuillemi, C. Waldmann, F. Zal, MoMARETO: A cruise dedicated to the spatio-temporal dynamics and the adaptations of hydrothermal vent fauna on the Mid-Atlantic Ridge, InterRidge News, Vol. 15, pp. 24-33, 2006

[5] N. Martins, C. Soares and S.M. Jesus, "Acoustic Rapid Environmental Assessment: the AOB concept", accepted in Journal of Marine Systems, November 2006.

[6] S.M. Jesus, C. Soares, E. Coelho and P. Picco, ``An Experimental Demonstration of Blind Ocean Acoustic Tomography'', Journal of the Acoustical Society of America, 119(3), pp. 1420-1431, March 2006.

[7] A. Silva, F. Zabel and C. Martins, ``Acoustic Oceanographic Buoy: a telemetry system that meets rapid environmental assessment requirements'', Sea Technology, Vol. 47, No. 9, pp. 15 - 20, September 2006.

[8] Dias AS, Barriga FJAS (2006). Mineralogy and geochemistry of hydrothermal sediments from the serpentinite-hosted Saldanha hydrothermal field (36°34′N; 33°26′W) at MAR. Marine Geology 225(1-4):157-175 (doi:10.1016/j.margeo.2005.07.013)

[9] Escaso F., Ortega F., Dantas P., Malafaia E., Pimentel N.L., Pereda-Suberbiola X., Sanz J.L., Kullberg J.C., Kullberg M.C., Barriga FJAS (2006). New stegosaur discovery increases Upper Jurassic dinosaur faunas distribution. Naturwissenschaften DOI 10.1007/s00114-006-0209-8. Publisher: Berlin / Heidelberg

[10] Marques AFA, Barriga FJAS, Chavagnac V, Fouquet Y (2006) Mineralogy, geochemistry, and Nd isotope composition of the Rainbow hydrothermal field, Mid-Atlantic Ridge. Mineralium Deposita 41: 52-67 (doi:10.1007/s00126.005.0040.8)

[11] Monteiro Santos FA, Mateus A, Figueiras J, Gonçalves MA (2006) Mapping groundwater contamination around a landfill facility using the VLF-EM method; a case study. J. Applied Geophysics 60: 115-125.

[12] Relvas JMRS, Barriga, FJAS, Ferreira, A, Noiva, PC, Pacheco, N, Barriga, G, (2006) Hydrothermal alteration and mineralization in the Neves-Corvo volcanic-hosted massive sulfide deposit, Portugal: I. Geology, Mineralogy, and Geochemistry. Economic Geology, v.101-4, pp.753-790.

[13] Relvas, JMRS, Barriga, FJAS, and Longstaffe, F, (2006) Hydrothermal alteration and mineralization in the Neves-Corvo volcanic-hosted massive sulfide deposit, Portugal: II.Oxygen, Hydrogen and Carbon Isotopes. Economic Geology, v. 101-4, pp. 791-804.

[14] Rosa, DRN, Inverno, C, Oliveira, V, and Rosa C, (2006) Geochemistry and geothermometry of volcanic rocks from Serra Branca, Iberian Pyrite Belt, Portugal, Gondwana Research, 10, 328-339.

[15] Silva PF, Henry B, Marques FO, Mateus A, Madureira P, Lourenço N, Miranda J (2006) Variation of Magnetic Properties in Sedimentary Rocks Hosting the Foum Zguid dyke (Southern Marocco): Combined effects of re-crystallization and Fe-metasomatism. Earth and Planetary Science Letters 241: 978-992 (doi:10.1016/j.epsl.2005.10.009)


imap://[email protected]:993/pub/?accao=showpublication&id_publication=1647



imap://[email protected]:993/people/index.asp?accao=showpeople&id_people=5

[16] Binns RA, Barriga FJAS, Miller DJ, LEG 193, 2006 Synthesis: Anatomy of an Active Felsic-Hosted Hydrothermal System, Eastern Manus Basin, Papua New Guinea. In: Barriga, Binns, Miller, Hertzig, eds, Proceedings ODP, Scientific Results, 193

[17] Abecassis, D., A. R. Costa, J. G. Pereira & M. R. Pinho 2006. Age and growth of bluemouth, Helicolenus dactylopterus Delaroche, 1809, from the Azores. Fisheries Research, 79:148-154

[18] Barreiros, J. P., J. Rodeia & M. Teves 2006. First record of the harbour porpoise Phocoena Phocoena (Cetacea: Phocoenidae), in the Azores (NE Atlantic). Aqua – Journal of Ichthyology and Aquatic Biology 11(2): 45-46.

[19] Cardigos, F., F. Tempera, S. Ávila, J. Gonçalves, A. Colaço & R.S. Santos 2006. Non-indigenous marine species of the Azores. Helgoland Marine Research, 60: 160-169.

[20] Colaço, A., I. Martins, M. Laranjo, L. Pires, C. Leal, C. Prieto, V. Costa, H. Lopes, D. Rosa, P. R. Dando & R. S. Santos 2006. Annual spawning of the hydrothermal vent mussel, Bathymodiolus azoricus, under controlled aquarium conditions at atmospheric pressure. Journal of Experimental Marine Biology and Ecology, 333 (2): 166-171.

[21] Colaço, A., C. Raghukumar, C. Mohandass, F. Cardigos, R. S. Santos 2006. Effect of shallow-water venting in Azores on a few marine biota. Cahiers de Biologie Marine, 47 (4): 359-364.

[22] Colaço, A., P. Bustamante, Y. Fouquet, P.-M. Sarradin & R. S. Santos 2006. Bioaccumulation of Hg, Cu, and Zn in the Azores Triple Junction hydrothermal vent field food web. Chemosphere 65: 2260–2267.

[23] Dixon, D. R., D. M. Lowe, P. I. Miller, G. Villemin, A. Colaço, R. S. Santos & L. R. J. Dixon 2006. Evidence for seasonal reproduction in the Atlantic vent mussel Bathymodiolus azoricus, and an apparent link to the timing of photosynthetic primary production. Journal of the Marine Biological Association of the UK, 86 (6): 1363-1371.

[24] Domingues, V. S., R. S. Santos, A. Brito & V. C. Almada 2006. Historical population dynamics and demography of the eastern Atlantic pomacentrid Chromis limbata (Valenciennes, 1833). Molecular Phylogenetics and Evolution, 40 (1): 139-147.

[25] Fialho, P. M. C. Freitas, F. Barata, B. Vieira, A. D. A. Hansen & R. E. Honrath 2006. The Aethalometer calibration and determination of iron concentration in dust aerosols. Journal of Aerosol Science, 37 (11): 1497-1506

[26] Gerhardinger, L., R. Samagaia, M. Hostim-Silva & J. P. Barreiros 2006. A following association between juvenile Epinephelus marginatus (Lowe, 1834) and Myrichthys ocellatus (Lesueur, 1825). Cybium, 30(1): 82-84.

[27] Grapputo, A., F. Barbisan, M. De Girolamo, A. Pilastro & L. Zane 2006. Development and characterization of 11 microsatellite markers in the rock sparrow, Petronia petronia. Molecular Ecology Notes, 6 (4): 1070-1072.

[28] Kadar, E. & C. Azevedo 2006. Unidentified extracellular prokaryotes within the byssal threads of the Deep-Sea vent mussel Bathymodiolus azoricus. Parasitology 133: 509-513.

[29] Kadar, E. & J. J. Powell 2006. Post-capture experimental investigations using hydrothermal vent macro-invertebrates to study adaptations to extreme environments. Reviews in Environmental Science and Bio/Technology 5: 193-201.

[30] Kadar, E. & V. Costa 2006. First report on the micro-essential metal concentrations in bivalve shells from deep-sea hydrothermal vents. Journal of Sea Research 56: 37-44.


[31] Kadar, E., R. Bettencourt & A. Lobo-da-Cunha 2006. Gamma-proteobacteria detected in the digestive gland of the vent mussel Bathymodiolus azoricus. Cahiers de Biologie Marine, 47 (4): 429-434.

[32] Kadar, E., R. S. Santos & J. J. Powell 2006. Biological factors influencing tissue compartmentalization of trace metals in the deep-sea hydrothermal vent bivalve Bathymodiolus azoricus at geochemically distinct vent sites of the Mid-Atlantic Ridge Environmental Research 101: 221-229.

[33] Kadar, E., R. S. Santos, A. Lobo-Da-Cunha & P. Dando 2006. Spermatogenesis of Bathymodiolus azoricus in captivity matching reproductive behaviour at deep-sea hydrothermal vents. Journal of Experimental Marine Biology and Ecology 335: 19-26.

[34] Kadar, E., V. Costa & R. S. Santos 2006. Distribution of micro-essential (Fe Cu Zn) and toxic (Hg) metals in tissues of two nutritionally distinct hydrothermal shrimps. Science of the Total Environment 358: 143-150.

[35] Kadar, E., V. Costa, R. S. Santos, & J. J. Powell 2006. Tissue partitioning of micro-essential metals in the vent bivalve Bathymodiolus azoricus and associated organisms endosymbiont bacteria and parasite polychaete. from geochemically distinct vents of the Mid-Atlantic Ridge. Journal of Sea Research 56: 45-52.

[36] Lobo-da-Cunha, A., E. Kádár & R. S. Santos 2006. Histochemical and ultrastructural characterisation of mantle storage cells in the hydrothermal-vent bivalve Bathymodiolus azoricus. Marine Biology, 150: 253-260.

[37] Machado, L. F. & J. P. Barreiros 2006. First record of Seriola fasciata, in the Azores. A northernmost occurrence in the NE Atlantic. Cybium, 30(1): 77-78.

[38] Martins, A. M., & J. L. Pelegrí 2006. CZCS chlorophyll patterns in the South Atlantic Bight during low vertical stratification conditions. Continental Shelf Research, 26 (4): 429-457.

[39] Martins, I., V. Costa, F. Porteiro & R.S. Santos 2006. Temporal and spatial changes in mercury concentrations in the North Atlantic as indicated by museum specimens of glacier lanternfish Benthosema glaciale (Pisces: Myctophidae). Environmental Toxicology, 21 (5): 528-532.

[40] Martins, I., V. Costa, F. Porteiro, A. Colaço & R.S. Santos 2006. Mercury concentrations in fish species caught at Mid-Atlantic Ridge hydrothermal vent fields. Marine Ecology - Progress Series, 320: 253-258

[41] Mendonça, A., E. Isidro, G. Menezes, M.R. Pinho, O. Melo & S. Estácio 2006. New contribution to the reproductive features of bluemouth Helicolenus dactylopterus dactylopterus from the northeast Atlantic (Azores Archipelago). Scientia Marina, 70(4): 679-688.

[42] Menezes. G. M., M. F. Sigler, H. M. Silva & M. R. Pinho 2006. Structure and zonation of demersal fish assemblages off the Azores archipelago (Mid Atlantic). Marine Ecology Progress Series, 324:241-260.

[43] Morato, T.; R. Watson, T.J. Pitcher and D. Pauly 2006. Fishing down the deep. Fish and Fisheries, 7 (1): 24-34.

[44] Morato, T.; W.W.L. Cheung and T.J. Pitcher 2006. Vulnerability of seamount fish to fishing: fuzzy analysis of life history attributes. Journal of Fish Biology, 68 (1): 209-221.

[45] Neves, V. C., M. Bolton & L. R. Monteiro 2006. Validation of the water offloading technique for diet assessment: an experimental study with Cory's shearwaters (Calonectris diomedea). Journal of Ornithology, 147 (3): 474-478.


[46] Neves V. C., S. Panagiotakopoulos & R. W. Furness 2006. A control taste aversion experiment on predators of roseate tern (Sterna dougallii) eggs. European Journal of Wildlife Research 52(4): 259-264.

[47] Ros A. F. H, N. Bouton, R. S. Santos & R. F. Oliveira 2006. Alternative male reproductive tactics and the immunocompetence handicap in the Azorean rock pool blenny, Parablennius parvicornis. Proceedings of the Royal Society B: Biological Sciences, 273 (1589), 901–909.

[48] Ros A. F. H., R. S. Santos & R. F. Oliveira. 2006. Regulation of immunocompetence by different androgen metabolites in a blenny with alternative reproductive tactics. Journal of Experimental Zoology Part A: Comparative Experimental Biology, Volume 305A, 12: 986-994.

[49] Rosa, A., G. Menezes O. Melo & M. Pinho, M. R. 2006. Weight-Length Relationships of 33 Demersal Fish Species from Azores Archipelago. Fisheries Research, 80 (2-3): 329-332.

[50] Stefanni, S., V. Domingues, N. Bouton, V. Almada & R. S. Santos 2006. Phylogeny of the shanny, Lipophrys pholis, from the NE Atlantic using mitochondrial DNA markers. Molecular Phylogenetics and Evolution, 39 (1): 282-287.

A -4) IN INTERNATIONAL JOURNALS (in press - 47)

[1] R. Ghabcheloo, A. Pascoal, C. Silvestre, I. Kaminer,” Nonlinear Coordinated Path Following Control of Multiple Wheeled Robots with Bidirectional Communication Constraints,” International Journal of Adaptive Control and Signal Processing. In press.

[2] C. Silvestre, A. Pascoal,” Depth control of the INFANTE AUV using gain-scheduled reduced order output feedback,” Control Engineering Practice. In press.

[3] Nuno Paulino, Carlos Silvestre, Rita Cunha,”Affine Parameter-Dependent Preview Control for Rotorcraft Terrain Following Flight,” AIAA Journal of Guidance, Control, and Dynamics. In press.

[4] A. Pedro Aguiar and João P. Hespanha, “Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles with Parametric Modeling Uncertainty”, IEEE Transactions on Automatic Control. In press.

[5] L. Lapierre, D. Soetanto, António Pascoal, “Non-Singular Path-Following Control of a Unicycle in the Presence of Parametric Modeling Uncertainties”, International Journal on Adaptive Control and Signal Processing. In Press.

[6] Sajjad Fekri Asl, Michael Athans, António Pascoal, “Robust Multiple Model Adaptive Control (RMMAC): A Case Study”, International on Adaptive Journal on Adaptive Control and Signal Processing. In Press.

[7] A. Alcocer, P. Oliveira, and A. Pascoal, “Study and Implementation of a GIB-Based Underwater Positioning System,” IFAC Journal Control Engineering Practice. In Press.

[8] Sajjad Fekri, Michael Athans, and A. Pascoal., “Robust Mulitple Model Adaptive Control (RMMAC): A Case Study,” International Journal on Adaptive Control and Signal Processing. In Press.

[9] Elgar Desa, P.Maurya, A.Pereira, R.G.Prabhudesai, A.Mascarenhas, Ehrlich Desa, Antonio Pascoal, R.Madhan, S.G.P.Matondkar, G.Navelkar, S.Prabhudesai, and S.Afzulpurkar, “A Small Autonomous Surface Vehicles (ASV) for Ocean Remote Sensing,” IEEE Transactions of Ocean Engineering. In Press.

[10] Fonseca R, Barriga, FJAS, Theodoro S, Canário T, Morais M (aceite para publicação) – The Três Marias reservoir, a sink for sediments outcoming from over-erosion of soils in Minas gerais (Brazil). In: Sobral, M. & Gunkel, G. (eds.) Reservoirs and River Basins


Management: Exchange of Experience from Brazil, Portugal and Germany. Technical University of Berlin, Berlin (in press).

[11] Fouquet Y, J-L Charlou, J-P Donval, J Radford-Knoery, H Ondreas, P Cambon, H Bougault, J Etoubleau, FJAS Barriga, IMA Costa, N Lourenço, MK Tivey. Hydrothermal Processes on Shallow Volcanic Segments: Mid Atlantic Ridge Near The Azores Triple Junction. Marine Geology (in press)

[12] Fouquet Y., K. Henry, G. Bayon, P. Cambon, F.J.A.S. Barriga, I.A. Costa, H. Ondréas, L. Parson, A. Ribeiro, J. Relvas. The Rainbow Hydrothermal Field: Geological setting, Mineralogical and Chemical Composition of Sulfide Deposits (MAR 36º14’N). Earth and Planetary Science Letters (in press)

[13] Jesus A., Munhá J., Mateus A., Tassinari C., Nutman A.P. – The Beja Layered Gabbroic Sequence (Ossa-Morena Zone, Southern Portugal): geochronology and geodynamic implications. Geodinamica Acta (in press).

[14] Ribeiro A., Munhá J., Dias R., Mateus A., Pereira E., Ribeiro M.L., Fonseca P., Araújo A., Oliveira J.T., Romão J., Chaminé H., Coke C., Pedro J.C. – Geodynamic evolution of the SW Europe Variscides. Tectonics (accepted).

[15] Theodoro S, Fonseca R, Barriga FJAS, Macedo I, Morais M (aceite para publicação) – The use of accumulated sediments in the Tucuruí and Três Marias dams to recuperate the degraded áreas. In: Sobral, M. & Gunkel, G. (eds.) Reservoirs and River Basins Management: Exchange of Experience from Brazil, Portugal and Germany. Technical University of Berlin, Berlin (in press).

[16] Vieira da Silva N., Mateus A., Monteiro Santos F. A., Almeida E.P., J. Pous (2006). 3D electromagnetic imaging of a Palaeozoic plate-tectonic boundary segment in SW Iberian Variscides (S Alentejo, Portugal). Tectonophysics (in press).

[17] Ávila, S. P. (accepted January 2006) Oceanic islands, rafting, geographical range and bathymetry: a neglected relationship?. Proceedings of the Irish Royal Academy: in press

[18] Neves, V. C., N. Murdoch & R. W. Furness RW (accepted). Population Status and Diet of Yellow-Legged Gull in the Azores. Arquipélago Life and Marine Sciences: in press.

[19] Almada, V. C., V. Domingues, N. M. Monteiro, F. Almada & R. S. Santos (accepted 22 September 2006). Molecular data confirm the validity of the Portuguese blenny (Parablennius ruber, Valenciennes, 1836) and its presence in Western Europe. Journal of Fish Biology: in press.

[20] Arístegui J., A.Mendonça, J.C. Vilas, M. Espino, I. Polo, M.F. Montero & A. Martins (accepted 2006). Plankton metabolic balance at two north Atlantic seamounts. Deep-Sea Research Part II: in press.

[21] Ávila, S. P., F. Cardigos & R. S. Santos (accepted June 2006). Comparison of the community structure of the marine mollusks of the “Banco D. João de Castro” seamount (Azores, Portugal) with that of typical inshore habitats on the Azores archipelago. Helgoland Marine Research: in press.

[22] Bashmachnikov, I., A. Martins, & A. Mendonça. (accepted 2006). Mediterranean vortexes over the Azores archipelago form altimetry and in-situ observations. Geophysical Research Letters: in press.

[23] Bergstad, O., G. Menezes & A. Hoines (accepted). Demersal fish on a mid-ocean ridge: distribution patterns and structuring factors. Deep Sea Research II: in press.

[24] Bettencourt, R., P. Roch, S. Stefanni, D. Rosa, A. Colaço, P. Roch & R. S. Santos (accepted November 2006). Deep sea immunity: unveiling im: une constituents from


the hydrothermal vent mussel Bathymodiolus azoricus. Marine Environmental Research, in press.

[25] Bolton, M. (accepted 2006). Playback experiments indicate absence of vocal recognition among temporally and geographically separated populations of Madeiran Storm-petrels Oceanodroma castro. Ibis, in press (doi: 10.1111/j.1474-919X.2006.00624.x).

[26] Bried, J., M. Nicolaus, P. Jarne, M.-P. Dubois & P. Jouventin (accepted 2006). Population biology of the Wandering Albatross (Diomedea exulans) in the Crozet and Kerguelen archipelagos, southern Indian ocean, approached through genetic and demographic methods. Journal of Zoology (London): in press (doi:10.1111/j.1469-7998.2006.00242.x).

[27] Cheung, W.W.L., R. Watson, T. Morato, T.J. Pitcher & D. Pauly (accepted 2006) Change of intrinsic vulnerability in the global fish catch. Marine Ecology Progress Series: in press.

[28] Colaço A., D. Desbruyères & J. Guezennec (accepted 2006). The use of polar lipid fatty acids to determine trophic links in chemosynthetic communities. Marine Ecology: in press.

[29] de Jong K, N. Bouton & H. Slabbekoorn (accepted 2006) Azorean rock-pool blennies produce size-dependent calls in a courtship context. Animal Behaviour: in press.

[30] Gadig, O. B. F., M. F. Juliano & J. P. Barreiros (accepted) Further notes on the capture of a Carcharhinus leucas, in a northeastern Atlantic oceanic insular shelf, the Azores Archipelago, Portugal. Cybium: (in press).

[31] Jouventin, P., A. Charmantier M.-P. Dubois, P. Jarne & J. Bried (accepted 2006). Extra-pair paternity in the strongly monogamous Wandering Albatross Diomedea exulans has no apparent benefits for females. Ibis: in press (doi:10.1111/j.1474-919X.2006.00597.x).

[32] Kádár, E. (accepted 2006). Post-capture Depuration of Essential Metals in the Deep Sea Hydrothermal Mussel Bathymodiolus azoricus. Bulletin of Environmental Chemistry and Toxicolology: (in press)

[33] Morato, T.; C. Bulman & T.J. Pitcher (accepted 2006). Modeled effects of primary and secondary production enhancement by seamounts on local fish stocks. Deep-Sea Research Part II: in press.

[34] Morato, T.; D.A. Varkey; C. Damaso; M. Machete, M. Santos, R. Prieto, R.S. Santos & T.J. Pitcher (conditionally accepted 2006). Testing a seamount effect on aggregating visitors. Marine Ecology Progress Series.

[35] Morato, T.; M. Machete; A. Kitchingman; F. Tempera; S. Lai; G. Menezes; R.S. Santos & T.J. Pitcher (conditionally accepted 2006). Abundance and distribution of seamounts in the Azores. Marine Ecology Progress Series.

[36] Neves, V. C., K. Griffiths, F. Savory, B. Mable & B. Furness (accepted). Are European Starlings that breed in the Azores genetically different from mainland Europe birds? Journal of Ornithology, 147 (supl. 5): in press.

[37] Quérouil, S., M. A. Silva, L. Freitas, R. Prieto, S. Magalhães, A. Dinis, F. Alves, J. A. Matos, D. Mendonça, P. S. Hammond & R. S. Santos (conditionally accepted August 2006). High gene flow in oceanic bottlenose dolphins (Tursiops truncatus) of the North Atlantic. Conservation Genetics: in press.

[38] Silva, M. A., R. Prieto, S. M. Magalhães, M. I. Seabra, R. S. Santos & P. S. Hammond (accepted 2006). Ranging patterns of bottlenose dolphins living in oceanic waters: implications for population structure. Marine Biology: in press.


[39] Smith, A. L., O. Hasegawa, V. L. Friesen & L. R. Monteiro, L.R. (accepted 2006). Global phylogeography of the band-rumped storm-petrel (Oceanodroma castro; Procelariiformes: Hydrobatidae). Molecular Phylogenetics and Evolution: in press

[40] Val Martín M., R. E. Honrath, R. C. Owen, G. Pfister, P. Fialho & F. Barata (accepted 2006), Significant enhancements of nitrogen oxides, black carbon, and ozone in the North Atlantic lower free troposphere resulting from North American boreal wildfire. Journal of Geophysical Research - Atmospheres, 111: in press (D23S60, doi:10.1029/ 2006JD007530).

[41] Vilas, J.C., K. Kiriakoulakis, M. Espino, I. Polo, M. F. Montero, A. Mendonça, G Wolf, J Arístegui (accepted 2006). Seamounts and organic matter – is there an effect? The case of Sedlo and Seine Seamounts Part 1. Distributions of dissolved and particulate organic matter. Deep-Sea Research Part II: in press.

[42] Walton, M. J., M. A. Silva, S. M. Magalhães, R. Prieto & R. S. Santos (accepted 3 August 2006). Using blubber biopsies to provide ecological information about bottlenose dolphins Tursiops truncatus around the Azores. Journal of the Marine Biological Association of the U.K.: in press.

[43] Bashmachnikov, I., A. Martins & A. Mendonça (accepted 2006). Observation of 3 Meddies from in-situ and altimetry data in the Azores region, SPIE Europe Remote Sensing and SPIE Europe Optics and Photonics in Security and Defence, Conference 6360-02: Session 1, Part of Proceedings of SPIE Vol. 6360 Remote Sensing of the Ocean, Sea Ice, and Large Water Regions 2006, Stockholm, Sweden, 11 - 14 September, 150 pp: in press.

[44] Mendonça A., A. Martins, I. Bashmachnikov, M. Figueiredo, A. Couto, J. C. Vilas & J. Aristegui (accepted 2006). Os montes submarinos: um oásis no meio do oceano? Actas da V Edição das Jornadas do Mar 2006, 23pp: in press.

[45] Morato, T. and T.J. Pitcher. (accepted). Reconciling fisheries with conservation on seamounts. Proceedings of the fourth World Fisheries Congress. American Fisheries Society: in press.

[46] Silva, M.A., S. Magalhães, R. Prieto, M. I. Seabra, R. S. Santos & P. S. Hammond. (accepted 2006). Home range size of bottlenose dolphins in the Azores: a consequence of patchy resources? In: European Research on Cetaceans - 20. Proc. 20th Ann. Conf. ECS, Gdynia, Poland, 2-6 April 2006. European Cetacean Society, Poland: in press.

[47] Santos, R. S. (accepted 2006). Direct anthropogenic impact on deep-sea ecosystems and habitat conservation, pp. 61-64. In J. Mienert & A. Winkler (Chairs). Deep-Sea Frontier Initiative for Ocean and European Seas Research (A foresight paper for a scientific programme leading to integrative research on the deep-sea floor for the upcoming decade). ECORD-Net/ ERA-net Project. In press by the EC.

A-5) IN NATIONAL JOURNALS (4)

[1] J. Santos, M. Neves, L. Silva, Carlos Silvestre, Paulo Oliveira, António Pascoal, Luís Sebastião, João Alves,” Novos Instrumentos para a Inspecção e Diagnóstico de Quebra-mares de Taludes,” Tecnologia da Água, March, pp. 44-50, 2006.

[2] Mateus A. (2006). A Geologia no limiar do século XXI: consolidação de um percurso, projectando o futuro. e.Ciência – A Revista da Ciência, Tecnologia e Inovação em Portugal, nº 112, Novembro, Vulcanologia e Geodiversidade, Marcas e Dinâmica da Geologia em Portugal: 13-20.

[3] Oliveira, J.T., Relvas, J.M.R.S., Pereira, Z., Munhá, J., Matos, J.X., Barriga, F., Rosa, C., (2006) O Complexo vulcano-sedimentar de Toca da Moura (zona de Ossa-Morena); evolução tectono-estratigráfica e mineralizações associadas, in Dias, R., Araújo, A., Terrinha, P., e Kulberg, J.C., eds., Geologia de Portugal no contexto da Ibéria, Universidade de Évora, Évora, Portugal: 181-194.


[4] Oliveira, J.T., Relvas, J.M.R.S., Pereira, Z., Matos, J.X, Rosa, C., Rosa, D., Munhá, J., Jorge, R., Pinto, A. (2006) O Complexo vulcano-sedimentar da Faixa Piritosa: estratigrafia, vulcanismo, mineralizações associadas e evolução tectono-estratigráfica no contexto da zona Sul-Portuguesa, in Dias, R., Araújo, A., Terrinha, P., e Kulberg, J.C., eds., Geologia de Portugal no contexto da Ibéria, Universidade de Évora, Évora, Portugal: 207-244.

B-1) IN INTERNATIONAL CONFERENCES (Conference papers, communications, and posters) (86)

[1] António Aguiar, J. Hespanha, “State Estimation of Continuous-Time Systems with Implicit Outputs from Discrete Noisy Time-Delayed Measurements”, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, CA, USA, 2006.

[2] António Aguiar, J. Hespanha, “H-infinity Estimation of Systems with Implicit Outputs: An Application to Pose Estimation of Autonomous Vehicles”, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006.

[3] Alex Alcocer, Paulo Oliveira, António Pascoal, João Xavier, “Maximum Likelihood Attitude and Position Estimation from Pseudo-Range Measurements using Geometric Descent Optimization”, Proc. CDC'06 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006.

[4] Alex Alcocer, Paulo Oliveira, António Pascoal, “A Nonlinear Filter for range-only Attitude and Position Estimation”, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006.

[5] Alex Alcocer, Paulo Oliveira, António Pascoal, João Xavier, “Estimation of Attitude and Position from Range only Measurements using Geometric Descent Optimization on the Special Euclidean Group”, Proc. FUSION2006 - 9th International Conference on Information Fusion, Florence, Italy, 2006.

[6] Alex Alcocer, Paulo Oliveira, António Pascoal, “Underwater Acoustic Positioning Systems based on Buoys with GPS”, Proc. ECUA2006 - 8th European Conference on Underwater Acoustics, Carvoeiro, Portugal, 2006.

[7] A. P. Aguiar, R. Ghabcheloo, A. Pascoal, C. Silvestre, J. Hespanha, I. Kaminer,“Coordinated path-following of multiple underactuated autonomous vehicles with bidirectional communication constraints,” Proc. International Symposium On Communication, Control and Signal Processing (ISCCSP), Morocco, March 2006

[8] J. Alves, P. Oliveira, R. Oliveira, A. Pascoal, M. Rufino, L. Sebastião, C. Silvestre,”Vehicle and Mission Control of the DELFIM Autonomous Surface Craft,” Proc. 11th Mediterranean Conference on Control and Automation, Ancona, Italy, June 2006.

[9] E. Barros, António Pascoal, E. de Sa, “Progress Towards a Method for Predicting AUV Derivatives”, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006.

[10] Batista, P., Silvestre, C., Oliveira, P.,” A 2D Sensor Based Control Law for Homing of AUVs in the Horizontal Plane, Proc. 7th Portuguese Conference in Automatic Control, Controlo 2006, Lisboa, Portugal, September 2006.

[11] P. Batista, C. Silvestre, O. Oliveira.,” A Sensor Based Homing Strategy for Autonomous Underwater Vehicles,” Proc. 11th Mediterranean Conference on Control and Automation, Ancona, Italy, June 2006.

[12] Batista, Pedro, Silvestre, Carlos, Paulo Oliveira,”A 2D Homing Strategy for Autonomous Underwater Vehicles,” Proc. MCMC’2006 - The 7th IFAC


Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, September 2006.

[13] Batista, P., Silvestre, C., Oliveira, P.,” A Quaternion Sensor Based Controller for Homing of Underactuated AUVs,” Proc. 45th IEEE Conference on Decision and Control, San Diego, December 2006.

[14] E. Borhaug, A. Pavlov, Reza Ghabcheloo, K. Pettersen, António Pascoal, Carlos Silvestre, “Formation Control of Underactuated Marine Vehicles with Communication Constraints”, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006.

[15] Cunha, R., Silvestre, C., Hespanha, J.,” Output-Feedback Control for Point Stabilization on SE(3),“ Proc. 45th IEEE Conference on Decision and Control, San Diego, December 2006.

[16] Rita Cunha, Duarte Antunes, Pedro Gomes, Carlos Silvestre, “A Path-Following Preview Controller for Autonomous Air Vehicles”, Proc. AIAA Guidance Navigation and Control Conference, Keystone, CO, USA, 2006.

[17] Ghabcheloo, R., Aguiar, A., Pascoal, A., Silvestre, C.,” Coordinated Path-following Control of Multiple AUVs in the Presence of Communication Failures and Time Delays,” Proc. MCMC’2006 - The 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, September 2006.

[18] Ghabcheloo, R., Aguiar, A. Pedro, Pascoal, A.., Silvestre, C., Kaminer, I., Hespanha, J. P., “Coordinated path-following control of multiple underactuated autonomous vehicles in the presence of communication failures,” Proc. 45th IEEE Conference on Decision and Control, San Diego, December 2006.

[19] I. Kaminer, O. Yakimenko, António Pascoal, Reza Ghabcheloo, “Path Generation, Path Following, and Coordinated Control for Time-Critical Missions of Multiple UAVs”, Proc. ACC2006 - American Control Conference, Minneapolis, Minnesota, USA, 2006.

[20] P. Maurya, E. Desa, António Pascoal, G. Navelkar, R. Madhan, A. Mascarenhas, S. Prabhudesai, S. Afzulpurkar, A. Gouveia, S. Naroji, Luís Sebastião, “Control of the MAYA AUV in the Vertical and Horizontal Planes: Theory and Practical Results”, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006.

[21] R. Madhan, E. Desa, S. Prabhudesai, Luís Sebastião, António Pascoal, E. Desa, A. Mascarenhas, P. Maurya, G. Navelkar, S. Afzulpurkar, S. Khalap, “Mechanical Design and Development Aspects of a Small AUV-MAYA”, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006.

[22] Marco Martins, Oliveira, Paulo Jorge, Silvestre, Carlos Jorge, Vasconcelos, José Fernandes,”USBL/INS Integration Technique For Underwater Vehicles,” Proc. MCMC’2006 - The 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, September 2006.

[23] Morgado M., Oliveira, P., Silvestre, C. e Vasconcelos, J. F.,”USBL/INS Tightly-Coupled Integration Technique for Underwater Vehicles,” Proc. 9th International Conference on Information Fusion – FUSION 2006, Firenze, Italy, July 2006

[24] Nuno Paulino, Carlos Silvestre, Rita Cunha, Antonio Pascoal,” Path Following Preview Control of AUVs: an Application to the Infante Vehicle,” Proc. MCMC’2006 - The 7th IFAC Conference on Manoeuvring and Control of Marine Craft , Lisbon, Portugal, September 2006.


[25] Paulino, N., Silvestre, C., Cunha, R., Pascoal, A.,” A Bottom-Following Preview Controller for Autonomous Underwater Vehicles,” Proc. 45th IEEE Conference on Decision and Control, San Diego, December 2006.

[26] Pedro Gomes, Carlos Silvestre, Antonio Pascoal, Rita Cunha,” A Path-Following Controller for the DELFIMx Autonomous Surface Craft,” Proc. MCMC’2006 - The 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, September 2006.

[27] Paulo Oliveira, “Interpolation of Signals with Missing Data using PCA”, Proc. ICASSP2006 - IEEE International Conference on Acoustics, Speech, and Signal Processing, Toulouse, France, 2006.

[28] Francisco Teixeira, António Aguiar, António Pascoal, “Nonlinear Control of an Underwater Towed Vehicle”, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006.

[29] José Vasconcelos, Carlos Silvestre, Paulo Oliveira, “Embedded Vehicle Dynamics and LASER Aiding Techniques for Inertial Navigation Systems”, Proc. AIAA Guidance Navigation and Control Conference, Keystone, CO, USA, 2006.

[30] Vasconcelos, J., Athans, M., Fekriasl, S., Silvestre, C., Oliveira, P.,” Uncertainty vs Performance Tradeoffs in Robust Feedback Control: A MIMO Case Study,” Proc. 45th IEEE Conference on Decision and Control, San Diego, December 2006.

[31] J.P. GOMES, A. SILVA and S. JESUS, ``Joint Passive Time Reversal and Multichannel Equalization for Underwater Communications'', in Proc. OCEANS'06, Boston (USA), September.

[32] S.M. JESUS, C. SOARES, A. SILVA, J.-P. HERMAND and E. COELHO, "AOB - Acoustic Oceanographic Buoy: concept and feasibility", in Underwater Defence Technology European Conference (UDT'06) 2006, Hamburg, Germany, June 2006.

[33] P. FELISBERTO and S.M. JESUS " An hybrid acoustic-oceanographic method for estimating the spatial distribution of sound", in Proc. European Conf. on Underwater Acoustics (ECUA) 2006, pp. 663-668, Carvoeiro, Portugal, June 2006.

[34] C. SOARES and S.M. JESUS, "Matched-field tomography using an Acoustic Oceanographic Buoy", (abstract) in Proc. European Conf. on Underwater Acoustics (ECUA) 2006, pp. 717-722, Carvoeiro, Portugal, June 2006.

[35] S. NUNES, D. ALMEIDA, V. BRITO, J. CARVALHO, J. RODRIGUES, J.M.H. du BUF, "Perception-based painterly rendering: functionality and interface design", Proc. 3rd Ibero-American Symp. Computer Graphics (SIACG), Santiago de Compostela, Spain, July 5-7, P. Brunet et al. (eds), the Eurographics Association, pp. 53-60, 2006.

[36] R. LAM, J. RODRIGUES, and J.M.H. du BUF, "Looking through the eyes of the painter: from visual perception to non-photorealistic rendering". Proc. 14th Int. Conf. Computer Graphics, Visualization and Computer Vision (WSCG 2006), Plzen, Czech Republic, pp. 147-154. http://wscg.zcu.cz/wscg2006/wscg2006.htm, 2006.

[37] R.E. LOKE, F.W. JANSEN and J.M.H. du BUF, "A background-priority discrete boundary triangulation method". Proc. 14th Int. Conf. Computer Graphics, Visualization and Computer Vision (WSCG 2006), Plzen, Czech Republic, pp. 61-68. http://wscg.zcu.cz/wscg2006/wscg2006.htm, 2006.

[38] J. RODRIGUES and J.M.H. du BUF, "Face segregation and recognition by cortical multi-scale line and edge coding", Proc. 6th Int. Worksh. Pattern Recogn. in Information Systems (PRIS2006), Paphos, Cyprus, May 23-24, pp. 5-14, 2006.

[39] S. NUNES, D. ALMEIDA, J. RODRIGUES and J.M.H. du BUF, "Object categorisations using templates constructed from multi-scale line and edge representations", Presented at:


Worksh. Visual Categorisation and Image Management Systems, Univ. of Sunderland, UK, June 28, 2006.

[40] F. CARDIGOS, D. ALMEIDA, L. SEBASTIAO, A. COLACO, S. NUNES, A. PASCOAL, J.M.H. du BUF, R.S. SANTOS, "Quest for high-resolution mapping in deep-sea environments", Poster at: 11th International Deep-Sea Biology Symposium, Southampton, UK, 9-14 July 2006.

[41] Barriga FJAS, Dias A, Mills RA, Taylor NR, Ferreira P (2006) Pb and Nd Isotope Variations and Elemental Geochemistry in Hydrothermal Sediments in a Push Core from Lucky Strike, 37ºN Mid-Atlantic Ridge EOS Trans.AGU Fall Meet. Suppl., abstract OS21B-1590

[42] Barriga FJAS, Fonseca R, Fyfe WS (2006) Reservatórios, sedimentos e fertilizantes: estado da arte e propostas para o desenvolvimento sustentável. X Encontro da Rede Luso-Brasileira de Estudos Ambientais, 13 a 19 de Agosto de 2006, Recife – Xingó (Pernambuco, Brasil)

[43] Dias A, Fruh-Green GL, Bernasconi SM, Mills RA, Taylor NR, Barriga FJAS (2006) High Temperature Hydrothermal Components in the Sediment Cover of the Saldanha Hydrothermal Field, EOS Trans.AGU Fall Meet. Suppl., abstract OS21B-1591

[44] Duarte P, Paiva I, Trindade R, Mateus A (2006) Suitable areas for a long-term radioactive waste storage facility in Portugal. Second European IRPA Congress on Radiation Protection, Paris (France), May

[45] Fonseca R, Barriga FJAS, Canário T, Morais M, Theodoro S (2006) Estrutura e Funcionamento do Reservatório de Três Marias (Minas Gerais). X Encontro da Rede Luso-Brasileira de Estudos Ambientais, 13 a 19 de Agosto de 2006, Recife – Xingó (Pernambuco, Brasil)

[46] Jorge RCGS, Relvas JMRS, Matos JX, (2006) Geochemistry of metasediments from the Phyllite-Quartzite Group, Iberian Pyrite Belt: provenance, source-area weathering and geotectonic implications. Proceedings of the 16th Annual V.M. Goldschmidt Conference, Melbourne , Australia, 7 Agosto a 1 Setembro

[47] Ribeiro da Costa I, Jesus AP, Munhá J, Barriga FJAS (2006) - Oxygen-barometry of the upper mantle beneath the Azores sector of the Mid-Atlantic Ridge. Proceedings of the 16th Annual V.M.Goldschmidt Conference. Melbourne, Australia (24 Aug - 1 Sep).

[48] Rosa, DRN and Rosa RN, (2006) The availability and depletion of copper: the Iberian Pyrite Belt scenario, Program and short abstracts of the XII IAGOD (International Association on the Genesis of Ore Deposits) Symposium, Moscovo (Rússia), 102.

[49] Ávila, S. P. 2006. Oceanic Islands, Rafting, Geographical Range And Bathymetry: A Neglected Relationship? Atlantic Islands Neogene, International Congress, 12 a 14 de Junho. Ponta Delgada, Azores, Portugal.

[50] Ávila, S. P. 2006. Neo and Palaeobiogeographical relationships of the Azorean shallow-water marine molluscs. Atlantic Islands Neogene, International Congress, 12 a 14 de Junho. Ponta Delgada, Azores, Portugal.

[51] Ávila, S. P. 2006. Resultados Preliminares do 3º Workshop “Palaeontology in Atlantic Islands”, 24 de Junho. Clube Naval de Santa Maria. Santa Maria, Azores, Portugal.

[52] Bergstad, O. A., G. M. Menezes & A. Hoines 2006. Distribution patterns and structuring factors of deepwater demersal fishes on a mid-ocean ridge. 11th Deep-Sea Biology Symposium, 9-14 July 2006. Southampton, UK.

[53] Bashmachnikov, I., A. Martins & A. Mendonça, 2006. Observation of 3 Meddies from in-situ and altimetry data in the Azores region. SPIE Europe Remote Sensing and SPIE Europe Optics and Photonics in Security and Defence, Conference 6360-02: Session 1, 11-16 September 2006, Stockholm, Sweden.


[54] Domingues V. S., V. C. Almada, R. S. Santos, A. Brito & G. Bernardi 2006. Phylogeography and evolution of the triplefin Tripterygion delaisi (Pisces, Blennioidei). Evolution Meeting, 23 - 27 June 2006. Stony Brook, USA.

[55] Domingues V. S., V. C. Almada, R. S. Santos, A. Brito & G. Bernardi. 2006. Phylogeography and evolution of the triplefin Tripterygion delaisi (Pisces, Blennioidei). Atlantic Islands Neogene International Congress, 12-14 June 2006. Ponta Delgada, Azores, Portugal.

[56] Fontes J., P. Afonso, J. Caselle, R. S. Santos (2006). Small and large scale recruitment variability of the mediterranean rainbow wrasse (Coris julis) in the Azores archipelago. 7th International Temperate Reef Symposium, June 25th to July 1st 2006. University of California Santa Barbara, Santa Barbara CA, USA.

[57] Fontes J., P. Afonso, J. Caselle, R.. S. Santos (2006). Recruitment dynamics and early life traits of the mediterranean rainbow wrasse in the isolated temperate Azores archipelago. 30th Annual larval Fish Conference, 10 to 14 September 2006. Lake Placid NY, USA.

[58] Higgins, R. M., F. Vandeperre & R. S. Santos 2006. WP 2 – The Fishery Effects of MPAs. 2nd Plenary Meeting EMPAFISH, 14-16 February, 2006. La Laguna, Canaries, Spain.

[59] Martins, I., A. Colaço, D. Desbruyères, P.-M. Sarradin & R. S. Santos 2006. Estimation of microbial and Bathymodiolus sp. production at vent sites of the Mid-Atlantic Ridge using a C-flux model. 11th Deep-Sea Biology Symposium, 9-14 July, National Oceanography Centre, Southampton, UK.

[60] Menezes, G. M. 2006. As pescas açorianas no contexto da Nova Política Marítima Europeia. III Feira do Mar e das Pescas”, 14 - 17 September, 2006. Ponta Delgada, Azores, Portugal.

[61] Menezes, G. M. 2006. The Azorean fisheries. Annual meeting: EAFPA – European Association of Fishing Ports and Auctions”, 13th - 17th September, 2006. Ponta Delgada, Azores, Portugal.

[62] Menezes, G. M., A. Rosa, O. Melo, M. R. Pinho 2006. Demersal fish assemblages off the Seine and Sedlo seamounts from longline surveys (Northeast Atlantic). 11th Deep-Sea Biology Symposium, 9-14 July 2006. Southampton, UK

[63] Morato, T. 2006. Global patterns of deep-sea fisheries and affected taxa. Workshop on Sustainability of Deep-sea Fisheries, 25-26 April 2006. University of Miami's Rosenthiel School of Marine and Atmospheric Science. Miami, USA.

[64] Neves, V. C., K.Griffiths, F. Savory, B. Mable & R. W. Furness 2006. Are European Starlings that breed in the Azores genetically different from mainland Europe birds? International Ornithological Conference (IOC 2006): August 2006. Hamburg, Germany.

[65] Neves, V. C., N. Murdoch & R. W. Furness 2006. Population Status and Diet of Yellow-Legged Gull in the Azores. V National Ornithological Conference, SPEA, Oeiras, Portugal.

[66] Priede, I. G. & R. S. Santos 2006. The Mid-Atlantic Ridge: Use of Landers, ROVs and Submersibles. Patterns and Processes of the Ecosystems of the mid-Atlantic Ridge - A South-Atlantic MAR-ECO workshop, 6-7 September 2006. Balneário Camboriu, Brazil.

[67] Santos, R. S. 2006. MARBENA SC meeting and Workshop, 19-20 January, 2006. Tallinn, Estonia.

[68] Santos, R. S. 2006. OSPAR ICG Meeting on Marine Protected Areas, 24-26 January 2006. Gothenburg, Sweden.


[69] Santos, R. S. 2006. Anthropogenic impact on deep-sea ecosystems and habitat conservation (Topic 8 of WG4). Workshop on Deep Sea-Floor Frontier: An integrated approach to study the deep sea floor and its history, 1st – 2nd June 2006. Città della Scienza, Naples, Italy.

[70] Santos, R. S. 2006. An Introduction to Research in Marine Conservation at DOP. 3rd Sectorial Meeting EMPAFISH WP2 – Fisheries Effects, 3-7th July 2006. Centro do Mar, Horta, Açores, Portugal.

[71] Santos, R. S. & O. A. Bergstad 2006. Taxonomical Challenges. Patterns and Processes of the Ecosystems of the mid-Atlantic Ridge - A South-Atlantic MAR-ECO workshop, 6-7 September 2006. Balneário Camboriu, Brazil. [co-organizers]

[72] Silva, M. A., S. Magalhães, R. Prieto, M. I. Seabra, R. S. Santos & P. S. Hammond 2006. Home range size of bottlenose dolphins in the Azores: a consequence of patchy resources? European Research on Cetaceans, 20th Annual Conference of the European Cetacean Society, 2-6 April 2006. Gdynia, Poland.

[73] Stefanni, S. 2006. Phylogeography of the black scabbardfish in the NE Atlantic reveals the presence of two sympatric species in Azorean waters. EVOLUTION 2006 meeting, 23-27 June 2006., Stony Brook, NY, US

[74] Álamo Carrasco, E., E. Mendes, M. C. Magalhães, J. Bried, R. Medeiros & R. S. Santos 2006. The importance of SPAs for the distribution and conservation of Roseate and Common Terns in the Azores. 3rd Iberian Congress of Ornithology, 12-15 October 2006. Elche, Alicante, Spain.

[75] Aranha, A.; Menezes, G.; Leocádio, A.; Pinho, M. Rui; Melo, O. & Isidro, E 2006. Distribution and some biological aspects of Deania profundorum (Smith & Radcliffe, 1912), Centrophorus squamosus (Bocage & Capello, 1864) and Centroscymnus crepidater (Bocage & Capello, 1864) from Azores Islands. 11th Deep-Sea Biology Symposium, 9-14 July 2006. Southampton, UK.

[76] Aranha, Ana; Menezes, G.; Leocádio, A.; Pinho, M. R.; Melo, O. & Isidro, E 2006. Some biological aspects of three lantern sharks: Etmopterus spinax (Linnaeus, 1758), Etmopterus pusillus (Lowe, 1839) and Etmopterus princeps Collet, 1904, in Azores Islands. 11th Deep-Sea Biology Symposium, 9-14 July 2006. Southampton, UK.

[77] Ávila, S. P., P. Madeira, N. Mendes & A. M. de Frias Martins 2006. The MPB - Marine Palaeobiogeography Working Group of the University of the Azores: research and aims. Palaeogeography and Palaeobiogeography Meeting, 10-13 April 2006. Cambridge, U.K.

[78] Cannat, M.; N. Le Bris, & The MoMARnet coordinating team 2006. MOMARnet: MOnitoring deep sea floor hydrothermal environments on the Mid Atlantic Ridge: A Marie Curie Research Training Network funded by the European Commission, EGU Vienne 2006, EGU06-A-07398

[79] Cardigos, F., D. Almeida, L. Sebastião, A. Colaço, S. Nunes, A. Pascoal, J. du Buf & R. S. Santos 2006. Quest for High Resolution Mapping in Deep-Sea Environments. 11th Deep-Sea Biology Symposium, 9-14 July. National Oceanography Centre, Southampton, UK.

[80] Colaço, A., F. Porteiro, A. Gebruk & R. S. Santos 2006. Determination of trophic relationships on deep-sea species from the Mid-Atlantic Ridge: a stable isotope approach. 11th Deep-Sea Biology Symposium, 9-14 July. National Oceanography Centre, Southampton.

[81] Domingues VS, Santos RS, Brito A, Almada VC. 2006. Yellow triplefin (Tripterygion delaisi): Evolution and ongoing speciation in the sea? Genetics of Speciation, 21-24 July 2006. Vancouver, Canada.


[82] Higgins, R. M., F. Vandeperre, Á. P. Ruzafa & R. S. Santos 2006. Do marine protected areas benefit adjacent fisheries: an empirical study from Southern Europe?, EMBS, Ireland.

[83] Neves, V. C., N. Murdoch & R. W. Furness 2006. A Control Taste Aversion Experiment on Predators of the Roseate Tern. V National Ornithological Conference.. SPEA, Oeiras, Portugal.

[84] Martins, I., A. Colaço R. S. Santos, R. Cosson & P.-M. Sarradin 2006. Physiological condition of mussel Bathymodiolus azoricus from Eiffel Tower hydrothermal vent field: filament bacteria approach. 11th Deep-Sea Biology Symposium, 9-14 July. National Oceanography Centre, Southampton, UK.

[85] Neves, V. C., K.Griffiths, F. Savory, B. Mable & R. W. Furness 2006. Preliminary results of European Starling genetics (mt-DNA). V National Ornithological Conference. SPEA, Oeiras, Portugal.

[86] Leocádio A.M., Pinho M.R., Aranha A., Melo O., Menezes G.M., Isidro E 2006. Biometrical study of the deep-water crab Chaceon affinis (Milne-Edwards and Bouvier, 1894) off the Azores. 11th Deep-Sea Biology Symposium, 9-14 July 2006. Southampton, UK.

B-2) IN NATIONAL CONFERENCES (Conference papers, communications, and posters) (20)

[1] T. CANDEIAS, F. TOMAZ and H. SHAHBAZKIA, "Automatic Extraction of Closed Contours in the Portuguese Cadastral Maps", VISAPP 2006, Setubal, Portugal.

[2] J. RODRIGUES and J.M.H. du Buf, "Face recognition by cortical multi-scale line and edge representations". Proc. Int. Conf. Image Analysis and Recognition (ICIAR2006), Povoa do Varzim, Portugal, 18-20 Sept., Springer LNCS 4142, pp. 329-340, 2006.

[3] J. RODRIGUES and J.M.H. du Buf, "Cortical object segregation and categorization by multi-scale line and edge coding". Proc. Int. Conf. Computer Vision, Theory and Applications (VISAPP2006), Setubal, Portugal, Feb. 25-28, Vol. 2, pp. 5-12, 2006.

[4] Fonseca R, Canário T, Barriga F, Theodoro S, Morais M (2006) The influence of the drainage basin on the geochemistry of sediments of Três Marias Reservoir (Minas Gerais, Brazil). VII Gongresso Nacional de Geologia de Portugal. P 1- 4.

[5] Fonseca, R.; Barriga, F.J.A.S. & Canário, T. (2006) - The implications of clay mineralogy on the geochemical behaviour of phosphorus of sediments from Mediterranean and Tropical artificial lakes. Actas do VII Congresso Nacional de Geologia, pp. 479-482, Pólo de Estremoz da Universidade de Évora, Portugal

[6] Jesus A, Mateus A, Munhá J, Branco JM, Araújo VH (2006). Magmatic, Ni-Cu sulphide mineralization in the western compartment of the Beja Layered Gabbroic Sequence. VII Congresso Nacional de Geologia, Estremoz (Portugal): 1019-1022.

[7] Jesus A., Munhá J., Mateus A. (2006). The western compartment of the Beja Layered Gabbroic Sequence: internal architecture and main petrogenetic features. VII Congresso Nacional de Geologia, Estremoz (Portugal): 171-174.

[8] Jorge RCGS, Relvas JMRS, Matos JX, (2006) Geochemistry of metasediments from the Phyllite-Quartzite Group, Iberian Pyrite Belt: implications for provenance and source-area weathering (progress report). Resumos do VII Congresso Nacional de Geologia, Estremoz, Universidade de Évora, Portugal, 29 de Junho a 13 de Julho:

[9] Malafaia, E.; Dantas, P.; Ortega, F.; Escaso, F.; Gasulla, J.; Ribeiro, B.; Barriga, F.; Gromicho, I.; Garcia-Oliva, M.; Ramalheiro, G.; Santamaría, J.; Pimentel, N.; Moniz, C. & Galopim de Carvalho, A. (2006). Análisis preliminar de la diversidad faunística en el yacimiento de Andrés (Jurásico Superior. Pombal, Portugal). Comun. Congresso “IV Encuentro de Jovenes Investigadores en Paleontología (EJIP 2006)”; Salamanca (Espanha)


[10] Mateus A., Munhá J., Andráš P., Matos JX (2006). Lead isotope geochemistry in hydrothermal, antimony-bearing mineralizing systems of Southern Portugal. VII Congresso Nacional de Geologia, Estremoz (Portugal): 1039-1042.

[11] Ribeiro da Costa I, Barriga FJAS (2006) - Serpentinas e serpentinitos da Crista Média Atlântica. Actas do VII Congresso Nacional de Geologia, Estremoz, Portugal (29 Jun – 13 Jul). (extended abs)

[12] Rosa, C., McPhie, J., Relvas, JMRS, Conceição, P., Rosa, D (2006) Vulcanologia física da Faixa Piritosa Ibérica. Resumos do VII Congresso Nacional de Geologia, Estremoz, Universidade de Évora (Portugal), 29 de Junho a 13 de Julho:

[13] Rosa, RN and Rosa DRN, (2006) Assessing mineral reserves in energy terms, Resumos do VII Congresso Nacional de Geologia, Estremoz (Portugal): 1055-1058

[14] Theodoro, S.; Fonseca, R.; Barriga, F.J.A.S. & Morais, M. (2006) - Potencialidades dos sedimentos acumulados nos reservatórios de Tucuruí e Três Marias na recuperação de áreas degradadas. Actas do X Encontro da Rede Luso-Brasileira de de Estudos Ambientais, 13 a 19 de Agosto de 2006, Recife – Xingó (Pernambuco, Brasil).

[15] Ávila, S. P. 2006. Mass extinctions in the Azores during the last glaciation: truth or myth? The littoral marine molluscs of the Azores as a case-study: a reply to John Briggs. II Encontro Nacional de Biologia Evolutiva, CIBIO, 21 de Dezembro. Vairão, Portugal.

[16] Mendonça A., A. Martins, I. Bashmachnikov, M. Figueiredo, A. Couto, J. C. Vilas & J. Aristegui, 2006. Os montes submarinos: um oásis no meio do oceano? V Edição das Jornadas do Mar 2006, 3-17 November 2006. Escola Naval, Almada, Portugal.

[17] Santos, R. S. et al. 2006. Conservação dos Habitats e da Biodiversidade Marinha nos Açores. Dia do Mar & 2nd Scientific Steering Committee Meeting LIFE IBAs Marinhas Áreas Importantes para as Aves Marinhas em Portugal, 16 – 18 November 2006. Centro do Mar, Horta, Azores, Portugal.

[18] Ávila, S. P., P. Madeira, N. Mendes, A. Rebelo, A. Medeiros, C. Gomes & A. M. de Frias Martins 2006. The MPB - Marine Palaeobiogeography Working Group of the University of the Azores: research and aims. Reunião Anual do IMAR, 28-30 November. Auditório das Lajes do Pico, Azores, Portugal.

[19] Ávila, S. P., P. Madeira, N. Mendes, A. Rebelo, A. Medeiros, C. Gomes & A. M. de Frias Martins 2006. MPB - The Quest for Patterns and Processes of Dispersal, Colonization and Speciation in Oceanic Islands. Reunião Anual do IMAR, 28-30 November. Auditório das Lajes do Pico, Azores, Portugal.

[20] Madeira, P., Ávila, S. P., N. Mendes, A. Rebelo, A. Medeiros, C. Gomes & A. M. de Frias Martins 2006. MPB & The Fossils of Santa Maria (Azores). Why Bother? Reunião Anual do IMAR, 28-30 November. Auditório das Lajes do Pico, Azores, Portugal.

C) REPORTS (7)

[1] F. ZABEL, C. MARTINS and S.M. JESUS, `Àctive AOB2: concept and planning'', Rep. 05/06, SiPLAB Report, University of Algarve, October 2006.

[2] F. ZABEL and C. MARTINS, ``RBR Thermistors array for AOB2'', Rep. 04/06, SiPLAB Report, University of Algarve, September 2006.

[3] F. ZABEL, C. MARTINS and A. SILVA, `Ànalog 16-hydrophone vertical line array for the Acoustic - Oceanographic Buoy - AOB'', Rep. 03/06, SiPLAB Report, University of Algarve, August 2006.

[4] N. MARTINS, `Èstimation of anisotropic temperature perturbation statistics of MREA'03 data'', Acoustic - Oceanographic Buoy - AOB'', Rep. 02/06, SiPLAB Report, University of Algarve, March 2006.


[5] Rosa CJP “Volcanic facies architecture of world-class massive sulfide deposits: comparison between the Mt. Read Volcanics (Tasmania) and the Iberian Pyrite Belt (Portugal), and implications for VHMS exploration”, 2002-2006, University of Tasmania, Australia (co-supervision J. Relvas, Jocelyn McPhie)

[6] Jesus A, Mateus A, Munhá J (2006) Geological characterization of the Ferreira do Alentejo – Beringel sector (Layered Gabbroic Sequence of the Beja Igneous Complex) and some remarks concerning its potential for host Ni-Cu sulphide mineralization. Original Report for Rio Narcea Gold Mines SA

[7] Mateus A., Andrade C., Munhá J., Noronha F. (2006). 1st cycle Geology programmes in the European Higher Education Area. European Geologist Magazine, 21: 24-26

D) ORGANIZATION OF SEMINARS AND CONFERENCES (2)

[1 ] IEEE CDC 2006 Workshop - New Developments in Point-Stabilization, Trajectory-Tracking, Path-Following, and Formation Control of Autonomous VehiclesSan Diego, CA, USADecember 12, 2006

Organizing Committee: António Aguiar, António Pascoal, João HespanhaLaboratories: Dynamical Systems and Ocean Robotics Lab

Announcement: The ever increasing sophistication of autonomous vehicles is steadily paving the way for the execution of complex missions without direct supervision of human operators. A key enabling element for the execution of such missions is the availability of advanced systems for motion control of single and multiple autonomous vehicles. The workshop is motivated by new developments in this area, especially those in the realm of point-stabilization, trajectory-tracking, path-following, and formation control.

The latter problem is motivated by the fact that the multiple vehicle approach offers several advantages - when compared with the traditional single vehicle paradigm - such as increased efficiency, performance, reconfigurability, and robustness and new capabilities. Some of the potential applications include tasks that involve searching and surveying as well as exploration and mapping in harsh environments. At a theoretical level, the coordination of autonomous vehicles involves the design of distributed control laws with limited and disrupted communication, uncertainty, and imperfect or partial measurements.

The workshop will bring together leading researchers that will give tutorial talks on emerging problems and new results. The program will consist of presentations divided in two parts, encompassing theoretical and new developments in the area of motion control of autonomous vehicles. The topics addressed are organized around the following themes:

i) Point-stabilization, trajectory-tracking and path-following of autonomous vehicles; ii) Coordinated/Cooperative control of a group of autonomous vehicles.

URL: http://users.isr.ist.utl.pt/~pedro/cdc06workshop/

[2 ] Organization, 7th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC2006) , Lisbon, Portugal, September 2006.

General Chair: António Pascoal

Organizing Committee: Carlos Silvestre, Pere Ridao, Paulo Oliveira, António Aguiar, Franciso Garcia.

Announcement: The MCMC’2006 will provide an excellent opportunity for the presentation and discussion of research and development work in the general area of automatic control with applications to the maritime field. Specific topics will include guidance and control, monitoring and surveillance, optimization and operations


planning, modelling and identification, and operational safety. Motivated by recent, fast paced developments in the area, special attention will also be given to the discussion of a number of topics that include navigation, guidance, and control of robotic marine platforms and systems, including autonomous surface and underwater vehicles. Researchers and practitioners from these fields will be brought together to discuss common theoretical and practical problems, describe scientific and commercial applications, and explore avenues for future research.

This Conference is the seventh of a series of IFAC-sponsored meetings in the field of Manoeuvring and Control of Marine Craft, held on a triennial basis. The last two editions took place in Spain (MCMC’2003) and Denmark (MCMC’2000).

The MCMC’2006 is organized by the Instituto Superior Técnico (IST) in cooperation with the Institute for Systems and Robotics (ISR) and the Portuguese Association of Automatic Control (APCA), a national member organization of the International Federation of Automatic Control (IFAC).

URL:http://mcmc2006.isr.ist.utl.pt/

E1) PH.D THESIS (CONCLUDED) (2)

[1] Telmo Morato Gomes, “The role of seamounts in enhancing fishes population and increasing pelagic productivity,”SFRH/BD/4473/2001. Univ. of British Coumbia, Canada and Univ. Açores, Portugal, 2006

[2] Mónica Silva, “*Population structure of the bottlenose dolphin (Tursiops truncatus) in the Archipelago of the Azores, determined by genetic analysis and photo-identification studies,” SFRH/BD/8609/2002: Univ. of St. Andrews, UK and Univ. Açores, Portugal, 2006.E2)

E2) M.SC THESIS (CONCLUDED) (2)

[1] Sarabjit Bhooee, “Development of a Landing Controller for an Automated Helicopter”, MSc Thesis, Imperial College of London and Instituto Superior Técnico / Institute for Systems and Robotics, 2006. Supervisors: Carlos Silvestre (ISR/IST) and Keith Woodgate (IC).

[2] João Alves, “Real Time Architectures for Autonomous Vehicles”, MSc Thesis, Insituto Superior Técnico, 2006. Supervisor: Carlos Silvestre (ISR/IST).

H) PILOT INSTALATIONS (12)

Robotic Vehicles

DELFIM Autonomous Surface Vehicle (ASC) - an autonomous surface craft (Catamaran-type) to carry out experimental research in the area of ocean robotics and to perform scientific missions at sea.

DELFIM_X Autonomous Surface Vehicle (ASC) - an autonomous surface craft similar to the DELFIM, but with improved hydrodynamic characteristics.

INFANTE Autonomous Underwater Vehicle (AUV) – an autonomous underwater vehicle to carry out experimental research in the area of ocean robotics and to perform scientific missions at sea.

CARAVELA 2000 Autonomous Research Vessel – prototype of an autonomous surface craft for long range missions at sea (co-owned by IST/ISR, IMAR/Dept. Oceanography and Fisheries of the Univ. Azores, RINAVE, and CONAFI)

VARIO XTREM R/C Helicopter - a small helicopter (payload of 4 Kg) to carry out experimental research in the area of autonomous aerial robotics.

Small Zodiac to support operations at sea.


Mechanical/ Electrical Equipment

Pressure Chamber - to test the marinization of equipment down to depths of 600 meters.

Crane with the capacity to handle loads of up to 2500 Kg. Industrial air compressor. Trailer for the transportation of marine vehicles.

Actuators and Sensors for Robotic Ocean Vehicle Development and Operation (part of the equipment is dedicated to the operation of the INFANTE AUV and the DELFIM and CARAVELA ASVs).

Actuators - 5 electrical thrusters. 3 rate gyros, 2 pendulums and 1 fluxgate (Watson's Attitude & Heading Reference Unit

AHRS-C303); 3 rate gyros, 3 accelerometers and 1 magnetometer (SEATEX MRU-6) 3 rate gyros, 2 pendulums and 1 magnetometer (KVH attitude reference unit). 1 flowmeter TSA-06-C-A (EG & G Flow Technology); 2 depth cells DC 10R-C (Transinstruments); 2 echosounders ST200 (Tritech); 2 echosounders ST500 (Tritech); 1 Sidescan sonar (System Techonologies / Tritech); 1 Acoustic Modem for underwater communications (System Techonologies / Tritech); GIB (GPS Intelligent Buoys) – GPS based underwater positioning system, with target

tracking capabilities. 1 Doppler Log TSM 5740 with 4 beams in a Janus configuration, operating at 300 KHz

(Thomson-ASM); 1 Doppler Log, operating at 600 KHz, rated for 2000 m (RDI); 1 set of 3 rate gyros, 2 pendulums and 1 directional gyro from Humphreys. 1 Long Baseline Positioning System for underwater vehicle positioning - 1 transducer and

4 transponders. 1 DGPS (Differential Global Positioning System) for accurate surface vehicle navigation -

4 Motorola Encore unit and 3 FREEWAVE radios.

INVITED ORAL PRESENTATIONS (33)

[1] A. Pascoal, “Control of Single and Multiple Autonomous Robots for Ocean Exploration”. Invited Talk, Fellows Lecture Series. United Technology Corporation / Pratt and Whitney, Hartford, Connecticut, USA, August 22, 2006.

[2] A. Pascoal, “A Engenharia e os Oceanos, “Forum Novas Fronteiras da Ciência e do Conhecimento, April 1, 2006.

[3] Cardigos, F. & R. S. Santos 2006. Investigação para a Gestão da Rede Natura do Ambiente Marinho nos Açores. Seminário Coast Watch, GEOTA, 26 April 2006. Auditório da Universidade dos Açores, Ponta Delgada, Azores, Portugal. [invited talk].

[4] Colaço, A. & R. S. Santos 2006. Áreas Marinhas Protegidas do Mar Alto. Onde e Porquê. Apresentação pública do novo regime jurídico das Áreas Protegidas da Região Autónoma dos Açores. 7 de Novembro de 2006. Centro do Mar, Horta, Faial, Azores, Portugal. [invited talk].

[5] Colaço A. & I. Martins 2006. Fontes Hidrotermais – oásis do mar profundo. VIII Semana Cultural da Universidade de Coimbra, Núcleo de Estudantes de Biologia da AAC. 7 de Março de 2006.[invited talk].

[6] Colaço, A., 2006. MoMAR project inside ESONET network of excelence. EXOCET/D final meeting, 12 and 13 December. IFREMER, Brest, France.


[7] Domingues, V. 2006. Historical population dynamics and demography of the eastern Atlantic pomacentrid Chromis limbata. Annual Meeting of IMAR and Luiz Saldanha Prize Section, 28 – 30 November 2006. Auditório da Câmara Municipal, Vila das Lajes, Pico, Azores, Portugal. [Luiz Saldanha Prize Lecture].

[8] Menezes, G. M. & J. Gonçalves 2006. Novos Paradigmas na Investigação das Pescas dos Açores. International Conference on “The Maritime European Policy and the Regions”. Sociedade Amor da Pátria, 25 - 27 July 2006. Horta, Faial, Azores, Portugal.

[9] Morato, T. & R. S. Santos 2006. Underwater Mountains - An Unknown World. Conference of the European Platform for Biodiversity Research Strategy, 10 th – 11th March 2006. Diplomatic Academy, Vienna, Austria. [invited talk].

[10] Santos, R. S. & A. Colaço 2006. Lucky Strike e Menez Gwen - Ecossistemas Hidrotermais Profundos. Consulta Pública. Secretaria Regional do Ambiente e do Mar, 16 Janeiro 2006. Centro do Mar, Horta, Faial, Azores, Portugal. [invited talk].

[11] Santos, R. S., E. Kadar, R. Bettencourt, I. Martins & Ana Colaço 2006. Research Achievements in Deep Vent Biology in Portugal at the MoMAR region: From Retrievable Cages Towards in Situ Observatories. Symposium FLAD – Luso-American Foundation for Development, 15 March 2006. Auditório da FLAD, Lisbon, Portugal. [invited talk].

[12] Santos, R. S., P. Bernal & M Ruivo 2006. Status of the Global Oceans Agenda. Technical Working Group Meeting of the ASEM Oceans Initiative, 29-31 March 2006. Manila, Philippines. [invited talk representing IOC].

[13] Santos, R. S. & DOP Team 2006. Technical and Scientific Activity 2002-2005: FCT Research Unity # 531. 1st Workshop of the Associated Laboratory, 17 – 19 April 2006. Centro do Mar, Horta, Azores, Portugal.

[14] Santos, R. S. 2006. Deep Sea Trawl Fisheries: Threats to Habitats and Biodiversity. Deep-Sea Conservation Coalition – Science Tour. Finish Ministry of Environment, 23 April 2006, Helsinki, Finland. [invited talk].

[15] Santos, R. S. 2006. Deep Sea Trawl Fisheries: Threats to Habitats and Biodiversity. Deep-Sea Conservation Coalition – Science Tour. Danish Parliament, 24 April 2006. Copenhagen, Denmark. [invited talk].

[16] Santos, R. S., F. Tempera & A. Colaço 2006. Ecossistemas Hidrotermais dos Açores: Perspectivas para a sua conservação. Dia Mundial dos Oceanos, Secretaria de Estado da Defesa e Assuntos do Mar. Doca da Marinha, 8 June 2006. Lisbon, Portugal. [invited talk].

[17] R. S. 2006. Deep-sea Biodiversity. EEAC Biodiversity Working Group, Lisbon (CNADS), 9 June 2006. CNADS, Lisbon, Portugal. [invited talk].

[18] Santos, R. S. & DOP Team 2006. Overview of Technical and Scientific Activity FCT Research Unity # 531 and Associated Laboratory #9. GREX Kick Off Meeting, 12-15 June 2006. Centro do Mar, Horta, Azores, Portugal.

[19] Santos, R. S. 2006. MarinERA Work Package II Workshop, 20th – 22nd June, 2006, Mallorca, Spain.

[20] Santos, R. S. 2006. New Era on the Research in Chemosynthetic Ecosystems of the Deep Sea. International Conference on the Maritime European Policy and the Regions, 25-27 June 2006. Sociedade Amor da Pátria, Horta, Açores, Portugal. [invited talk].

[21] Santos, R. S. 2006. Short Overview of Technical and Scientific Building Capacity of the FCT Research Unit # 531 and Associated Laboratory #9. Palestra para a Escola de Altos Estudos Militares de Lisboa. 4th July 2006. DOP, Horta, Faial, Azores, Portugal.


[22] Santos, R. S. 2006. Ecossistemas Hidrotermais dos Açores. Emissão Filatélica dos CTT: Campos Hidrotermais Lucky Strike e Rainbow, 22nd July 2006. Auditório dos CTT, Ponta Delgada, Azores, Portugal. [invited talk].

[23] Santos, R. S. 2006. Threats to deep-sea ecosystems and trends for their conservation. 1st European Congress of Conservation Biology, 22 – 26 August 2006. Eger, Hungary. [invited talk].

[24] Santos, R. S. 2006. The Deep-sea: Out of Sight Out of the Marine Strategy? Hearing on Marine Environmental Policy, 18 September 2006 – European Parliament, Bruxelles, Belgium. [invited talk].

[25] Santos, R. S. et al. 2006. Recent trends in biological research and marine conservation in deep-sea vents and seamounts in the MAR region. 3rd Conference of Directors MARS, 2-3 of October 2006. Stazioni Zoologica, Naples, Italy. [invited talk]

[26] Santos, R. S. & T. Carvalho 2006. LabHorta: A Land Based Laboratory for Deep Sea Vent Research. 3rd MarinERA Marine Infrastructure Forum – MIF. 3rd October 2006. Eden Roc Hotel, Sant Feliu de Guixols, Costa Brava, Spain. [invited talk, presented by T. Carvalho].

[27] Santos, R. S. & F. Cardigos 2006. GREX - Status Scenarios/User Requirements. GREX Plenary Meeting, 23rd – 25th October 2006. Tecnopolo Tiburtino, Roma, Italy.

[28] Santos, R. S. 2006. Conservação dos Habitats e da Biodiversidade Marinha nos Açores. Zona Costeira Portuguesa – Desafios de Ordenamento e Gestão, Academia da Marinha, 26 October 2006, Lisboa, Portugal. [invited talk].

[29] Santos, R. S. et al. 2006. Investigação do Mar Profundo e Perspectivas para a Biotecnologia. Palestra para os Representantes da Agência de Investimento dos Açores. 23 November 2006. DOP, Horta, Faial, Açores, Portugal.

[30] Santos, R. S. & DOP team 2006. Technical and Scientific Activity – 2006: FCT Research Unit # 531 and Associated Lab. #9. Annual Meeting of IMAR and Luiz Saldanha Prize, 28 – 30 November 2006. Auditório da Câmara Municipal, Vila das Lajes, Pico, Azores, Portugal.

[31] Silva, M. 2006. CETAMARH: Ecology and population structure of bottlenose dolphins and sperm whales in the Azores: assessing the relationship with habitat features. Annual Meeting of IMAR and Luiz Saldanha Prize Section, 28 – 30 November 2006. Auditório da Câmara Municipal, Vila das Lajes, Pico, Azores, Portugal. [invited talk]

[32] Stefanni, S. 2006. Phylogeographies of a littoral and a deep-sea fish from the NE Atlantic. Seminar at MSRC (Marine Science Research Centre), 3 March 2006., Stony Brook University, NY, USA: [invited talk].

[33] Tempera, F. & R. S. Santos 2006. Recent Developments in the Establishment of Marine Protected Areas in the Azores (Portugal). Workshop on Marine Nature Conservation in Europe, 8-12 May 2006. German Oceanographic Museum, Stralsund, Germany. [invited talk].


Thematic Area BRobotic Monitoring and Surveillance


During 2006 the work in thematica area B has progressed without major deviations from what was planned.

We addressed the topic of Learning Cooperative Navigation in the Absence of Communication, tackling mobile robot navigation from a learning perspective. We address robotic navigation tasks in which a robot or a group of robots must navigate from some initial location (configuration) to some final location (configuration). We propose the use of reinforcement learning to tackle such navigation tasks. We studied problems such as coordination and equilibrium selection, partial observability and absence of explicit communication.

We extended previous work on formation flying spacecraft by estimating the 6 DoF formation full state at each spacecraft using a low communication decentralized solution. A Bayesian approach to sensor fusion for cooperative perception of objects observed by a team of sensors (including mobile robots), which relies on a general PDF was developed. We introduced an optimal centralized control solution to maximize the probability of the robotic population presence in a given region, inspired on past work on stochastic hybrid automata modeling of cell populations.

The work on surveillance and understanding of human activity progressed in tow main directions. On one hand we worked on the the classification of human activities from short segments of video. In addition, we explicitely addressed the problem of temporal modeling using HMMs and CMMs.

Regarding the work on gesture recognition and robotic assistance, we made significant progress both in terms of hardware and algorithms. The head of the iCub robot has undergone further development and has now been duplicated in different European Countries and in Japan. A substantial part of work in artificial cognition was dedicated to learning object affordances from observation and interaction (of the robot) with objects.



A – Publications Books (author) 0

Book (author) – in press 1 Books (editor) 0 Books (chapters in books) 4 Papers in international journals 7

Papers in international journals (in press) 3 Papers in national journals 2B – Comunications In international conferences 26 In national conferences 5C- Reports 5D – Organization of Seminars and Conferences 3E – Advanced Training Ph.D Thesis (concluded) 1 M.Sc Thesis (concluded) 3 OtherF – ModelsG – Software Applications 1H - Pilot Instalations 9I - Laboratory PrototypesJ - Patents K – OthersL – Invited Oral Presentations 7


A-1) BOOKS (author) (in press - 1)

[1]Dejan Lj Milutinovic, Pedro U. Lima, “Cells and Robots: Modeling and Control of Large-Size Agent Populations”Springer Tracts in Advanced Robotics, 2006 (in press).


[1] João Sequeira, M. Isabel Ribeiro, “Human-Robot Interaction and Robot Control”, Lectures Notes in Control and Information Sciences, Robot Motion and Control: Recent Developments, Krzystzto Kozlowsky (Ed.), Vol. 335, pp. 375-390, 2006.

[2] Multi-Robot Systems, Pedro Lima, Luís Custódio, Chapter I of Innovations in Robot Mobility and Control, S. Patnaik, S. Tzafestas (Eds.). Springer Verlag, Berlin, 2006.

[3] Constança Oliveira e Sousa, Luís Custódio, ``Dealing with Errors in a Cooperative Multi-agent Learning System'', in Lecture Notes in Computer Science, Volume 3898, pp. 139-154, Editors: Karl Tuyls, Pieter Jan 't Hoen, Katja Verbeeck, Sandip Sen, Springer, 2006.


[4] João Sequeira, M. Isabel Ribeiro, ``Semiotics and Human-Robot Interaction”, To be published in Informatics in Control, Automation and Robotics III, J. Cetto, J.L. Ferrier, J. Pereira, J. Filipe (editors), Springer Berlin/Heidelberg, 2006.


[1] D. Milutinovic, Pedro Lima, “Modeling and Optimal Centralized Control of a Large-Size Robotic Population”, IEEE Transactions on Robotics, Vol. 22, Issue: 6, pp.1280-1285, 2006.

[2] J. Melo, A. Naftel, Alexandre Bernardino, José Santos-Victor, “Detection and Classification of Highway Lanes Using Vehicle Motion Trajectories”, IEEE Transactions on Intelligent Transportation Systems, Vol. 7, Issue 2, 2006.

[3] Alexandre Bernardino, José Santos-Victor, “Fast IIR Isotropic 2D Complex Gabor Filters with Boundary Initialization”, IEEE Transactions on Image Processing, Vol. 15, Issue 11, pp. 3338-3348, 2006.

[4] R. Carelli, José Santos-Victor, F. Roberti, S. Tosetti, “Direct visual tracking control of remote cellular robots”, Journal of Robotics and Autonomous Systems, Elsevier, 54, pp. 805-814, 2006.

[5] J. Minguez, L. Montano, José Santos-Victor, “Abstracting Vehicle Shape and Kinematic Constraints from Obstacle Avoidance Methods”, Autonomous Robots, Vol. 20, pp. 43-59, 2006.

[6] J. C. Nascimento, J. S. Marques. "Performance Evaluation of Object Detection Algorithms for video Surveillance", IEEE Transaction on Multimédia, vol. 8, no. 4, August, pp. 761-774, 2006.

[7] João Sequeira, M. Isabel Ribeiro, “A Semiotic Approach to the Control of Semi-Autonomous Robots”, International Journal of Systems Science, Taylor & Francis, Vol. 37, N. 6, pp. 361-376, 2006.

A -4) IN INTERNATIONAL JOURNALS (in press 3)

[1] D. Milutinovic, J. Carneiro, Michael Athans, Pedro Lima, "Modeling Dynamics of Cell Population Molecule Expression Distribution,” accepted for publication on the Journal of Non-Linear Analysis: Hybrid Systems and Applications, Elsevier, 2007

[2] Dan Dumitriu, Sónia Marques, Pedro Lima, J. C. Bastante, J. Araújo, L. F. Peñin, A. Caramagno, B. Udrea, “Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO,” accepted for publication, special Issue on Formation Flying of IEE Proc. Control Theory & Applications, 2007

[3] C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Pedro Geraldo Navegas Pavão, M. Isabel Ribeiro, Rodrigo Ventura, "A Search and Rescue Robot with Tele-Operated Tether Docking System,” accepted for publication in Emerald Industrial Robot, 2007

A-5) IN NATIONAL JOURNALS (2)

[1] [1] G. Almeida, José Santos-Victor, Pedro Lima, “Controlo de um Manipulador Robotico Usando Visão”, Robótica, No. 62, 2006.

[2] [2] D. Cabecinhas, Jacinto Nascimento, J. Ferreira, P. Rosa, Pedro Lima, “Self-Localization Based on Kalman Filter and Monte Carlo Fusion of Odometry and Visual Information”, Robotica, No. 65, 2006.


http://welcome.isr.ist.utl.pt/pub/?accao=showpublication&id_publication=1632


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B-1) IN INTERNATIONAL CONFERENCES (26)

[1] D. Dimitriu, Sónia Marques, Pedro Lima, B. Udrea, “Decentralized, Low-Communication State Estimation and Optimal Guidance of Formation Flying Spacecraft”, Proc. 16th AAS/AIAA Space Flight Mechanics Conference, Tampa, Florida, USA, 2006.

[2] Valdinei Silva, A. Costa, Pedro Lima, “Inverse Reinforcement Learning with Evaluation”, Proc. of ICRA2006 - IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, 2006.

[3] C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, “RAPOSA: Semi-Autonomous Robot for Rescue Operations”, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006.

[4] Margarida Silveira, Jorge Salvador Marques, “Automatic segmentation of the lungs using multiple active contours and outlier model”, Proc. 28th IEEE EMBS Annual International Conference, pp. 3122-3125, New York, USA, 2006.

[5] Rita Cunha, Duarte Antunes, Pedro Gomes, Carlos Silvestre, “A Path-Following Preview Controller for Autonomous Air Vehicles”, Proc. AIAA Guidance Navigation and Control Conference, Keystone, CO, USA, 2006.

[6] José Vasconcelos, Carlos Silvestre, Paulo Oliveira, “Embedded Vehicle Dynamics and LASER Aiding Techniques for Inertial Navigation Systems”, Proc. AIAA Guidance Navigation and Control Conference, Keystone, CO, USA, 2006.

[7] João Sequeira, M. Isabel Ribeiro, “Semiotics and Human-Robot Interaction”, Proc. ICINCO2006 - 3rd International Conference on Informatics, Control, Automation and Robotics, Setúbal, Portugal, 2006.

[8] Mário Florêncio, Pedro Agostinho, João Sequeira, “Automatic Parallel Parking of Car-Like Robots”, Proc. ISR2006 - 37th International Symposium on Robotics, Munich, Germany, 2006.

[9] Nuno Hagenfeldt, João Sequeira, “Ray-Trace Ranging”, Proc. IAC2006 - 57th International Astronautical Congress, Valencia, Spain, 2006

[10] J. Ferreira, Alexandre Bernardino, “Acquisition of 3D Regular Prismatic Models in Urban Environments from DSM and Orthoimages”, Symposium on Computational Modelling of Objects Represented in Images: Fundamentals, Methods and Applications, Coimbra, Portugal, 2006.

[11] Plinio Moreno, Alexandre Bernardino, José Santos-Victor, “Model Based Selection and Classification of Local Features for Recognition Using Gabor Filters” Proc. ICIAR2006 - International Conference on Image Analysis and Recognition, Póvoa de Varzim, Portugal , 2006.

[12] Manuel Lopes, José Santos-Victor, “Learning sensory-motor maps for redundant robots”, Proc. IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006.

[13] N. Mansard, Manuel Lopes, José Santos-Victor, F. Chaumette, “Jacobian Learning Methods for Tasks Sequencing in Visual Servoing”, Proc. IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006.

[14] Jonas Hörnstein, Manuel Lopes, José Santos-Victor, F. Lacerda, “Sound localization for humanoid robots - building audio-motor maps based on the HRTF”, Proc. IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006.


[15] Ricardo Beira, Manuel Lopes, Miguel Praça, José Santos-Victor, Alexandre Bernardino, G. Metta, F. Becchi, R. Saltarén, “Design of the Robot-Cub (iCub) Head”, Proc. ICRA2006 - IEEE International Conference on Robotics and Automation, Orlando, USA, 2006.

[16] João Sanches, Jorge Salvador Marques, “An Alignement-by-Reconstruction Algorithm”, Proc. 7th IEEE EMBS International Summer School on Biomedical Imaging, Berder, France, 2006.

[17] João Sanches, Jorge Salvador Marques, “Reconstruction from Fluorescence Confocal Microscopy Images”, Proc. 7th IEEE EMBS International Summer School on Biomedical Imaging, Berder, France, 2006.

[18] Jacinto Nascimento, João Rodrigues, Jorge Salvador Marques, “A Method for the Dynamic Analysis of the Heart Using a Lyapounov Based Denoising Algorithm”, Proc. EMBS2006 - IEEE International Conference of the Engineering in Medicine and Biology Society, New York City, USA, 2006.

[19] João Sanches, Jorge Salvador Marques, “Image Reconstruction using the Benford Law”, Proc. ICIP2006 - IEEE International Conference on Image Processing, Atlanta, USA, 2006.

[20] João Sanches, Jorge Salvador Marques, “Image denoising using the Lyapunov equation from non-uniform samples”, Proc. ICIAR2006 - International Conference on Image Analysis and Recognition, Póvoa de Varzim, Portugal, 2006.

[21] Manuel Marques, A. Neves, Jorge Salvador Marques, João Sanches, “The Papoulis-Gerchberg Algorithm with Unknown Signal Bandwidth”, Proc. ICIAR 2006 - International Conference on Image Analysis and Recognition , Póvoa de Varzim, Portugal, 2006.

[22] Alberto Vale, F. Bravo, M. Isabel Ribeiro, “Particle-Filter Approach and Motion Strategy for Cooperative Localization”, Proc. ICINCO 2006 - International Conference on Informatics in Control, Automation and Robotics, Setúbal, Portugal, 2006.

[23] Francisco Melo, M. Isabel Ribeiro, “Transition Entropy in Partially Observable Markov Decision Processes”, Proc. IAS9 - 9th Intelligent Autonomous Systems, Tokyo, Japan, 2006.

[24] Ricardo Ferreira, João Paulo Costeira, Carlos Silvestre, I. Sousa, J. Santos, “Using Stereo Image Reconstruction to Survey Scale Models of Rubble-Mound Structures”, Proc. CoastLab 2006 - 1st International Conference on the Application of Physical Modelling to Port and Coastal Protection, Porto, Portugal, 2006.

[25] Valdinei Silva, Pedro Lima, Anna Costa, “Adaptação de Funções Utilidades para Aprendizado por Reforço”. Anais do XVI Congresso Brasileiro de Automática, 2006. p. 2706-2711, 2006, Salvador, BA.

[26] João Gomes-Mota, Alberto Vale, Artur Matos André, M. Isabel Ribeiro, “Tracking Accurate Measurements of High-Voltage Installations with Laser Range Scanners and GPS”, Procs. General Session du Conseil internationale dês Grands Reseaux Eléctriques, CIGRE2006, Paris, Frane, August 9-September 1, 2006

B-2) IN NATIONAL CONFERENCES (5)

[1] Nelson Ramos, Pedro Lima, J. M. Sousa, “Robot Behavior Coordination Based on Fuzzy Decision-Making”, Proc. ROBOTICA 2006 - 6th Portuguese Robotics Festival, Guimarães, Portugal, 2006.

[2] D. Cabecinhas, J. Nascimento, J. Ferreira, Paulo Rosa, Pedro Lima, “Self-Localization Based on Kalman Filter and Monte Carlo Fusion of Odometry and Visual


Information”, Proc. ROBOTICA 2006 - 6th Portuguese Robotics Festival, Guimarães, Portugal, 2006.

[3] Mário Florêncio, Pedro Agostinho, João Sequeira, “Automatic Parallel Parking of Car-Like Robots”, Proc. ROBOTICA2006 - 6th Portuguese Robotics Festival, Guimarães, Portugal, 2006

[4] Abdolkarim Pahliani, Pedro Lima, “Improving Self localization and Object Localization by a Team of Robots Using Sensor Fusion”, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006.

[5] P. Afonso, J. Azevedo, C. Cardeira, B. Cunha, Pedro Lima, V. Santos, “Challenges and Solutions in an Autonomous Driving Mobile Robot Competition”, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006.

C) REPORTS (5)

[1] Pedro Lima, Hugo Costelha, João Estilita, Nelson Ramos, Gonçalo Neto, João Santos, "ISocRob 2006 Team Description Paper", RoboCup2006, Bremen, Germany, June 2006

[2] Pedro Lima, Marco Barbosa, João Esteves, Nuno Lopes, Vasco d'Orey, Hugo Pereira, "ISocRob-4LL 2006 Team Description Paper", RoboCup2006, Bremen, Germany, June 2006

[3] Pedro Lima, Augusto Caramagno, Sónia Marques, Luis Peñin, “Coarse Hybrid Relative Navigation” CCN3-4 Final Report of ESA Formation Estimation Methodologies for Distributed Spacecraft, Institute for Systems and Robotics, Instituto Superior Técnico, December 2006

[4] Francisco S. Melo, M. Isabel Ribeiro, “Convergence of Classical Reinforcement Learning Algorithms and Partial Observability”, Technical Report RT-601-06, Institute for Systems and Robotics, Instituto Superior Técnico, January 2006.

[5] Jorge Paive, Luís Tavares, Michael Salgueiro, Miguel Lombo, João Sequeira, “Kit Para Controlo de Robots”, Technical Report RT-602-06, Institute for Systems and Robotics, Instituto Superior Técnico, June 2006.


FIRST IFAC WORKSHOP ON MULTIVEHICLE SYSTEMS (MVS'06), Centro de Convenções da Bahia, Salavador, Bahia, Brasil, 2-3 October 2006. General Chair Anna Reali Costa, EPUSP, São Paulo, BrasilInternational Programa Committee Chair: Pedro LimaURL: http://www.lti.pcs.usp.br/mvs2006/

Reading group on "sequential decision making under uncertainty" - started by Francisco Melo and Matthijs Spaan. The purpose of this reading group is to gather on a regular basis a group of people with interests in this topic, which forms an enabling technology in Thematica Area B. During our meetings, we introduce standard references, discuss state-of-the-art research, and we encourage people to present their own research on the topic.

CONTROLO2006 – 7th Portuguese Conference on Automatic Control, Instituto Superior Técnico, Lisbon, Portugal, September 11-13 2006. Members of the Organizing Committee: Isabel Ribeiro, José Santros-Victor. URL: http://controlo2006.ist.utl.pt/

E1) PH.D THESIS (CONCLUDED) (1)[1] Manuel Lopes, “A Developmental Roadmap for Learning by Imitation in Robots”, Ph.D.

Thesis, Instituto Superior Técnico, Lisbon, Portugal, May 2006.



[1] Miguel Arroz, “Plataforma de Desenvolvimento de Agentes de Busca e Salvamento”, Master Thesis, Instituto Superior Técnico, Lisbon, Portugal, May 2006.

[2] Bruno Damas, "Arquitectura de Aprendizagem e Decisão de um Agente Inspirado em Emoções", Master Thesis, Instituto Superior Técnico, Lisbon, Portugal, February 2006.

[3] Ricardo Ferreira, “Sereo Reconstruction of a Submerged Model Breakwater and Interface Estimation”, Master Thesis, Instituto Superior Técnico, Lisbon, Portugal, April 2006.

F) SOFTWARE APPLICATIONS (1)

MeRMaID: In this period, the first version of a robot programming framework, designated as MeRMaID (Multiple-Robot Middleware for Intelligent Decision-making), was developed with the goal of providing a simplified and systematic high-level behavior programming environment for multi-robot teams. MeRMaID can currently accept plans described by state machines, Petri nets and other types of decision-making algorithms, including fuzzy-logic decision-making. Its current version enables concurrent multi-platform programming, modularity (for flexible module replacement and easy module edition/modification), and independence from robot hardware (since it includes an Hardware Abstraction Layer).


1 all-terrain remotely-operated (by wireless or cable LAN) robot (RAPOSA), endowed with several sensors for detection of dangerous gases, humidity, and temperature, a thermal camera, several web cams (some of them with controllable pan)

5 omni-directional (3 wheels) robots endowed with an on-board laptop with wireless communications, rate-gyro, 16 sonars, omni-directional catadioptric system, optical mouse for odometry, electromechanical kicker and rolling drum systems for robotic soccer applications

1 RWI ATRV-Jr mobile robot, 4-wheel drive, equipped with 16 sonars, GPS, inertial navigation module and a compass, pan and tilt vision system and one SICK Laser scanner.

1 Blimp aerial robot, with pan and tilt vision system, 3 servomotors, RF link for remote control and remote video-link for video transmission.

2 Pioneer robots with basic navigation software 1 Humanoid torso robot (Baltazar), including a binocular head, an articulated arm and

hand. 2 6 DOFs robotic heads with the ability to perform facial expressions. 1 Labmate mobile platform Two Pioneer mobile robots equipped with a robotic manipulator.

L – Invited Oral Presentations (7)

[1] José Santos-Victor, “Computer and robot Vision: Learning from Biology”, Invited Speaker, Controlo 2006 - 7th Portuguese Conference on Automatic Control, Lisbon, Portugal, September 2006.

[2] José Santos-Victor, “Short-Term Human action recognition - insights from and to biology,” Invited Speaker, AERFAI Summer School on Action and Object Classification Techniques in Digital Images, Granada, June, 2006


[3] José Santos-Victor, “Short-Term Human activity recognition - learning from biology,” Invited Speaker, IV Conference on Articulated Motion and Deformable Objects, Andratx, Mallorca, Spain, 11-14 July 2006.

[4] Isabel Ribeiro, “Social and Ethic Problems in Search and Rescue Robots: questions for discussion,” Invited Talk, Euron Atelier on Robotethics, Genoa, Italy, 27 Feb-2 March 2006.

[5] Isabel Ribeiro, “Autonomous Robotics: Challenges and Opportunities,” Invited Talk, Symposium on the Research Activities of the Technical University of Lisbon, Lisbon, Portugal, 2-3 Feb 2006.

[6] Isabel Ribeiro, “Uma Viagem ao Mundo dos Robots,” Invited Talk, High School Emídio Navarro, Viseu, Portugal, 9 Jan 2006.

[7] João Sequeira, “A New Perspective in Human-Robot Interaction", Macau University, Macau, China, June 2006


Thematic Area C Sustainable Technologies and Environmental Systems


The activities developed during 2006 included a multidisciplinary aproach, linking basic and applied research to technology development, and focused on the issues of sustainability, namely in terms of the needs to secure the quality of the environment, together with the management of energy resources and the economic development. To achieve these objectives, the activities of were directed towards leading-edge developments and to promote the learning ability of graduate engineering students with the following specific goals: To improve knowledge in advanced fields of strategic technologies with emphasis on

the development and use advanced techniques for the analysis, monitoring and control of processes at laboratory and industrial scale, the later including technology assessment;

To promote the exchange of knowledge in advanced technologies for the optimisation of industrial processes and the management of technology and innovation, as a way to promote competitive advantages at the corporate level;

To derive science and technology policies and innovation strategies, namely in terms of environmental protection, rational use of energy and economic growth.

To promote empirical studies on entrepreneurship drivers in Portugal


A - Publications Books (author) 0 Books (editor) 0 Books (chapters in books) 3

Books (chapters in books) (in press) 5Papers in international journals 12

Papers in international journals (in press) 13 Papers in national journalsB - Comunications In international conferences 58 In national conferences 3C- Reports 6D – Organization of Seminars and Conferences 3E – Advanced Training Ph.D Thesis (concluded) 2 M.Sc Thesis (concluded) 5 OtherF - Models 2G – Software Applications 1H - Pilot Instalations 5I - Laboratory Prototypes 0J - Patents 1K - Others 7


L – Invited Oral Presentations 8



[1] R. Baptista. “Can Policy be Imported? Cultural Differences and Economic Progress: Lessons from Portugal” in The End of Sovereignty? A Transatlantic Perspective, David J. Eaton, Ed., Lit Verläg, 2006.

[2] J. Ventura e M. J. Vasconcelos, “O Fogo como Processo Físico-Químico e Ecológico” in Incêndios Florestais em Portugal – Caracterização, Impactes e Prevenção, J. S. Pereira, J.M.C. Pereira, F.C.Rego, J. M. N.Silva e T. P.Silva (eds.), ISAPress, 2006.

[3] R. Baptista, A. van Stel and A. R. Thurik. “Entrepreneurship, Industrial Re-structuring and Unemployment in Portugal” in Entrepreneurship, Growth, and Innovation: the Dynamics of Firms and Industries, International Studies in Entrepreneurship, Enrico Santarelli, Ed., Springer Verläg, 2006.

A-3) CHAPTERS IN BOOKS (in press - 5)

[1] P. Ferrão, “Economy’s metabolism: Indicators, scales, and technology”, in Rethinking Science Systems and Innovation Policies. Edited by J. P. Contzen, D. Gibson and M. Heitor. Purdue University Press, 2006 (in press).

[2] I. Costa, L. Rosado, “Estratégias de Desenvolvimento da Gestão de Resíduos Sólidos em Portugal: O contributo de uma Bolsa de Resíduos in Seminários de Desenvolvimento Sustentável” IST, IST Press, 2006. (to be published in 2007)

[3] I. Costa, P. Ferrão, “A Indústria Portuguesa de Calçado: rumo à Sustentabilidade?”in A Inovação e Produtividade na Indústria Portuguesa de Calçado, Centro Técnológico do Calçado, 2006. (to be published in 2007)

[4] A. Abrunhosa, I. Costa, “Os desafios da Indústria Portuguesa de Calçado” in A Inovação e Produtividade na Indústria Portuguesa de Calçado, Centro Técnológico do Calçado, 2006. (to be published in 2007)

[5] A. M. Amaral and R. Baptista. “Transitions from Paid-Employment into Entrepreneurship: An Empirical Study for Portugal” in Empirical Entrepreneurship in Europe: New Perspectives, M. Dowling and J. Schmude (eds.), Edward Elgar, 2006. (to be published in 2007)


[1] A. S. Moita, A. L. N. Moreira, “Experimental study on fuel drop impacts onto rigid surfaces: Morphological comparisons, disintegration limits and secondary atomization” Proceedings of the Combustion Institute, 31:2175-2183, 2006.

[2] M. R. O. Panão and A. L. N. Moreira, “Interpreting the influence of fuel spray impact on mixture preparation for HCCI combustion with port-fuel injection” Proceedings of the Combustion Institute, vol. 31, pp. 2205-2213, 2006.

[3] M. R. O. Panão and A. L. N. Moreira, “Heat Transfer at Multiple-Intermittent Impacts of a Hollow Cone Spray” M. Journal of Heat and Mass Transfer, Vol. 49, issues 21-22, Pages 4132-4151, 2006.

[4] E.C. Fernandes, M. V. Heitor and S.I. Shtork, “An analysis of unsteady highly turbulent swirling flow in a model vortex combustor”, Experiments in Fluids, Vol. 40, pp. 177-187, 2006.

[5] C.E. Cala, E.C. Fernandes, M.V. Heitor and S.I. Shtork, “Coherent structures in unsteady swirling jet flow”, Experiments in Fluids, Vol. 40, pp. 267-276, 2006.


[6] E.C. Fernandes and R.E. Leandro, “Modelling and Experimental Validation of Unsteday Impinging Flames”. Combustion and Flame, 146, pp 674-686, 2006.

[7] S.I. Shtork, C.E. Cala and E.C. Fernandes, “Experimental characterization of rotating flowfield in a model vortex burner. Experimental Thermal and Fluid Science, 2006.

[8] S. Niza, P. Ferrao, “A transitional economy's metabolism: The case of Portugal”, Resources, Conservation and Recycling 46 (3) 265-280 pp. Elsevier, 2006.

[9] G.P.J. Dijkema, P. Ferrão, P.M. Herder and M. Heitor “Trends and opportunities framing innovation for sustainability in the learning society”. Technological Forecasting and Social Change, 73, pp. 215-227, 2006.

[10] P. Ferrão, J. Amaral, “Assessing the economics of auto recycling activities in relation to European Union Directive on End of Life Vehicles”. Technological Forecasting and Social Change, 73, pp. 277-289, 2006.

[11] C. Silva, G. A. Gonçalves, T. Farias and J. Mendes-Lopes, “A Tank-to-Wheel Analysis Tool for Energy and Emissions Studies in Road Vehicles”, Science of the Total Environment, Vol.367, Issue 1, Pages 441-447, 2006.

[12] R. Baptista, A. R. Thurik, “The Relationship between Entrepreneurship and Employment: is Portugal an Outlier?”, Technological Forecasting and Social Change, Vol. 74, 75-89, Elsevier North Holland, 2006.

A -4) IN INTERNATIONAL JOURNALS (accepted - 13)

[1] P. Ferrão, P. Ribeiro and P. Silva, “A Management System for End-Of-Life Tyres: The Portuguese Case Study, paper accepted for publication in Waste Management, International Journal of Integrated Waste Management, Science and Technology, 2006 (in press).

[2] J. Amaral, P. Ferrão and C. Rosas, “Is recycling technology innovation a major driver for technology shift in the automobile industry under an EU context?”. Paper accepted for publication in the journal: Int. J. of Technology, Policy and Management, 2006.

[3] R. Baptista, V. Escária and P. Madruga, “Entrepreneurship, Regional Development and Job Creation: the Case of Portugal”, Small Business Economics, Springer, 2006 (Accept for publication in 2007).

[4] P. Conceição, P. Faria and F. Veloso. “Innovative Shocks and Productivity: What can we learn from the CIS III?”, 2006(in submission process to the Research Policy).

[5] I. Costa, J. Veloso, E. Cepinha and P. Ferrão, “Identifying Secondary Materials Markets in Portugal: lessons from Waste Stock X-changes”, 2006. (Paper to be submitted to the Journal of Industrial Ecology. Paper accepted for presentation in the International Society for Industrial Ecology Conference).

[6] I. Costa, R. Santos and P. Ferrão, “An EIP In My Back Yard: the case of Chamusca’s Eco Industrial Park, in Portugal”, 2006. (Paper to be submitted to the Journal of Industrial Ecology. Paper accepted for presentation in the International Society for Industrial Ecology Conference).

[7] F. Santos, A. Abrunhosa and I. Costa, “How to compete in mature industries? Boundary architecture as a mechanism for strategic renewal”, 2006. (Paper submitted to the Organization Science journal).

[8] I. Costa, P. Ribeiro and P. Ferrão, “European Policy and Secondary Raw Materials”, 2006. (Paper to be submitted to the Journal of Industrial Ecology. Paper accepted for presentation in the International Society for Industrial Ecology Conference).

[9] P. Ferrão, J. Nhambiu, “The use of EIO-LCA in assessing national environmental polices under the Kyoto protocol: the Portuguese economy”. Paper accepted for publication in the journal: Int. J. of Technology, Policy and Management, 2006.

[10] P. Conceição, P. Faria and F. Veloso. “Innovative Shocks and Productivity: What can we learn from the CIS III?”, in submission process to the Research Policy, 2006.

[11] A. L. N. Moreira, J. Carvalho and M. R. O. Panão, “An experimental methodology to quantify the spray cooling event at intermittent spray impact”. International Journal of Heat and Fluid Flow, 2006 (In press, Available on line at 22 May 2006).


[12] J. Amaral, P. Ferrão, “Design for recycling in the auto industry: new approaches and new tools”. Journal of Engineering Design, 17 (5), pp. 447-462, Published online. DOI: 10.1080/095448206006480392006, 2006.

[13] M J. N. O. Panão, H. J. P. Gonçalves and P. Ferrão, “A matrix approach coupled with monte carlo techniques for solving the net radiative balance of building surfaces on the urban environment”. Paper accepted for publication in: Boundary-Layer Meteorology. Published online. DOI:10.1007/s10546-006-9088-y, 2006.


[1] A. S. H. Moita, A. L. N. Moreira “Experimental characterization of droplet break-up from impacts onto hot metallic surfaces”, 12th International Symposium on Flow Visualization, September 2006, Göttingen, Germany.

[2] M. R. O. Panão, A. L. N. Moreira, “Two-phase cooling characteristics of a multiple-intermittent spray”, 13th International Symposium on Applications of Laser Techniques to Fluid Mechanics, 26 – 29 June 2006, Lisbon.

[3] A. L. Moreira, A. S. Moita, G. E. Cossali, M. Mareng and M. Santini, “Secondary atomization of drop impactions onto heated inclined surfaces”, 13th International Symposium on Applications of Laser Techniques to Fluid Mechanics, 26 – 29 June 2006, Lisbon.

[4] D. Durão, A. L. N. Moreira and M. R. O. Panão, “The effect of the cross airflow on secondary atomization in multi point fuel injection systems”, 13th International Symposium on Applications of Laser Techniques to Fluid Mechanics, 26 – 29 June 2006, Lisbon.

[5] A. S. Moita, A. L. N. Moreira “Experimental characterization of disintegration of fuel droplets impacting onto cold and heated surfaces”, 10th International Congress on Liquid Atomization and Spray Systems - August 27 - September 1, 2006, Kyoto, Japan.

[6] M. R. O. Panão, A. L. N. Moreira, “Multiple-intermittent spray cooling for fast response thermal management systems”, , 10th International Congress on Liquid Atomization and Spray Systems - August 27 - September 1, 2006, Kyoto, Japan.

[7] V. Sivadas, A. L. N. Moreira, “Surface waves on liquid shets emerging from air-assist atomizers”, Paper ID ICLASS06-269. 10th International Congress on Liquid Atomization and Spray Systems - August 27 - September 1, 2006, Kyoto, Japan.

[8] M. R. O. Panão, A. L. N. Moreira, “Interpreting the influence of fuel spray impact on mixture preparation for HCCI combustion with port-fuel injection”,. Thirty-first International Symposium on Combustion Colloquium Session Spray and Droplet Combustion, August 6-11, 2006, Heidelberg, Germany.

[9] A. S. Moita, A. L. Moreira, “Experimental study on fuel drop impacts onto rigid surfaces: morphological comparisons, disintegration limits and secondary atomization”, Thirty-first International Symposium on Combustion Colloquium Session Spray and Droplet Combustion, August 6-11, 2006, Heidelberg, Germany.

[10] E. C. Fernandes, R. E. Leandro, “The influence of boundary conditions on acoustic transfer function of flames stabilized in mini-burners”. Submitted to 13th Int. Symposium on Applications of Laser Techniques to Fluid Mechanics, June 26-29, 2006, Lisbon, Portugal.

[11] E. C. Fernandes, I. Guerreiro, “Time-resolved description of flame front propaagating towards an inclined wall – the effect of local stretch on flame speed”. Submitted to 13th Int. Symposium on Applications of Laser Techniques to Fluid Mechanics, June 26-29, 2006, Lisbon, Portugal.

[12] S. I. Shtork, E. C. Fernandes, “Quantitative assessment of vortical structure parameters on the basis of sound and velocity field measurements”. Submitted to 13th Int. Symposium on Applications of Laser Techniques to Fluid Mechanics, June 26-29, 2006, Lisbon, Portugal.

[13] C. Tavares, D. Castro Alves, J. Coelho and E.C. Fernandes, “Estudo de camadas duplamente difusivas: aplicação a lagos solares”, CIES 2006- Xiii Congresso Ibérico e VIII Congresso Ibero-Americano de Energia Solar, 9-10- Novembro de 2006, Lisboa.


[14] P. Ribeiro, S. Niza and P. Ferrão, “Material Flow Accounting and Waste Production Forecasting - A Tool for Decision Making, artigo apresentado na “9th International Conference on Technology Policy and Innovation, Science, Society and Sustainability”, Santorini, Greece, 18-21 Junho 2006.

[15] F. Santos, A. Abrunhosa and I. Costa, “How to compete in mature industries? Boundary architecture as a mechanism for strategic renewal”. (Paper presented in the 26th Annual International Conference of the Strategic Manegement Society in Vienna), Austria, October, 2006.

[16] I. Costa, “The Challenge of Industrial Symbiosis: Eco Industrial Parks as a tool for Regional Development”. Poster presented in the 7th Technology Management Symposium, Lisbon, 25-27 June

[17] M. J. Rodrigues, “The potential for the diffusion of PV in urban-scale areas: an empirical market experiment in Portugal”, 21st Photovoltaic Solar Energy Conference, September 2006, Dresden, Alemanha.

[18] R. Baptista, M. Karaöz, “Determinants of Turbulence in Entry and Exit for High-growth and Declining Industries”, Workshop on Firm Exit and Serial Entrepreneurship – Max Planck Institute for Economics, Jena, Germany, January 2006.

[19] A. M. Amaral, R. Baptista, “Determinants of Transitions from Paid-Employment into Entrepreneurship: An Empirical Study”, Inter-disciplinary European Conference in Entrepreneurship Research, Regensburg, Germany, February 2006.

[20] R. Baptista, M. Karaöz, “Entrepreneurial Human Capital and the Early Survival Chances of New Start-ups: Opportunity-based vs. Necessity-based Entrepreneurship”, Inter-disciplinary European Conference in Entrepreneurship Research, Regensburg, Germany, February 2006.

[21] J. Mendonça, R. Baptista, “Determinants of Short and Long Term Survival of New Businesses: Start-up Conditions and Learning Capabilities”, Inter-disciplinary European Conference in Entrepreneurship Research, Regensburg, Germany, February 2006.

[22] P. Conceição, P. Faria, F. Lima and R. Santos, “Cooperation in Innovation: empirical evidence from the Third Community Innovation Survey results for Portugal”, Innovation Pressure – International ProACT Conference, Tampere, Finland, March 2006.

[23] P. Faria, “Cooperation in Innovation: empirical evidence from the Third Community Innovation Survey results for Portugal”, Globelics Academy 2006 – 3rd PhD School on Innovation and Economic Development, Lisbon, Portugal, May 2006.

[24] J. Mendonça, “Innovation and Entrepreneurship in Portugal: Survival of High Tech and Knowledge Intensive companies”, Globelics Academy 2006 – 3rd PhD School on Innovation and Economic Development, Lisbon, Portugal, May 2006.

[25] A. M. Amaral, R. Baptista, “Serial vs. One-business Entrepreneurs: a Longitudinal Investigation of Entry into Serial Entrepreneurship”, Babson Conference, Bloomington, Indiana, USA, June 2006.

[26] A. M. Amaral. “Learning and Adapting to Mobile Technologies: An Intra-organizational Assessment”, IEEE-ICMIT Conference, Singapore, Singapore, June 2006.

[27] R. Baptista, M. T. Preto, “The Dynamics of Causality between Entrepreneurship and Unemployment: the Case of Portugal”, IEEE-ICMIT Conference, Singapore, Singapore, June 2006.

[28] J. Mendonça, R. Baptista and P. Conde, “Mapping Knowledge Bases in the Portuguese Chemical Industry”, IEEE-ICMIT Conference, Singapore, Singapore, June 2006.

[29] R. Baptista, M. Karaöz, “Turbulence in High-growth and Declining Industries”, 3rd Hellenic Workshop on Productivity and Efficiency Measurement “Industry Dynamics, Productivity, Entrepreneurship and Growth”, Patras, Greece, June 2006.

[30] R. Baptista, M. Karaöz, “Entrepreneurial Human Capital and the Early Survival Chances of New Start-ups: Opportunity-based vs. Necessity-based Entrepreneurship”, 3rd Hellenic Workshop on Productivity and Efficiency Measurement “Industry Dynamics, Productivity, Entrepreneurship and Growth”, Patras, Greece, June 2006.

[31] R. Baptista, M. T. Preto, “Entrepreneurship and Industrial Re-Structuring: What Kinds of Start-ups Matter Most for Job Creation?” 3rd Hellenic Workshop on Productivity


and Efficiency Measurement “Industry Dynamics, Productivity, Entrepreneurship and Growth”, Patras, Greece, June 2006.

[32] P. Conceição, P. Faria and F. Veloso, “Innovation in Portugal: What can we learn from the CIS III? Innovation and Productivity”, 3rd Hellenic Workshop on Productivity and Efficiency Measurement “Industry Dynamics, Productivity, Entrepreneurship and Growth”, Patras, Greece, June 2006.

[33] P. Faria, F. Lima and R. Santos, “Cooperation in Innovation: empirical evidence from an Innovation Survey”, 9th International Conference on Technology Policy and Innovation “Science, Society and Sustainability”, Santorini, Greece, June 2006.

[34] M. T. Preto, P. Conceição, “Diffusion of technology across OECD countries: how inequality influences the adoption of ICTs?” 9th International Conference on Technology Policy and Innovation “Science, Society and Sustainability”, Santorini, Greece, June 2006.

[35] P. Faria. “Cooperation Innovation in Portugal: Cooperation and Spillovers as Determinants of Innovation”, Technology, Management and Policy Graduate Consortium Annual Meeting, Lisbon, Portugal, June, 2006.

[36] J. M. C. Mendes-Lopes, J. M. P. Ventura, “Flame characteristics in fires propagating in beds of Pinus halepensis needles”, 5th Int. Conf. Forest Fire Research, Figueira da Foz, Coimbra, paper S116, 27-30 November 2006.

[37] W. Anderson, E. Pastor, B. Butler, E. Catchpole, J.L. Dupuy, P. Fernandes, M. Guijarro, J.M. Mendes-Lopes and J. M. P Ventura ” Evaluating models to estimate flame characteristics for free-burning fires using laboratory and field data”, 5th Int. Conf. Forest Fire Research, Figueira da Foz, Coimbra, paper S77, 27-30 November 2006.

[38] R. Baptista, M. Karaöz. “Determinants of Turbulence in Entry and Exit for High-growth and Declining Industries”, Workshop on Firm Exit and Serial Entrepreneurship – Max Planck Institute for Economics, Jena, Germany, January 2006.

[39] A. M. Amaral, R. Baptista. “Determinants of Transitions from Paid-Employment into Entrepreneurship: An Empirical Study”, Inter-disciplinary European Conference in Entrepreneurship Research, Regensburg, Germany, February 2006.

[40] R. Baptista, M. Karaöz. “Entrepreneurial Human Capital and the Early Survival Chances of New Start-ups: Opportunity-based vs. Necessity-based Entrepreneurship”, Inter-disciplinary European Conference in Entrepreneurship Research, Regensburg, Germany, February 2006.

[41] J. Mendonça, R. Baptista. “Determinants of Short and Long Term Survival of New Businesses: Start-up Conditions and Learning Capabilities”, Inter-disciplinary European Conference in Entrepreneurship Research, Regensburg, Germany, February 2006.

[42] P. Conceição, P. Faria, F. Lima and R. Santos. “Cooperation in Innovation: empirical evidence from the Third Community Innovation Survey results for Portugal”, Innovation Pressure – International ProACT Conference, Tampere, Finland, March 2006.

[43] P. Faria. “Cooperation in Innovation: empirical evidence from the Third Community Innovation Survey results for Portugal”, Globelics Academy 2006 – 3rd PhD School on Innovation and Economic Development, Lisbon, Portugal, May 2006.

[44] J. Mendonça. “Innovation and Entrepreneurship in Portugal: Survival of High Tech and Knowledge Intensive companies”, Globelics Academy 2006 – 3rd PhD School on Innovation and Economic Development, Lisbon, Portugal, May 2006.

[45] A. M. Amaral, R. Baptista. “Serial vs. One-business Entrepreneurs: a Longitudinal Investigation of Entry into Serial Entrepreneurship”, Babson Conference, Bloomington, Indiana, USA, June 2006.

[46] A. M. Amaral. “Learning and Adapting to Mobile Technologies: An Intra-organizational Assessment”, IEEE-ICMIT Conference, Singapore, Singapore, June 2006.

[47] R. Baptista, M. T. Preto. “The Dynamics of Causality between Entrepreneurship and Unemployment: the Case of Portugal”, IEEE-ICMIT Conference, Singapore, Singapore, June 2006.

[48] J. Mendonça, R. Baptista and P. Conde. “Mapping Knowledge Bases in the Portuguese Chemical Industry”, IEEE-ICMIT Conference, Singapore, Singapore, June 2006.


[49] R. Baptista, M. Karaöz. “Turbulence in High-growth and Declining Industries”, 3rd Hellenic Workshop on Productivity and Efficiency Measurement “Industry Dynamics, Productivity, Entrepreneurship and Growth”, Patras, Greece, June 2006.

[50] R. Baptista, M. Karaöz. “Entrepreneurial Human Capital and the Early Survival Chances of New Start-ups: Opportunity-based vs. Necessity-based Entrepreneurship”, 3rd Hellenic Workshop on Productivity and Efficiency Measurement “Industry Dynamics, Productivity, Entrepreneurship and Growth”, Patras, Greece, June 2006.

[51] R. Baptista, M. T. Preto. “Entrepreneurship and Industrial Re-Structuring: What Kinds of Start-ups Matter Most for Job Creation?” 3rd Hellenic Workshop on Productivity and Efficiency Measurement “Industry Dynamics, Productivity, Entrepreneurship and Growth”, Patras, Greece, June 2006.

[52] P. Conceição, P. Faria and F. Veloso. “Innovation in Portugal: What can we learn from the CIS III? Innovation and Productivity”, 3rd Hellenic Workshop on Productivity and Efficiency Measurement “Industry Dynamics, Productivity, Entrepreneurship and Growth”, Patras, Greece, June 2006.

[53] P. Faria, F. Lima and R. Santos. “Cooperation in Innovation: empirical evidence from an Innovation Survey”, 9th International Conference on Technology Policy and Innovation “Science, Society and Sustainability”, Santorini, Greece, June 2006.

[54] M. T. Preto, P. Conceição. “Diffusion of technology across OECD countries: how inequality influences the adoption of ICTs?” 9th International Conference on Technology Policy and Innovation “Science, Society and Sustainability”, Santorini, Greece, June 2006.

[55] P. Faria. “Cooperation Innovation in Portugal: Cooperation and Spillovers as Determinants of Innovation”, Technology, Management and Policy Graduate Consortium Annual Meeting, Lisbon, Portugal, June, 2006.

[56] R. Baptista, V. Escária and P. Madruga. “Entrepreneurship, Regional Development and Job Creation: the Case of Portugal”, 2006 Annual Meeting of the Academy of Management, Atlanta, USA, August 2006.

[57] R. Baptista, M. Karaöz. ““Turbulence in High-growth and Declining Industries”, 33rd Annual EARIE (European Association for Research in Industrial Economics) Conference, Amsterdam, Netherlands, August, 2006.

[58] R. Baptista. “Geography and Knowledge Diffusion in Entrepreneurship Research”, Panel Session, Strategic Management Society 26th Annual International Conference, Viena, Austria, October 2006.

B-2) IN NATIONAL CONFERENCES (3)

[1] A. M. Amaral, R. Baptista. “Serial vs. One-business Entrepreneurs: a Longitudinal Investigation of Entry into Serial Entrepreneurship”, Workshop "Quadros de Pessoal e Investigação em Economia", Braga, Portugal, September, 2006.

[2] C. Carias, M. Oliveira and F. Lima. “The Private Providers in Health Care: the case of Portugal”, Workshop "Quadros de Pessoal e Investigação em Economia", Braga, Portugal, September, 2006.

[3] J. Mendonça, R. Baptista and M. Karaöz, “Entrepreneurial Human Capital and New Firm Survival in the Short and Long Runs”, Workshop "Quadros de Pessoal e Investigação em Economia", Braga, Portugal, September, 2006.

C) REPORTS (6)

[1] “Parque ECO do Relvão”, 2006[2] “Biotecnologia e Inovação na Indústria Portuguesa – Estudo de oportunidades

tecnológicas e do mercado”, Setembro de 2006.[3] “Desenvolvimento de uma bicicleta com apoio eléctrico”, Concepção de um Manual

Técnico, Outubro de 2006.[4] “Caracterização da Situação dos RSU em Portugal em 2005”, Outubro de 2006.[5] “INOVJOVEM JQI – Jovens Quadros para a Inovação nas PMEs. Área de Inovação

Tecnológica e Gestão da Inovação: Proposta Metodológica.” February 2006.


[6] “Scientific Report of the Globelics Academy 2005 Ph.D. School”. Co-autoria com Manuel Mira Godinho (ISEG), January 2006.


[1] 13th International Symposium on Applications of Laser Techniques to Fluid Mechanics, IST, Lisboa, 26 – 29 Junho 2006.

[2] 5th Technology, Management and Policy Graduate Consortium, IST, Lisboa, June 26-27, 2006.

[3] Workshop Fostering Photovoltaic International Knowledge Networks, Centro Cultural de Belém, Lisboa, Novembro 2006.

E1) PH.D THESIS (CONCLUDED) (2)

[1] Fausto Freire, “A Análise de Ciclo de Vida e a Distribuição Óptima de Recursos Naturais”, Ph.D. Thesis, Instituto Superior Técnico, Lisbon, Portugal, February 2006.

[2] Sérgio Faias, “Optimização de sistemas de propulsão híbrido eléctrico-diesel, para utilização em frotas”, Ph.D. Thesis, Instituto Superior Técnico, Lisbon, Portugal, 2006.


[1] Paulo Alexandre Carvalho, “Influência dos Ciclos de Carga e Variações de Regime nas Emissões de Poluentes de um Motor de Explosão” Master Thesis, Instituto Superior Técnico, Lisbon, Portugal, July 2006.

[2] Robert. E. Leandro, “Modelling and Experimental Validation of Unsteday Impinging Flames”, Master Thesis, Instituto Superior Técnico, Lisbon, Portugal, October 2006.

[3] Ana Oliveira, “Valores Acrescentados Não-Energéticos de Sistemas Fotovoltaicos Centralizados de Larga Escala: Desenvolvimento de um Sistema de Observação”. Master Thesis, Instituto Superior Técnico, Lisbon, Portugal, January 2006.

[4] Pedro Nazareth, “Definição de uma estratégia industrial para o processamento de resíduos de fragmentação em Portugal”, Master Thesis, Instituto Superior Técnico, Lisbon, Portugal, June 2006.

[5] Paulo Olhero Rebelo, “Productivity Increase through the Value Analysis”, Master Thesis, Instituto Superior Técnico, Lisbon, Portugal, 2006.

F) MODELS (2)

[1] Development of an analytical mathematical model to predict frequency of oscillations in impinging flames, with application to domestic burners, torchs, welding processes, etc.

[2] Geographical based model of Industrial Symbiosis Network for Portugal.

F) SOFTWARE APPLICATIONS (1)

[1] Development of a MATLAB programme to analyse flame propagation: detection of flame surface and flow velocity measurements.


[1] Experimental system to study impinging flames and test different type of fuels[2] Experimental system to study flame-wall interaction process[3] Experimental system to study fire development over solid and liquid fuels[4] Experimental system to study pilot flame ignition process[5] Experimental system to study thermo-acoustic resonance in new matla perforated burner

sheets


J) PATENTS (1)

[1] Quadro de bicicleta reversível adaptável a diferentes configurações a partir da disposição e montagem ordenada dos componentes, Luís Silva, Leonardo Rosado e Gonçalo Crespo, Número, PT 103419, 12/01/2006, IST.

K) OTHERS (7)

[1] P. Ferrão, P. Ribeiro P. Silva, Honorary mention in the prize “I&D 2006” from Sociedade Ponto Verde, with the project Life Cycle Assessment of Packages in Portugal, 2006.

[2] P. Ribeiro, Honorary mention in the prize “Inovation and Environment” from Dispar, with the paper Alimentary packages: contributions for the definition of more eco-eficients policies in Portugal, 2006.

[3] R. Baptista, M. Karaöz, Best Paper Award, Inter-disciplinary European Conference in Entrepreneurship Research, Entrepreneurial Human Capital and the Early Survival Chances of New Start-ups: Opportunity-based vs. Necessity-based Entrepreneurship.

[4] P. Faria, F. Lima and R. Santos, Best PhD Paper Award, “International Conference on Technology Policy and Innovation”, Cooperation in Innovation: empirical evidence from an Innovation Survey .

[5] F. Santos, A. Abrunhosa and I. Costa, Honorary mention for achieving a second place in the ninth annual SMS Best Conference Paper Prize, How to compete in mature industries? Boundary architecture as a mechanism for strategic renewal, 2006.

[6] I. Costa, First prize in the poster competition in the 7th Technology Management Symposium, The Challenge of Industrial Symbiosis: Eco Industrial Parks as a tool for Regional Development, Lisbon.

[7] International Design Competition “1st Lisbon Ideas Challenge – Designing with Photovoltaics: New Energy Concepts for the Built Environment.” www.lisbonideaschallenge.com.pt .

L) INVITED ORAL PRESENTATIONS (8)

[1] P. Ribeiro, Policy implications of the waste management dynamics: The interrelationships between resource use and waste production, collection and recovery, presented at the 5th Technology, Management and Policy Graduate Consortium Annual Meeting, IST, Lisbon, 25 -27 Junho, 2006.

[2] M. J. Rodrigues, “Descentralização da Produção de Energia na Cidade – Energia Solar Fotovoltaica”. Planeamento Urbano e Reabilitação Urbana na Dimensão do Desempenho Energético-Ambiental da Cidade apresentado no Curso de Formação, Departamento Municipal de Planeamento Urbano, Câmara Municipal de Lisboa, Lisboa, Outubro 2006.

[3] P. Ferrão, P. Ribeiro, E. Santos and M. Luízio, “Strategies for implementing a WEEE management infrastructure: technological and business challenges”, Expanded abstract and presentation in the Conference “Emerging Environmental Requirements for Electric and Electronic Products – Strategies and Technical Solutions for Compliance and Business Benefits”, Penang Malaysia, 4-8 September, 2006.

[4] M. J. Rodrigues, “Energia Solar Fotovoltaica – Oportunidades e Perspectivas de Crescimento”. Apresentado na Conferência Energias Renováveis, Diário Económico, Lisboa, Maio 2006.

[5] M. J. Rodrigues, “Energias Renováveis em Edifícios – O Caso da Energia Solar Fotovoltaica”. Iniciativa Ponto de Encontro, apresentado na Lisboa e-Nova, Lisboa, Abril 2006.

[6] M. J. Rodrigues, “Energias Renováveis em Edifícios – O Caso da Energia Solar Fotovoltaica”, apresentado nas Jornadas do Ambiente da Quercus – Construção Sustentável, Fátima, Abril 2006.

[7] M. J. Rodrigues, “Energia Solar Fotovoltaica – Aplicações e Tendências”, apresentado nas III Jornadas de Engenharia Electrotécnica – Energia sem Limites, Instituto Politécnico de Tomar, Tomar, Março 2006.

[8] J. Ventura, “A protecção contra incêndio do património cultural”, apresentado na conferência, A Segurança e o Desenvolvimento Sustentável em Portugal, PremiValor Consulting, LNEC, Lisboa, Março 2006.


http://www.lisbonideaschallenge.com.pt/

Thematic Area DSignal Processing for Communication Networks and Multimedia


SIGNAL PROCESSING FOR WIRELESS COMMUNICATIONSBroadband wireless systems received a particular attention, namely on CP-assisted (Cyclic Prefix) block transmission techniques, combined with frequency-domain receiver implementations, which are known to be suitable for severely time-dispersive channels. The main issues tackled recently were:

(a) Analytical methods for the evaluation of nonlinear effects in multicarrier signals [J1] and advanced receivers able to cope with nonlinear distortion effects.

(b) Analytical evaluation of quantization effects in software radio systems.(c) Multiuser detection techniques for CP-assisted CDMA systems.(d) Turbo-equalization techniques for CDMA systems.(e) Low-complexity receivers for zero-padded OFDM (Orthogonal Frequency Division

Multiplexing).(f) Channel estimation techniques for SC-FDE (Single-Carrier with Frequency-Domain

Equalization) and conventional CDMA.(g) Detection techniques for MIMO systems (Multiple Input, Multiple output) employing

CP-assisted modulations, as well as conventional CDMA schemes.Regarding the design of space time codes, the research focused on the analysis of wireless multi-antenna systems which operate in the non-coherent mode, i.e., the receiver does not have access to channel state information. Also, we allow for an arbitrary correlation structure in the additive Gaussian observation noise. We focused in both the asymptotic high and low signal-to-noise (SNR) regimes. The high SNR case was addressed and published in conference and one submitted journal paper. Based on a theoretical analysis for the pairwise probability of error, we obtain a merit function for the design of space-time codebooks. Actual construction of the codebooks is performed through an optimization algorithm which borrows tools from nonsmooth optimization and Riemannian geometry. We obtained improved sphere packings and new codebooks for the colored noise case.The low SNR regimes was treated and published in conference papers. We investigated the single-user MIMO channel from two viewpoints: capacity and probability-of-error. Through a theoretical analysis, we assessed the impact of the channel and noise correlation for the on-off and Gaussian signaling. Numerical simulations support our main conclusions.SIGNAL PROCESSING ON MANIFOLDSThis new area was open in 2006 as a consequence of the strategic thinking presented in ISR’s workshop, and is a natural path to follow.The research focused on:

(a) Generalizing the concept of auto-regressive process to manifolds(b) Developing Newton methods for centroid computation on naturally reductive

homogeneous manifolds, (c) Designing algorithms for optimization problems on the orthogonal and special

Euclidean groups, and using Cramer-Rao bounds on manifolds.The activity developed in this area, in particular the development of algorithms for optimization on manifolds, produced collaborations with other thematic areas. Two publications, listed in the indicators of thematic Area A, resulted from this work.ACQUISITION OF 3D MODELS OF REAL ENVIRONMENTSIn recovering three-dimensional models from video streams, information about the world can be captured through a multitude of visual cues. Geometry and light (brightness) are two of them. The scientific issues which we proposed in this theme were tackled in these two directions:


Imposing world rigidity as a prior model, we developed a multi-view matching algorithm, producing pixel assignments among images. The assignment problem is the hardest problem in the whole process of recovering structure from point locations in the image. However, by introducing a multidimensional assignment structure we were able to solve this difficult combinatorial problem efficiently.

The other strong cue for matching and image registration is the photometric properties of the scene. Under this scope, we developed an image registration mechanism robust to brightness changes. In other words, images are registered notwithstanding illumination or sensor settings that completely change the several scene views.


A - Publications Books (author) Books (editor) Books (chapters in books) Papers in international journals 1

Papers in international journals – in press 2 Papers in national journals B - Comunications In international conferences 26 In national conferences C- Reports D – Organization of Seminars and Conferences 2E – Advanced Training Ph.D Thesis M.Sc Thesis Other F - Models G – Software Applications H - Pilot Instalations I - Laboratory Prototypes J - Patents K - Others L – Invited Oral Presentations


A -4) IN INTERNATIONAL JOURNALS (published) (1)[1] Rui Dinis, P. Silva Analyctical Evaluation of Nonlinear Effects in MC-CDMA Signals,

IEEE Transactions on Wireless Communications, Vol. 5, No. 8 , 2006

A -4-1) IN INTERNATIONAL JOURNALS (in press) (2)

[1] R. Oliveira, J. Xavier and J. P. Costeira, "Multi-View Correspondence by Enforcement of Rigidity Constraints", Image Vision and Computing (In PRESS), 2006

[2] T.Araújo and R.Dinis, “Analytical Evaluation and Optimization of the ADC (Analog-to-Digital Converter) in Software Radio Architectures”, Accepted for publication in IEEE Trans. on Vehicular Technology.





[1] Rui F. C. Guerreiro and Pedro M. Q. Aguiar, Global motion estimation: feature-based, featureless, or both ?!, Image Analysis and Recognition, Lectures Notes in Computer Science, Springer-Verlag, September 2006.

[2] Pedro M. Q. Aguiar, António Miranda and Nuno Castro, Occlusion-based accurate silhouettes from video streams, Image Analysis and Recognition, Lectures Notes in Computer Science, Springer-Verlag, September 2006

[3] Pedro M. Q. Aguiar, Unsupervised simultaneous registration and exposure correction, IEEE International Conference on Image Processing ICIP'06, Atlanta, USA September 2006.

[4] Raja Jurdak, Cristina V. Lopes, Pedro M. Q. Aguiar, A Comparative Analysis and Experimental Study on Wireless Aerial and Underwater Acoustic Communications, Pierre Baldi, IEEE Int. Conf. on Digital Telecommunications ICDT'06, Cap Esterel, France September 2006.

[5] Ricardo Oliveira, Ricardo Ferreira, Joao P. Costeira, ”Optimal Multi-Frame Correspondence with Assignment Tensors”, European Conference on Computer Vision, ECCV2006, Gratz, Austria May 2006

[6] P.Silva and R.Dinis, “Multiuser Detection for the Uplink of Prefix-Assisted DS-CDMA Systems Employing Multiple transmit and Receive Antennas”, IEEE VTC’06 (Fall), Sep. 2006.

[7] R.Dinis and P.Silva, “An Iterative Detection Technique for DS-CDMA Signals with Strong Nonlinear Distortion Effects”, IEEE VTC’06 (Fall), Sep.2006.

[8] P.Silva and R.Dinis, “Frequency-Domain Multiuser Detection for CP-Assisted DS-CDMA Signals”, IEEE VTC’06 (Spring), May 2006.

[9] P.Silva and R.Dinis, “Joint Multiuser Detection and Cancelation of Nonlinear Distortion Effects for the Uplink of MC-CDMA Systems”, IEEE PIMRC06, Sep. 2006

[10] R.Dinis and PSilva, "A Frequency-Domain Receiver for Asynchronous Systems Employing CP-Assisted DS-CDMA Schemes", SIP 2006.

[11] R.Dinis, P.Silva and T.Araújo, "Joint Turbo Equalization and Cancelation of Nonlinear Distortion Effects in MC-CDMA Signals", SIP 2006.

[12] T.Araújo and R.Dinis, "Efficient Detection of Zero-Padded OFDM Signals with Large Blocks", SIP 2006.

[13] C.Lam, D.Falconer, F.Danilo-Lemoine and R.Dinis, "Channel Estimation for SC-FDE Systems Using Frequency Domain Multiplexed Pilots", IEEE VTC’06 (Fall), Sep. 2006.

[14] N.Souto, R.Dinis, J.Silva, F.Cercas, “Iterative Detection and Channel Estimation for WCDMA Systems Employing Non-Uniform QAM Constellations”, IST Mobile and Wireless Summit’06, June 2006.

[15] N.Souto, J.Silva, R.Dinis, F.Cercas and A.Correia, “An Iterative Receiver for WCDMA Systems with MIMO Transmissions and Hierarchical Constellations”, IEEE ISSSTA’06, 2006.

[16] J.Silva, N.Souto. R.Dinis and F.Cercas, “Overloaded SISO & MISO Systems with MMSE-based Equalization Receivers”, IEEE ICT'06, Apr. 2006.

[17] J.Silva, N.Souto, F.Cercas, A.Rodrigues, R.Dinis and S.Jesus, “Optimized Gauss and Cholesky Algorithms for Using the LMMSE Decoder in MIMO/BLAST Systems with Frequency-Selective Channels: Reduced-Complexity Equalization”, IEEE ICETE’06, 2006.

[18] J.Silva, N.Souto, F.Cercas and R.Dinis, “MMSE-Based Receiver Behavior in Handover Situations: Study of Intercell Interference”, IEEE ICETE’06, 2006.

[19] J.Silva, R.Dinis, A.Rodrigues, F.Cercas, N.Souto and S.Jesus, “Solving the ZF Receiver Equation for MIMO Systems Under Variable Channel Conditions Using the Block Fourier Algorithm”, Proc. ISSSTA2006 - IEEE 9th International Symposium on Spread Spectrum Techniques and Applications, Manaus, Amazon, Brazil, 2006.


[20] J.Silva, N.Souto, F.Cercas and R.Dinis, “Turbo Coded MMSE Algorithms for W-CDMA MIMO-BLAST Systems”, Proc. ISSSTA2006 - IEEE 9th International Symposium on Spread Spectrum Techniques and Applications, Manaus, Amazon, Brazil, 2006.

[21] J.Silva, F.Cercas, N.Souto and R.Dinis, “Iterative Partial-Cancelling MMSE Algorithms for W-CDMA MIMO-BLAST Systems”, IEEE VTC’06(Fall), Sep. 2006.

[22] R. Ferreira and J. Xavier, "Hessian of the Riemannian squared-distance function on connected locally symmetric spaces with applications", Controlo 2006, 7th Portuguese Conference on Automatic Control , special session on control, optimization and computation, September 2006

[23] M. Beko, J. Xavier and V. Barroso, "Codebook design for the non-coherent GLRT receiver and low SNR MIMO block fading channel", IEEE International Workshop on Signal Processing Advances for Wireless Communications - SPAWC'06, Cannes, France, July 2006

[24] J. Xavier and Jonathan H. Manton, "On the generalization of AR processes to Riemannian manifolds", IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP'06, Toulouse, France, May 2006

[25] M. Beko, J. Xavier and V. Barroso, "Codebook design for non-coherent communication in multiple-antenna systems", IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP'06, Toulouse, France, May 2006

[26] R. Ferreira, J. Xavier, J. P. Costeira and V. Barroso, "Newton method for Riemannian centroid computation in naturally reductive homogeneous spaces", IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP'06, Toulouse, France, May 2006

D) ORGANIZATION OF SEMINARS AND CONFERENCES (2)[1] Brainstorm seminar – A weekly seminar, usually over a particular paper, where group

discussion is encouraged in order to foster exchange of ideas and problem solving approaches. Several new solutions for known problems were sketched, as well as new research directions.

[2] Engineering&Math Seminar – A monthly seminar, joining people from the mathemathics and engeneering communities. The objective is to give each community a glimpse of the others problems, approaches and methodologies. Presented work ranges from original research work to tutorials in advanced topics.


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