Laboratório de Sistemas e Tecnologia Subaquática

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Type: Public/Private Research Organizations

Acronym: LSTS

Coordinator name: João Tasso

Name of the institution to which it belongs: Universidade do Porto

Address: Universidade do Porto - Faculdade de Engenharia Dep. de Eng. Electrotécnica e de Computadores Rua Dr. Roberto Frias s/n, sala I203/4 4200-465 Porto, Portugal

Telephone: +351 22 508 1539

E-mail: Send email

Web: https://www.lsts.pt

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Description:
O Laboratório de Sistemas e Tecnologia Subaquática (LSTS) é um laboratório de investigação interdisciplinar fundado em 1997 com investigadores oriundos da Engenharia Elétrica e de Computação, Engenharia Mecânica e da Ciência da Computação.

O LSTS é especializado no projeto, construção e operação de veículos não tripulados subaquáticos, de superfície e aéreos e no desenvolvimento de ferramentas e tecnologias para a implementação de sistemas de veículos em rede.

Nos últimos 20 anos, os investigadores do LSTS colocaram em campo com sucesso veículos aéreos, terrestres, de superfície e submarinos não tripulados nos oceanos Atlântico e Pacífico, e também no mar Mediterrâneo. Estes sistemas de veículos implementam a arquitetura de controle LSTS com a ajuda da cadeia de ferramentas de software LSTS Neptus-IMC-Dune.

Neptus é uma estrutura distribuída de comando, controle, comunicação e inteligência para operações com veículos, sistemas e operadores humanos em rede. IMC é um protocolo de comunicação que define um conjunto de mensagens de controle comum compreendido por todos os tipos de nós LSTS. DUNE é o sistema para software de bordo do veículo. É usado para escrever software genérico incorporado no coração do veículo, por ex. código para controle, navegação ou para acessar sensores e atuadores. Ele fornece um sistema operacional e um ambiente de programação C++ independente de arquitetura para escrever tarefas reativas em tempo real eficientes de forma modular. O conjunto de ferramentas tem suporte para protocolos de rede tolerante a interrupções (DTN).

Areas of expertise: Underwater robotics and autonomous systems, Coast, hydrography and dynamics of the oceans, Physiscal Oceanography, Equipment and sensors

Keywords: Robótica marinha, sistemas robóticos e plataformas submarinas, hidrodinâmica, dinâmica de veículos subaquáticos, sistemas de navegação e controlo, sistemas Autónomos, sistemas de inteligência artificial e sistemas e redes de comunicações subaquáticas.

Number of researchers: 20

Number of doctors: 3

Scopus identifier:

Open Access Scientific Repository:

Projects

Cooperative Autonomous Multi-Vehicle Mapping System

Acronym: CoMap

Financing program: EEA Grants

Financing entity: DGPM

Start year: 2020

Ending year: 2022

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url:

Reliable AI for Marine Robotics

Acronym: REMARO

Financing program: Horizon 2020 - MSCA-ITN

Financing entity: European Commission

Start year: 2021

Ending year: 2024

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url:

Gliders for Research, Ocean Observations and Management: Infrastructure and Innovation

Acronym: GROOM II

Financing program: Horizon 2020

Financing entity: European Commission

Start year: 2020

Ending year: 2023

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url: https://cordis.europa.eu/project/id/951842

Autonomous Robotic Inspection and Maintenance on Ship Hulls and Storage Tanks

Acronym: BUGWRIGHT2

Financing program: Horizon 2020

Financing entity: European Commission

Start year: 2020

Ending year: 2023

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url: https://cordis.europa.eu/project/id/871260

Improving and Integrating European Ocean Observing and Forecasting Systems for Sustainable use of the Oceans

Acronym: EuroSea

Financing program: Horizon 2020

Financing entity: European Commission

Start year: 2019

Ending year: 2023

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url: https://www.eurosea.eu/

Marine robotics research infrastructure network

Acronym: EUMarineRobots

Financing program: Horizon 2020

Financing entity: European Commission

Start year: 2018

Ending year: 2021

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url: https://www.eumarinerobots.eu

Sistema de gestão de operações submarinas com base em veículos robóticos inteligentes para a exploração do mar global a partir de Portugal.

Acronym: OceanTech

Financing program: COMPETE 2020

Financing entity: COMPETE 2020

Start year: 2017

Ending year: 2010

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url: http://oceantech.pt

European Multidisciplinary Seafloor and Water Column Observatory-Portugal – Portugal (2017-2020)

Acronym: EMSO-PT

Financing program: COMPETE 2020

Financing entity: Fundação para a Ciência e Tecnologia

Start year: 2017

Ending year: 2021

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url: http://emso-pt.pt/

Rapid-response to Marine Pollution

Acronym: RaMP

Financing program: Fundo Azul

Financing entity: DGPM

Start year: 2020

Ending year: 2022

Principal investigator: João Tasso de Figueiredo Borges de Sousa

Project url: https://ramp.lsts.pt/

Publications

Trajectory Tracking and Path Following for Underactuated Marine Vehicles

Authors: Paliotta, C, Lefeber, E, Pettersen, KYtterstad, Pinto, J, Costa, M, de Sousa, J Tasso

Year of publication: 2019

Journal: IEEE Transactions on Control Systems Technology

DOI: https://doi.org/10.1109/TCST.2018.2834518

Robust moving path following control for robotic vehicles: Theory and experiments

Authors: Reis, MF, Jain, RP, Aguiar, AP, De Sousa, JB

Year of publication: 2019

Journal: IEEE Robotics and Automation Letters

DOI: https://doi.org/10.1109/LRA.2019.2925733

Position paper on the challenges posed by modern applications to cyber-physical systems theory

Authors: F. Allgöwer, de Sousa, J. Borges, Kapinski, J., Mosterman, P., Oehlerking, J., Panciatici, P., Prandini, M., Rajhans, A., Tabuada, P. and Wenzelburger, P.

Year of publication: 2019

Journal: Nonlinear Analysis: Hybrid Systems

DOI: https://doi.org/10.1016/j.nahs.2019.05.007

Survey on Communication and Networks for Autonomous Marine Systems

Authors: A. Zolich, Palma, D., Kansanen, K., Fjørtoft, K., Sousa, J., Johansson, K. H., Jiang, Y., Dong, H., and Johansen, T. A.

Year of publication: 2019

Journal: Journal of Intelligent and Robotic Systems: Theory and Applications

DOI: https://doi.org/10.1007/s10846-018-0833-5

Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles

Authors: Rucco, A, Sujit, PB, A. Aguiar, P, de Sousa, JBorges, F. Pereira, L

Year of publication: 2017

Journal: IEEE Transactions on Aerospace and Electric Systems

DOI: https://doi.org/10.1109/TAES.2017.2767958

Integrated monitoring of Mola mola behaviour in space and time

Authors: Sousa, Lara L; López-Castejón, Francisco; Gilabert, Javier; Relvas, Paulo; Couto, Ana; Queiroz, Nuno; Caldas, Renato; Dias, Paulo Sousa; Dias, Hugo; Faria, Margarida; Ferreira, Filipe; Ferreira, António Sérgio; Fortuna, João; Gomes, Ricardo Joel; Loureiro, Bruno; Martins, Ricardo; Madureira, Luis; Neiva, Jorge; Oliveira, Marina; Pereira, João; Pinto, José; Py, Frederic; Queirós, Hugo; Silva, Daniel; Sujit, P. B.; Zolich, Artur Piotr; Johansen, Tor Arne; Sousa, João Borges de; Rajan, Kanna

Year of publication: 2016

Journal: PLoS ONE

DOI: https://doi.org/10.1371/journal.pone.0160404

Infraestructure

• Ocean Space Center enabling remote supervision and situational awareness of all of LSTS assets.
• Ocean drifters equipped with multiple sensors (30 units).
• Autonomous Surface Vehicle (ASV) – long endurance wave-powered eq(1 unit available by the end of 2020).
• Vertical take-off and landing (VTOL) UAV capable of up to 90min of flight time equipped with WiFi communications, cameras and DMS sensors (3 units).
• Autonomous Manta Communications Gateways with support for WiFi, Iridium and acoustic communications (10 units).
• Fixed-wing UAV equipped with several types of video cameras and flight time > 45 min (8 units).
satellite communications, acoustic modems, and battery packs enabling 50h+ endurance (5 units).
multibeam sonar, sidescan sonar, and sound velocity sensor), WiFi and satellite communications, acoustic modems, and battery packs enabling up to 8h endurance (5 units).
turbidity, O2, microturbulence, and dissolved carbon dioxide), WiFi and satellite communications (4 units available by the end of 2020).
• Landers rated for 3000m equipped with CTDs (2 units available by the end of 2020).
All LSTS assets are powered by the LSTS open source software toolchain: http://www.lsts.pt/toolchain

Services

Toolchain

Service description:
Ripples-Data Centralization; Neptus-Command and Control Software; ACCU-Android Command and Control Unit; IMC-Inter-Module Communication Protocol; DUNE-Unified Navigation Environment; GLUED-GNU/Linux Uniform Enviromment Distribution.

Type of service: Technology/Technology Platforms

Service URL: https://lsts.fe.up.pt/toolchain

Levantamentos batimétricos, fotometrias, recolha de dados (salinidade, ph, condutividade)

Service description:
AUVs, UAVs, wavy drifters, Manta Communications Gateway

Type of service: Technology/Technology Platforms

Service URL: https://lsts.fe.up.pt/systems