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Nuno Alexandre Cruz. Completed the Doutoramento in Programa Doutoral em Engenharia Eletrotécnica e de Computadores in 2016 by Universidade do Porto Faculdade de Engenharia, Mestrado in Digital Systems Engineering in 1994/10 by The University of Manchester - North Campus and Licenciatura in Licenciatura em Engenharia Eletrotécnica e de Computadores in 1993 by Universidade do Porto Faculdade de Engenharia. Is Assistant Professor in Universidade do Porto Faculdade de Engenharia. Published 35 articles in journals. Has 4 section(s) of books and 2 book(s). Supervised 1 PhD thesis(es) e co-supervised 2. Supervised 16 MSc dissertation(s) e co-supervised 2. Has received 8 awards and/or honors. Participates and/or participated as Principal investigator in 2 project(s) and Researcher in 19 project(s). Works in the area(s) of Engineering and Technology with emphasis on Electrotechnical Engineering, Electronics and Informatics with emphasis on Robotics and Automatic Control. In their professional activities interacted with 309 collaborator(s) co-authorship of scientific papers. In his curriculum Ciência Vitae the most frequent terms in the context of scientific, technological and artistic-cultural output are: Engenharia electrotécnica, electrónica e informática; Electrical engineering, Electronic engineering, Information engineering; Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática; Engineering and technology::Electrical engineering, Electronic engineering, Information engineering; Comunicações subaquáticas sem fios; Veículos Autonómos Subaquáticos; Transportador de dados; Seguimento de Alvos Móveis; Percepção distribuida; Robótica aquática; Inspeção de estruturas; Mapeamento 3D em ambiente marítimo; Transferência de energia sem fios; Comunicações electromagéticas subaquáticas; Robótica subaquática; Circuitos Eletrónicos; Veículos Submarinos Autónomos; Estação de docagem; Longterm deployments; Fish farm inspection; planador subaquático; tomografia acústica; inversão acústica; oceanografia; descargas de águas residuais; observações bio-ópticas in situ; veículos submarinos autónomos; modelos oceânicos de descarga; navegação acústica subaquática; operação coordenada de plataformas robóticas; veículo de superfície; Marine Observatories; Quality Assurance; Sensor calibration; Parameter Estimation; Natural sciences; .
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Identification

Personal identification

Full name
Nuno Alexandre Lopes Moreira da Cruz

Citation names

  • Cruz, Nuno
  • Cruz, Nuno A.
  • Cruz, N.

Author identifiers

Ciência ID
3C17-FDB3-0AEE

Knowledge fields

  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Robotics and Automatic Control

Languages

Language Speaking Reading Writing Listening Peer-review
English Advanced (C1) Advanced (C1) Advanced (C1) Advanced (C1)
Education
Degree Classification
2016
Concluded
 Programa Doutoral em Engenharia Eletrotécnica e de Computadores (Doutoramento)
Universidade do Porto Faculdade de Engenharia, Portugal
"Adaptive Ocean Sampling with Modular Robotic Platforms" (THESIS/DISSERTATION)
 n/a
1994/10
Concluded
 Digital Systems Engineering (Mestrado)
The University of Manchester - North Campus, United Kingdom
"Development System for Speech Synthesiser Integrated Circuits" (THESIS/DISSERTATION)
1993
Concluded
 Licenciatura em Engenharia Eletrotécnica e de Computadores (Licenciatura)
Universidade do Porto Faculdade de Engenharia, Portugal
 14
Affiliation

Science

Category
Host institution 		Employer
2019/07 - 2019/07 Visiting Researcher (Research) Monterey Bay Aquarium Research Institute, United States
Monterey Bay Aquarium Research Institute, United States
2000/07 - 2001/07 Visiting Researcher (Research) Woods Hole Oceanographic Institution, United States
Woods Hole Oceanographic Institution, United States
1999/07 - 1999/07 Visiting Researcher (Research) Woods Hole Oceanographic Institution, United States
Woods Hole Oceanographic Institution, United States
1998/06/01 - 1998/08/31 Visiting Researcher (Research) Woods Hole Oceanographic Institution, United States
Woods Hole Oceanographic Institution, United States
1997/08 - 1997/12 Visiting Researcher (Research) Massachusetts Institute of Technology, United States
Massachusetts Institute of Technology Sea Grant, United States
1996/09 - 1996/12 Visiting Researcher (Research) Woods Hole Oceanographic Institution, United States
Woods Hole Oceanographic Institution, United States
1996/09 - 1996/12 Visiting Researcher (Research) Massachusetts Institute of Technology, United States
Massachusetts Institute of Technology Sea Grant, United States
1994/07 - 1994/09 Visiting Researcher (Research) Oxford Intelligent Machines, United Kingdom

Teaching in Higher Education

Category
Host institution 		Employer
2016/04/20 - Current Assistant Professor (University Teacher) Universidade do Porto Faculdade de Engenharia, Portugal
2006/01/01 - 2016/04/20 Assistant (University Teacher) Universidade do Porto Faculdade de Engenharia, Portugal
Projects

Contract

Designation Funders
2023/01/01 - Current A Holistic Digital Mine 4.0 Ecosystem
101091885
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 Horizon 2020
Ongoing
2022/06/01 - Current Flypass: FoiL boat using clean energY for PASSenger transportation
PT-INNOVATION-0095
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 EEA Grants
Ongoing
2019/08/01 - Current STRATEGIC PLANNING FOR WATER RESOURCES AND IMPLEMENTATION OF NOVEL BIOTECHNICAL TREATMENT SOLUTIONS AND GOOD PRACTICES
821423
10.3030/821423
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 European Commission
Ongoing
2020/01/01 - 2023/12/31 The Atlantic Testing Platform for Maritime Robotics: New Frontiers for Inspection and Maintenance of Offshore Energy Infrastructures.
871571
10.3030/871571
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 EU Framework Programme for Research and Innovation Euratom

European Commission
Concluded
2020/11/17 - 2023/07/31 Knowledge and Data from the Deep to Space
C41/2019/45941
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 Agência Nacional de Inovação SA
Concluded
2019/03/25 - 2023/05/31 NESSIE - moNitoring offshorE StructureS with robotIc systems intEgration
C30/2017/39817
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 Agência Nacional de Inovação SA
Concluded
2020/01/01 - 2022/12/31 QUALTOS: QUALITY ASSURANCE IN LONG TERM OBSERVATION SYSTEMS
PT-IL/0002/2019
Principal investigator
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 Fundação para a Ciência e a Tecnologia
Concluded
2017/09/01 - 2022/12/31 TEC4SEA .: Plataforma Modular para Investigação, Teste e Validação de Tecnologias de suporte à Economia do Mar Sustentável Modular Platform for Research, Test and Validation of Technologies supporting
ALG-01-0145-FEDER-022097
NORTE-01-0145-FEDER-022097
Researcher
Governo da República Portuguesa
Concluded
2018/07/26 - 2022/07/25 Percepção Distribuida para a Inspeção de Estruturas Aquáticas
PTDC/EEI-ROB/30010/2017
POCI-01-0145-FEDER-030010
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal

Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
Fundação para a Ciência e a Tecnologia

Governo da República Portuguesa
Ongoing
2018/10/01 - 2021/07/31 Comunicações Subaquáticas Sem Fios de Longo Alcance e Banda Larga
PTDC/EEI-COM/29466/2017
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal

Instituto Português do Mar e da Atmosfera, Portugal

Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2018/03/01 - 2021/02/28 Tecnologias Integradas para Operações Persistentes de Plataformas Robóticas Submarinas
MARTERA/0001/2017
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal

Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2018/07/01 - 2020/12/29 Comunicações e energia sem fios subaquática contribuindo para a presença de longo prazo no mar profundo
PTDC/EEI-EEE/31971/2017
POCI-01-0145-FEDER-031971
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal

Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
Fundação para a Ciência e a Tecnologia

Governo da República Portuguesa
Concluded
2012/02 - 2016/01 Integrated Components for Assisted Rescue and Unmanned Search operations
285417
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 European Commission Directorate-General for Research and Innovation
2011/06/01 - 2013/08/31 COGNAT - Navegação de Planador Subaquático para Tomografia Acústica
PTDC/MAR/112446/2009
Researcher
Instituto de Engenharia de Sistemas e Computadores, Portugal

Universidade do Algarve Centro de Investigação Tecnológica do Algarve, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2011/06 - 2013/08 COGNAT - Cooperative Gliger Navigation and Acoustic Tomography
Provided by PTCRIS: 112446
Researcher
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 Universidade de Coimbra
Concluded
2008/10/01 - 2011/10/07 Avaliação de Impacte Ambiental e Modelização de Descargas de Águas Residuais usando Observações Bio-ópticas de Veículos Submarinos Autónomos
PTDC/MAR/74059/2006
Researcher
Instituto de Engenharia de Sistemas e Computadores, Portugal

Universidade do Porto Centro de Investigação em Sistemas e Tecnologias, Portugal

Universidade do Porto Faculdade de Engenharia, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2008/10 - 2011/10 WWECO - Environmental Assessment and Modeling of Wastewater Discharges using Autonomous Underwater Vehicles Bio-optical Observations
Provided by PTCRIS: 74059
Researcher
Universidade de Coimbra
2005/06/01 - 2008/06/30 Navegação Avançada com Plataformas Robóticas Cooperantes
POSC/EEA-SRI/59963/2004
Researcher
Universidade do Porto Faculdade de Engenharia, Portugal
 Fundação para a Ciência e a Tecnologia
Concluded
2005/06 - 2008/06 INCORP - Improved Navigation with Cooperating Robotic Platforms
Provided by PTCRIS: 59963
Researcher
Universidade de Coimbra
1995/12 - 1999/11 INTEGRAÇÃO SENSORIAL NUMA ARQUITECTURA DE CONTROLO INTELIGENTE EM TEMPO REAL
3311DFA
Researcher
Fundação para a Ciência e a Tecnologia

Other

Designation Funders
2016/06/01 - 2018/12/31 PISCES - Cooperative Robots for Deep Ocean Exploration
PISCES
Principal investigator
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
 XPrize
Concluded
Outputs

Publications

Book
  1. Faculdade de Engenharia; José C. Alves; Nuno Cruz. Um sistema computacional reconfigurável embarcado num veleiro autónomo. 2009.
  2. Faculdade de Engenharia. MARES: Navigation, Control and On-board Software. 2009.
    10.5772/6709
Book chapter
  1. Daniele Caldana; Raquel Carvalho; Paulo M. Rebelo; Manuel F. Silva; Pedro Costa; Héber Sobreira; Nuno Cruz. "Comparison of Pallet Detection and Location Using COTS Sensors and AI Based Applications". 2024.
    10.1007/978-3-031-58676-7_40
  2. Cruz, NA; Alves, JC; Ferreira, BM; Matos, AC. "Innovations in marine robotics". 2018.
  3. Alves, JC; Cruz, NA; José Carlos Alves; Nuno Cruz. "AIS-Enabled Collision Avoidance Strategies for Autonomous Sailboats". Portugal, 2015.
    10.1007/978-3-319-23335-2_6
  4. Cruz, NA; Alves, JC; Guedes, T; Rodrigues, R; Pinto, V; Campos, D; Silva, D. "Integration of Wind Propulsion in an Electric ASV". 2015.
    10.1007/978-3-319-23335-2_2
  5. Bruno Miguel Ferreira; Aníbal Matos; Nuno Cruz; Ferreira, B; Matos, A; Cruz, N. "Fault Tolerant Depth Control of the MARES AUV". Portugal, 2011.
    10.5772/17061
Conference paper
  1. Pinto, A; Ferreira, BM; Cruz, N; Soares, SP; Cunha, JB. "A Model Predictive Control Approach to Enhance Obstacle Avoidance While Performing Autonomous Docking". 2024.
    10.1109/oceans55160.2024.10753848
  2. Villa, MP; Graça, PA; Ferreira, BM; Piga, A; Silveira, T; Segal, B; Cruz, N; et al. "Real-Time Geo-Referenced Acoustic Tracking for Underwater Diver Localization with Event Detection". 2024.
    10.1109/oceans55160.2024.10753714
  3. Cruz N.A.; Silva A.; Zabel F.; Ferreira B.; Jesus S.M.; Martins M.S.; Pereira E.; et al. "A Demonstrator for Future Fiber-Optic Active SMART Repeaters". 2024.
    10.1109/oceans51537.2024.10682358
  4. Oliveira, AJ; Ferreira, BM; Cruz, NA. "A Clustering-Aided Template Matching Algorithm Towards Underwater SLAM Using Imaging Sonar". 2024.
    10.1109/oceans55160.2024.10753953
  5. Oliveira A.J.; Ferreira B.M.; Cruz N.A.. "Underwater Volumetric Mapping using Imaging Sonar and Free-Space Modeling Approach". 2024.
    10.1109/icra57147.2024.10611082
  6. Mónica, Paulo; Cruz, Nuno; Almeida, José M; Silva, António; Silva, Eduardo; Pinho, Carlos; Almeida, Carlos; et al. "TEC4SEA – Developing maritime technology for a sustainable blue economy". Paper presented in MTS/IEEE Oceans 2023 Limerick, 2023.
    10.1109/oceanslimerick52467.2023.10244521
  7. dos Santos, Paulo Lopes; Azevedo Perdicoúlis, T-P; Salgado, Paulo A.; Miguel Ferreira, Bruno; Cruz, Nuno A.. "Autonomous Underwater Vehicles Identification through a Kernel Regressor". Paper presented in MTS/IEEE Oceans 2023 Limerick, 2023.
    10.1109/oceanslimerick52467.2023.10244557
  8. Oliveira, António J.; Ferreira, Bruno M.; Cruz, Nuno A.. "Feature Extraction Towards Underwater SLAM using Imaging Sonar". Paper presented in MTS/IEEE Oceans 2023 Limerick, 2023.
    10.1109/oceanslimerick52467.2023.10244414
  9. Goncalves, CF; Cruz, NA; Ferreira, BM. "Estimation of Sediments in Underwater Wall Corners using a Mechanical Scanning Sonar". 2023.
    10.1109/ut49729.2023.10103394
  10. Bruno Ferreira; Jose Alves; Nuno Cruz; Paula Graca. "On the localization of an acoustic target using a single receiver". 2022.
    10.1109/oceans47191.2022.9977130
  11. Antonio J. Oliveira; Bruno M. Ferreira; Nuno A. Cruz. "Real-time Wall Identification for Underwater Mapping using Imaging Sonar". 2022.
    10.1109/oceans47191.2022.9977102
  12. Paulo M. Goncalves; Bruno M. Ferreira; Jose C. Alves; Nuno A. Cruz. "Image segmentation and mapping in an underwater environment using an imaging sonar". 2022.
    10.1109/oceans47191.2022.9977217
  13. Marcos Tieppo; Eduardo Pereira; Laura Gonzalez Garcia; Margarida Rolim; Emanuel Castanho; Anibal Matos; Antonio Silva; et al. "Submarine Cables as Precursors of Persistent Systems for Large Scale Oceans Monitoring and Autonomous Underwater Vehicles Operation". 2022.
    10.1109/oceans47191.2022.9977360
  14. M. S. Martins; Nuno A. Cruz; A. Silva; Bruno Ferreira; Fred Zabel; Tiago Matos; S. M. Jesus; et al. "Network nodes for ocean data exchange through submarine fiber optic cable repeaters". 2022.
    10.1109/oceans47191.2022.9977361
  15. Pinto, AF; Cruz, NA; Ferreira, BM; Abreu, NM; Goncalves, CE; Villa, MP; Matos, AC; Honorio, LD; Westin, LG. "An Autonomous System for Collecting Water Samples from the Surface". 2022.
    10.1109/oceanschennai45887.2022.9775519
  16. Oliveira, AJ; Ferreira, BM; Diamant, R; Cruz, NA. "Sonar-based Cable Detection for in-situ Calibration of Marine Sensors". 2022.
    10.1109/auv53081.2022.9965846
  17. Oliveira, AJ; Ferreira, BM; Cruz, NA. "Feature-based Underwater Localization using Imaging Sonar in Confined Environments". 2021.
    10.23919/oceans44145.2021.9705938
  18. Martins, M. S.; Faria, C. L.; Matos, T.; Goncalves, L. M.; Silva, A.; Jesus, S. M.; Cruz, N.. "Performance evaluation of a PVDF hydrophone for deep sea applications". 2019.
    10.1109/OCEANSE.2019.8867156
  19. Rodrigues, P.M.; Cruz, N.A.; Pinto, A.M.. "Altitude control of an underwater vehicle based on computer vision". 2019.
    10.1109/OCEANS.2018.8604525
  20. Cruz, NA. "Optimizing the Power Budget of Hovering AUVs". 2019.
    10.1109/ut.2019.8734437
  21. Oliveira, PL; Ferreira, BM; Cruz, NA. "Experimental evaluation of segmentation algorithms for corner detection in sonar images". 2019.
    10.23919/oceans40490.2019.8962756
  22. Carneiro, J.F.; Bravo Pinto, J.; De Almeida, F.G.; Cruz, N.. "Using a variable buoyancy system for energy savings in an AUV". 2019.
    10.1109/EXPAT.2019.8876514
  23. Antunes, H.M.; Cruz, N.A.. "Autonomous identification and tracking of thermoclines with a vertical profiler using extremum seeking control". 2019.
    10.23919/oceans40490.2019.8962699
  24. Carneiro, JF; Pinto, JB; Gomes de Almeida, F; Cruz, N. "Development of an electromechanical variable buoyancy system for shallow water operations". 2019.
    10.1109/oceanse.2019.8867582
  25. Pessoa, LM; Duarte, C; Salgado, HM; Correia, V; Ferreira, B; Cruz, NA; Matos, A. "Design of an underwater sensor network perpetually powered from AUVs". 2019.
    10.1109/oceanse.2019.8867273
  26. Pinto, VH; Cruz, NA; Almeida, RM; GoncCalves, CF. "ALARS - Automated Launch And Recovery System for AUVs". 2018.
    10.1109/oceans.2018.8604544
  27. Pinto, AF; Cruz, NA; Pinto, VH; Ferreira, BM. "Development of a dynamic model for twin hull ASVs". 2018.
    10.1109/OCEANSKOBE.2018.8559201
  28. Sousa, JP; Ferreira, BM; Cruz, NA. "Guidance of an Autonomous Surface Vehicle for Underwater Navigation Aid". 2018.
    10.1109/auv.2018.8729815
  29. Abreu, N; Cruz, N; Matos, A. "Accounting for uncertainty in search operations using AUVs". 2017.
    10.1109/ut.2017.7890326
  30. Cruz, NA; Matos, AC; Almeida, RM; Ferreira, BM. "A lightweight docking station for a hovering AUV". 2017.
    10.1109/ut.2017.7890314
  31. Melo, J; Cruz, N; Almeida, R. "Estimation of Currents with Acoustic Navigation Beacons". 2017.
    10.1109/oceanse.2017.8084689
  32. Cruz, N; Abreu, N; Almeida, J; Almeida, R; Alves, J; Dias, A; Ferreira, B; et al. "Cooperative deep water seafloor mapping with heterogeneous robotic platforms". 2017.
  33. Cruz, N.A.; Matos, A.C.; Almeida, R.M.; Ferreira, B.M.. "DART - A portable deep water hovering AUV". 2017.
  34. Monteiro, J.M.; Cruz, N.A.. "Development of an autonomous underwater profiler for coastal areas". 2017.
  35. Aguiar,J; Andry Maykol Pinto; Nuno Cruz; Aníbal Matos; Aguiar, J.; Pinto, A.M.; Cruz, N.A.; Matos, A.C.. "The Impact of Convergence Cameras in a Stereoscopic System for AUVs". 2016.
    http://dx.doi.org/10.1007/978-3-319-41501-7_58
  36. Sousa e Silva, MSE; Cruz, NA; Lima, FP. "Remote supervision system for aquaculture platforms". 2016.
    10.1109/oceans.2016.7761278
  37. Ventura, JP; Cruz, NA; Lima, FP. "A remote monitoring and control system for ecosystem replication experiments". 2016.
    10.1109/oceans.2016.7761279
  38. Silva, E; Martins, A; Dias, A; Matos, A; Olivier, A; Pinho, C; de Sa, FA; et al. "Strengthening Marine and Maritime Research and Technology The STRONGMAR project". 2016.
    10.1109/oceans.2016.7761294
  39. Marques, M.M.; Parreira, R.; Lobo, V.; Martins, A.; Matos, A.; Cruz, N.; Almeida, J.M.; et al. "Use of multi-domain robots in search and rescue operations - Contributions of the ICARUS team to the euRathlon 2015 challenge". 2016.
    10.1109/OCEANSAP.2016.7485354
  40. Campos, R.; Oliveira, T.; Cruz, N.; Matos, A.; Almeida, J.M.. "BLUECOM+: Cost-effective broadband communications at remote ocean areas". 2016.
    10.1109/OCEANSAP.2016.7485532
  41. Marques, M.M.; Martins, A.; Matos, A.; Cruz, N.; Almeida, J.M.; Alves, J.C.; Lobo, V.; Silva, E.. "REX 2014 - Robotic Exercises 2014 multi-robot field trials". 2016.
  42. Almeida, R.; Melo, J.; Cruz, N.. "Characterization of measurement errors in a LBL positioning system". 2016.
    10.1109/OCEANSAP.2016.7485472
  43. Almeida, R.; Cruz, N.; Matos, A.. "Man portable acoustic navigation buoys". 2016.
    10.1109/OCEANSAP.2016.7485391
  44. José Carlos Alves; Nuno Cruz; Alves, J.C.; Cruz, N.A.. "A mission programming system for an autonomous sailboat". 2015.
    http://dx.doi.org/10.1109/oceans.2014.7003229
  45. Bruno Miguel Ferreira; Aníbal Matos; Nuno Cruz; António Paulo Moreira; Ferreira, B.M.; Matos, A.C.; Cruz, N.A.; Moreira, A.P.. "A Centralized Approach to the Coordination of Marine Robots". 2015.
    http://dx.doi.org/10.1007/978-3-319-10380-8_54
  46. Cruz, N.A.; Alves, J.C.; Nuno Cruz; José Carlos Alves. "Navigation performance of an autonomous sailing robot". 2015.
    10.1109/OCEANS.2014.7003227
  47. Mónica, P.; Martins, A.; Olivier, A.; Matos, A.; Almeida, J.M.; Cruz, N.; Alves, J.C.; et al. "TEC4SEA - A modular platform for research, test and validation of technologies supporting a sustainable blue economy". 2015.
    10.1109/oceans.2014.7003109
  48. Cruz, N.A.; Matos, A.C.; Nuno Cruz; Aníbal Matos; Cruz, NA; Matos, AC. "Autonomous tracking of a horizontal boundary". 2015.
    10.1109/oceans.2014.7003275
  49. Silva, A.; Matos, A.; Soares, C.; Alves, J.C.; Valente, J.; Zabel, F.; Cabral, H.; et al. "Measuring underwater noise with high endurance surface and underwater autonomous vehicles". 2013.
  50. Matos, A.; Silva, E.; Cruz, N.; Alves, J.C.; Almeida, D.; Pinto, M.; Martins, A.; Almeida, J.; Machado, D.. "Development of an Unmanned Capsule for large-scale maritime search and rescue". 2013.
  51. Ferreira, B.M.; Matos, A.C.; Campos, H.S.; Cruz, N.A.. "Localization of a sound source: Optimal positioning of sensors carried on autonomous surface vehicles". 2013.
  52. Pinto, M.; Ferreira, B.; Sobreira, H.; Matos, A.; Cruz, N.; Pinto,M; Bruno Miguel Ferreira; et al. "Spline navigation and reactive collision avoidance with COLREGs for ASVs". 2013.
  53. Cruz, N.A.; Matos, A.C.; Ferreira, B.M.. "Modular building blocks for the development of AUVs-From MARES to TriMARES". 2013.
    10.1109/UT.2013.6519897
  54. Ferreira, B.; Matos, A.; Cruz, N.. "Optimal positioning of autonomous marine vehicles for underwater acoustic source localization using TOA measurements". 2013.
    10.1109/UT.2013.6519898
  55. Aníbal Matos; Bruno Miguel Ferreira; Nuno Cruz. "Modeling and control of TriMARES AUV". 2012.
  56. Ferreira, B.M.; Matos, A.C.; Cruz, N.A.; Almeida, R.M.; Aníbal Matos; Nuno Cruz; Rui Miguel Almeida; Bruno Miguel Ferreira. "Towards cooperative localization of an acoustic pinger". 2012.
    10.1109/oceans.2012.6405080
  57. Ferreira, B.M.; Jouffroy, J.; Matos, A.C.; Cruz, N.A.; Aníbal Matos; Bruno Miguel Ferreira; Jerome Jouffroy; Nuno Cruz. "Control and guidance of a hovering AUV pitching up or down". 2012.
    10.1109/oceans.2012.6405081
  58. Cruz, N.A.; Ferreira, B.M.; Matos, A.C.; Petrioli, C.; Petroccia, R.; Spaccini, D.; Roberto Petroccia; et al. "Implementation of an underwater acoustic network using multiple heterogeneous vehicles". 2012.
    10.1109/oceans.2012.6405107
  59. Xiao, L.; Alves, J.C.; Cruz, N.A.; Jouffroy, J.; José Carlos Alves; Lin Xiao; Jerome Jouffroy; Nuno Cruz. "Online speed optimization for sailing yachts using extremum seeking". 2012.
    10.1109/oceans.2012.6404876
  60. Bruno Miguel Ferreira; Aníbal Matos; Nuno Cruz; Ferreira, B.; Matos, A.; Cruz, N.. "Automatic reconfiguration and control of the MARES AUV in the presence of a thruster fault". 2011.
    10.1109/Oceans-Spain.2011.6003625
  61. Bruno Miguel Ferreira; Aníbal Matos; Rui Miguel Almeida; Nuno Miguel Abreu; Nuno Cruz; Cruz, N.A.; Matos, A.C.; et al. "TriMARES - a Hybrid AUV/ROV for Dam Inspection". 2011.
    10.23919/oceans.2011.6107314
  62. Aníbal Matos; Nuno Cruz; Cruz, N.A.; Matos, A.C.. "Adaptive Sampling of Thermoclines with Autonomous Underwater Vehicles". 2010.
    10.1109/OCEANS.2010.5663903
  63. Rui Miguel Almeida; Nuno Cruz; Aníbal Matos; Almeida, R.; Cruz, N.; Matos, A.. "Synchronized Intelligent Buoy Network for Underwater Positioning". 2010.
    10.1109/oceans.2010.5663995
  64. Nuno Cruz; Aníbal Matos; Cruz, N.A.; Matos, A.C.. "Reactive AUV Motion for Thermocline Tracking". 2010.
    10.1109/OCEANSSYD.2010.5603883
  65. Nuno Cruz; José Carlos Alves; Cruz, N.A.; Alves, J.C.. "Auto-Heading Controller for an Autonomous Sailboat". 2010.
    10.1109/OCEANSSYD.2010.5603882
  66. Patrícia Ramos; Aníbal Matos; Nuno Cruz; Nuno Miguel Abreu; Abreu, N.; Matos, A.; Ramos, P.; Cruz, N.. "Automatic Interface for AUV Mission Planning and Supervision". 2010.
    10.1109/OCEANS.2010.5664281
  67. Nuno Cruz; Aníbal Matos; Bruno Miguel Ferreira; Ferreira, B.; Matos, A.; Cruz, N.. "Single beacon navigation: localization and control of the MARES AUV". 2010.
    10.1109/OCEANS.2010.5664518
  68. Ramos, P.; Cruz, N.; Matos, A.; Abreu, N.. "Avaliação de Impacte Ambiental e Modelização de Descargas de Águas Residuais usando Observações Bio-ópticas de Veículos Submarinos Autónomos". Paper presented in 4as Jornadas de Hidráulica Recursos Hídricos e Ambiente, Porto, 2009.
  69. Bruno Miguel Ferreira; Aníbal Matos; Nuno Cruz; Miguel Armando Pinto; Pinto, M.; Ferreira, B.; Matos, A.; Cruz, N.. "Side Scan Sonar Image Segmentation and Feature Extraction". 2009.
  70. Pinto, M.; Ferreira, B.; Matos, A.; Cruz, N.; Nuno Cruz; Miguel Armando Pinto; Aníbal Matos; Bruno Miguel Ferreira. "Using side scan sonar for relative navigation". 2009.
    10.1109/iecon.2009.5415353
  71. Ferreira, B.; Pinto, M.; Matos, A.; Cruz, N.; Miguel Armando Pinto; Bruno Miguel Ferreira; Aníbal Matos; Nuno Cruz. "Hydrodynamic modeling and motion limits of AUV MARES". 2009.
    10.1109/iecon.2009.5415198
  72. Silva, S.R.; Cunha, S.; Matos, A.; Cruz, N.. "Shallow water height mapping with interferometric synthetic aperture sonar". 2008.
    10.1109/oceans.2008.5151972
  73. Matos, A.; Cruz, N.. "Positioning control of an underactuated surface vessel". 2008.
    10.1109/oceans.2008.5152091
  74. Silva, S.R.; Cunha, S.; Matos, A.; Cruz, N.. "An algebraic approach to synthetic aperture sonar image reconstruction". 2008.
    10.1109/oceans.2008.5151974
  75. Cruz, N.A.; Alves, J.C.. "Autonomous sailboats: An emerging technology for ocean sampling and surveillance". 2008.
    10.1109/OCEANS.2008.5152113
  76. Silva, S.R.; Cunha, S.; Matos, A.; Cruz, N.. "Sub-band processing of synthetic aperture sonar data". 2008.
    10.1109/oceans.2008.5151976
  77. Santos, N.; Matos, A.; Cruz, N.. "Navigation of an autonomous underwater vehicle in a mobile network". 2008.
    10.1109/OCEANS.2008.5151980
  78. Alves, J.C.; Cruz, N.A.. "FASt - An autonomous sailing platform for oceanographic missions". 2008.
    10.1109/oceans.2008.5152114
  79. Cruz, N.A.; Matos, A.C.. "The MARES AUV, a modular autonomous robot for environment sampling". 2008.
    10.1109/OCEANS.2008.5152096
  80. Silva, S.R.; Cunha, S.; Matos, A.; Cruz, N.. "An autonomous boat based synthetic aperture sonar". 2007.
    10.1109/oceans.2007.4449358
  81. Matos, A.; Cruz, N.. "Coordinated operation of autonomous underwater and surface vehicles". 2007.
    10.1109/oceans.2007.4449362
  82. Matos, A.; Cruz, N.. "AUV navigation and guidance in a moving acoustic network". 2005.
    10.1109/oceanse.2005.1511796
  83. Cruz, N.; Matos, A.; Sousa, J.. "Small size AUVs: Operation results and new mission concepts". 2004.
  84. Matos, A.; Cruz, N.. "Algorithms for external tracking of an AUV". 2004.
  85. Ramos, P.; Cruz, N.; Matos, A.; Neves, M.; Lobo Pereira, F.. "Prediction Studies for an AUV Monitoring Mission Plan". Paper presented in Fifth International Conference on the Mediterranean Coastal Environment, Medcoast 2001, Hamammet, 2001.
  86. Ramos, P.; Neves, M.; Cruz, N.; Lobo Pereira, F.. "Outfall Monitoring Using Autonomous Underwater Vehicles". Paper presented in MWWD2000 - International Conference on Marine Waste Water Discharges, Génova, 2000.
  87. Ramos, P.; Neves, M.; Cruz, N.; Lobo Pereira, F.. "Perspectivas para a Utilização de Veículos Submarinos Autónomos na Monitorização de Descargas de Águas Residuais". Paper presented in 5º Congresso da Água, Lisboa, 2000.
Conference poster
  1. Ramos, P.; Neves, M.; Cruz, N.; Lobo Pereira, F.. "Using AUVs for Monitoring Wastewater Discharges". Paper presented in MWWD2000 - International Conference on Marine Waste Water Discharges, 2000.
Journal article
  1. João Falcão Carneiro; João Bravo Pinto; Fernando Gomes de Almeida; Nuno A. Cruz. "Variable Structure Controller for Energy Savings in an Underwater Sensor Platform". Sensors (2024): https://doi.org/10.3390/s24175771.
    10.3390/s24175771
  2. António J. Oliveira; Bruno M. Ferreira; Nuno A. Cruz; Roee Diamant. "Probabilistic Positioning of a Mooring Cable in Sonar Images for In-Situ Calibration of Marine Sensors". IEEE Transactions on Mobile Computing (2024): https://doi.org/10.1109/TMC.2024.3354126.
    10.1109/TMC.2024.3354126
  3. João Falcão Carneiro; João Bravo Pinto; Fernando Gomes de Almeida; Nuno A. Cruz. "Depth Control of an Underwater Sensor Platform: Comparison between Variable Buoyancy and Propeller Actuated Devices". Sensors (2024): https://doi.org/10.3390/s24103050.
    10.3390/s24103050
  4. João Falcão Carneiro; João Bravo Pinto; Fernando Gomes de Almeida; Nuno A. Cruz. "Electrohydraulic and Electromechanical Buoyancy Change Device Unified Vertical Motion Model". Actuators (2023): https://doi.org/10.3390/act12100380.
    10.3390/act12100380
  5. João Falcão Carneiro; J. Bravo Pinto; F. Gomes de Almeida; N. A. Cruz. "Model Identification and Control of a Buoyancy Change Device". Actuators (2023): https://doi.org/10.3390/act12040180.
    10.3390/act12040180
  6. Bruno M. Ferreira; Paula A. Graça; José Carlos Alves; Nuno A. Cruz. "Single Receiver Underwater Localization of an Unsynchronized Periodic Acoustic Beacon Using Synthetic Baseline". IEEE Journal of Oceanic Engineering (2023): https://doi.org/10.1109/JOE.2023.3275611.
    10.1109/JOE.2023.3275611
  7. Murillo Villa; Bruno Ferreira; Nuno Cruz. "Genetic Algorithm to Solve Optimal Sensor Placement for Underwater Vehicle Localization with Range Dependent Noises". Sensors (2022): https://doi.org/10.3390/s22197205.
    10.3390/s22197205
  8. João Falcão Carneiro; J. Bravo Pinto; Fernando Almeida; Nuno Cruz. "Design and Experimental Tests of a Buoyancy Change Module for Autonomous Underwater Vehicles". Actuators (2022): https://www.mdpi.com/2076-0825/11/9/254.
    10.3390/act11090254
  9. Filipe B. Teixeira; Bruno M. Ferreira; Nuno Moreira; Nuno Abreu; Murillo Villa; João P. Loureiro; Nuno A. Cruz; et al. "A Novel Simulation Platform for Underwater Data Muling Communications Using Autonomous Underwater Vehicles". Computers (2021): https://doi.org/10.3390/computers10100119.
    10.3390/computers10100119
  10. Joao Falcao Carneiro; Joao Bravo Pinto; Fernando Gomes de Almeida; Nuno A. Cruz; Carneiro, JF; Pinto, JB; de Almeida, FG; Cruz, NA. "Variable Buoyancy or Propeller-Based Systems for Hovering Capable Vehicles: An Energetic Comparison". IEEE Journal of Oceanic Engineering 46 2 (2021): 414-433. https://doi.org/10.1109/JOE.2020.3000703.
    10.1109/JOE.2020.3000703
  11. António José Oliveira; Bruno Miguel Ferreira; Nuno Alexandre Cruz. "A Performance Analysis of Feature Extraction Algorithms for Acoustic Image-Based Underwater Navigation". Journal of Marine Science and Engineering 9 4 (2021): 361-361. https://doi.org/10.3390/jmse9040361.
    https://doi.org/10.3390/jmse9040361
  12. Cruz, Nuno A.. "Pneuma: entrepreneurial science in the fight against the COVID-19 pandemic - a tale of industrialisation and international cooperation". Journal of Innovation Management 8 4 (2021): 3-25. http://dx.doi.org/10.24840/2183-0606_008.004_0002.
    10.24840/2183-0606_008.004_0002
  13. Mathaus Ferreira da Silva; Leonardo Mello de Mello Honorio; Murillo Ferreira dos Santos; Accacio Ferreira dos Santos Neto; Nuno Alexandre Cruz; Anibal C. C. Matos; Luis Gustavo Fortes Westin; et al. "Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System". IEEE Access (2021): 1-1. https://doi.org/10.1109/ACCESS.2020.3048330.
    10.1109/ACCESS.2020.3048330
  14. Sa-Couto, C; Nicolau, A; de Sousa, C; Cruz, N. "32 Using a Simulation Environment to Assess the Usability of a Novel Medical Device During the Covid-19 Pandemic". International Journal of Healthcare Simulation (2021):
    10.54531/vqtw1346
  15. Diamant, R; Shachar, I; Makovsky, Y; Ferreira, BM; Cruz, NA. "Cross-Sensor Quality Assurance for Marine Observatories". REMOTE SENSING (2020):
    10.3390/rs12213470
  16. João Falcão Carneiro; João Pedro Pinto; Nuno Cruz; Fernando Gomes de Almeida. "Development of an Electrohydraulic Variable Buoyancy System". Information (2019): https://www.mdpi.com/2078-2489/10/12/396.
    10.3390/info10120396
  17. Aparicio, J.; Jiménez, A.; Álvarez, F.J.; Ureña, J.; De Marziani, C.; De Diego, D.; Cruz, N.; Campos, H.. "Accurate detection of spread-spectrum modulated signals in reverberant underwater environments". Applied Acoustics 88 (2015): 57-65. http://www.scopus.com/inward/record.url?eid=2-s2.0-84908428706&partnerID=MN8TOARS.
    10.1016/j.apacoust.2014.08.002
  18. Ferreira, B.M.; Matos, A.C.; Cruz, N.A.; Moreira, A.P.. "Homing a robot with range-only measurements under unknown drifts". Robotics and Autonomous Systems 67 (2015): 3-13. http://www.scopus.com/inward/record.url?eid=2-s2.0-84925361270&partnerID=MN8TOARS.
    10.1016/j.robot.2014.09.035
  19. Cruz, N.A.; Ferreira, B.M.; Kebkal, O.; Matos, A.C.; Petrioli, C.; Petroccia, R.; Spaccini, D.. "Investigation of underwater acoustic networking enabling the cooperative operation of multiple heterogeneous vehicles". Marine Technology Society Journal 47 2 (2013): 43-58. http://www.scopus.com/inward/record.url?eid=2-s2.0-84887243360&partnerID=MN8TOARS.
    10.4031/mtsj.47.2.4
  20. Ramos, Patrícia; Cruz, Nuno; Matos, Aníbal; Carvalho, Sandra; Sanda Carvalho; Nuno Cruz; Patrícia Ramos; Aníbal Matos; Sandra Carvalho. "Monitorização ambiental do emissário submarino da Foz do Arelho usando um veículo submarino autónomo". Águas & Resíduos – Revista da Associação Portuguesa de Engenharia Sanitária e Ambiental III 16 (2011): 18-25. http://publicacoes.apesb.org/biblioteca/revistaaguas-residuos.html.
  21. Ferreira, B.; Matos, A.; Cruz, N.; Pinto, M.; Nuno Cruz; Bruno Miguel Ferreira; Aníbal Matos; Miguel Armando Pinto. "Modeling and control of the mares autonomous underwater vehicle". Marine Technology Society Journal 44 2 (2010): 19-36. http://www.scopus.com/inward/record.url?eid=2-s2.0-77952266620&partnerID=MN8TOARS.
    10.4031/MTSJ.44.2.5
  22. Alves, Jose C.; Cruz, Nuno A.; IEEE. "An FPGA-based Embedded System for a Sailing Robot". Proceedings of the 2009 12th Euromicro Conference on Digital System Design, Architectures, Methods and Tools (2009): 830-837.
    10.1109/dsd.2009.232
  23. Ferreira, B.; Pinto, M.; Matos, A.; Cruz, N.. "Control of the MARES autonomous underwater vehicle". MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges, OCEANS 2009 (2009): http://www.scopus.com/inward/record.url?eid=2-s2.0-77951580000&partnerID=MN8TOARS.
  24. Silva, S.R.; Cunha, S.; Matos, A.; Cruz, N.. "Shallow water surveying using experimental interferometric synthetic aperture sonar". Marine Technology Society Journal 43 1 (2009): 50-63. http://www.scopus.com/inward/record.url?eid=2-s2.0-70349319866&partnerID=MN8TOARS.
    10.4031/mtsj.43.1.4
  25. Pinto, M.; Ferreira, B.; Matos, A.; Cruz, N.. "Using side scan sonar to relative navigation". MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges, OCEANS 2009 (2009): http://www.scopus.com/inward/record.url?eid=2-s2.0-77951563797&partnerID=MN8TOARS.
  26. Ferreira, B.; Pinto, M.; Matos, A.; Cruz, N.. "Modeling and motion analysis of the MARES autonomous underwater vehicle". MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges, OCEANS 2009 (2009): http://www.scopus.com/inward/record.url?eid=2-s2.0-77951615712&partnerID=MN8TOARS.
  27. Cruz, N.A.; Alves, J.C.. "Ocean sampling and surveillance using autonomous sailboats". OGAI Journal (Oesterreichische Gesellschaft fuer Artificial Intelligence) 27 2 (2008): 25-31. http://www.scopus.com/inward/record.url?eid=2-s2.0-48049086109&partnerID=MN8TOARS.
  28. Alves, J.C.; Ramos, T.M.; Cruz, N.A.. "A reconfigurable computing system for an autonomous sailboat". OGAI Journal (Oesterreichische Gesellschaft fuer Artificial Intelligence) 27 2 (2008): 18-24. http://www.scopus.com/inward/record.url?eid=2-s2.0-48049120403&partnerID=MN8TOARS.
  29. Matos, A.; Cruz, N.; Pereira, F.L.. "Post mission trajectory smoothing for the Isurus AUV". Oceans Conference Record (IEEE) 2 (2003): 683-687. http://www.scopus.com/inward/record.url?eid=2-s2.0-1542529834&partnerID=MN8TOARS.
    10.1109/oceans.2003.178392
  30. Cruz, N.; Madureira, L.; Matos, A.; Pereira, F.L.. "A versatile acoustic beacon for navigation and remote tracking of multiple underwater vehicles". Oceans Conference Record (IEEE) 3 (2001): 1829-1834. http://www.scopus.com/inward/record.url?eid=2-s2.0-0035676802&partnerID=MN8TOARS.
    10.1109/oceans.2001.968124
  31. Ramos, P.; Cruz, N.; Matos, A.; Neves, M.V.; Pereira, F.L.. "Monitoring an ocean outfall using an AUV". Oceans Conference Record (IEEE) 3 (2001): 2009-2014. http://www.scopus.com/inward/record.url?eid=2-s2.0-0035669015&partnerID=MN8TOARS.
    10.1109/oceans.2001.968154
  32. Teixeira, R.; Gomes, R.; Fraga, S.; Cruz, N.; Ramos, Patrícia; Matos, A.; Estrela, J.; Lobo Pereira, F.. "Missões de Monitorização Ambiental Utilizando o Veículo Submarino Autónomo Isurus". Revista Robótica – Automação, Controlo e Instrumentação 44 (2001): 78-82. https://www.robotica.pt/.
  33. Cruz, Nuno; Matos, Anibal; Martins, Alfredo; Silva, Jorge; Santos, Domingos; Boutov, Dmitri; Ferreira, Diogo; Pereira, F.Lobo. "Estuarine environment studies with Isurus, a REMUS class AUV". Oceans Conference Record (IEEE) 3 (1999): 1205-1210. http://www.scopus.com/inward/record.url?eid=2-s2.0-0033350507&partnerID=MN8TOARS.
    10.1109/oceans.1999.800162
  34. Matos, Anibal; Cruz, Nuno; Martins, Alfredo; Pereira, Fernando Lobo. "Development and implementation of a low-cost LBL navigation system for an AUV". Oceans Conference Record (IEEE) 2 (1999): 774-779. http://www.scopus.com/inward/record.url?eid=2-s2.0-0033341283&partnerID=MN8TOARS.
  35. Martins, Alfredo; Matos, Anibal; Cruz, Nuno; Pereira, Fernando L.. "IES an open system for underwater inspection". Oceans Conference Record (IEEE) 2 (1999): 549-554. http://www.scopus.com/inward/record.url?eid=2-s2.0-0033337897&partnerID=MN8TOARS.
  36. Sousa, Joao; Cruz, Nuno; Matos, Anibal; Lobo Pereira, Fernando. "Multiple AUVs for coastal oceanography". Oceans Conference Record (IEEE) 1 (1997): 409-414. http://www.scopus.com/inward/record.url?eid=2-s2.0-0031364055&partnerID=MN8TOARS.
    10.1109/oceans.1997.634398
  37. Sousa, J.Borges; Pereira, F.Lobo; da Silva, E.Pereira; Martins, A.; Matos, A.; Almeida, J.; Cruz, N.; Tunes, R.; Cunha, S.. "On the design and implementation of a control architecture for a mobile robotic system". Proceedings - IEEE International Conference on Robotics and Automation 3 (1996): 2822-2827. http://www.scopus.com/inward/record.url?eid=2-s2.0-0029716875&partnerID=MN8TOARS.
    10.1109/robot.1996.506590
  38. Sousa, J.Borges; Pereira, F.Lobo; da Silva, E.Pereira; Martins, A.; Matos, A.; Almeida, J.; Cruz, N.; Tunes, R.; Cunha, S.. "On the design and implementation of a mobile robotic system". IEEE International Symposium on Intelligent Control - Proceedings (1995): 617-622. http://www.scopus.com/inward/record.url?eid=2-s2.0-0029194499&partnerID=MN8TOARS.
Report
  1. Matos, A.; Cruz, N.; Ramos, P.. 2007. "Monitoring of the Foz do Arelho Outfall with an Autonomous Underwater Vehicle - Experimental Mission", Internal Report for Águas do Oeste.

Other

Other output
  1. Pushing for Higher Autonomy and Cooperative Behaviors in Maritime Robotics. 2019. Djapic, V; Curtin, TB; Kirkwood, WJ; Potter, JR; Cruz, NA.
    10.1109/joe.2019.2899541
  2. Coordination of Marine Robots Under Tracking Errors and Communication Constraints. This paper presents the development and the experimental validation of a centralized coordination control scheme that is robust to communication constraints and individual tracking errors for a team of possibly heterogeneous marine vehicles. By assuming the existence of a lower level target tracking control layer, a centralized potential-field-based coordination scheme is proposed to drive a team. 2016. Bruno Miguel Ferreira; Aníbal Matos; Nuno Cruz; António Paulo Moreira; Ferreira, B.M.; Matos, A.C.; Cruz, N.A.; Moreira, A.P.. http://repositorio.inesctec.pt/handle/123456789/4986.
    http://dx.doi.org/10.1109/joe.2015.2412992
  3. Permanent ocean presence with autonomous sailing robots: Wind-propelled vessels foster long missions with precise maneuvering. 2014. Alves, J.C.; Cruz, N.A.. http://www.scopus.com/inward/record.url?eid=2-s2.0-84906262309&partnerID=MN8TOARS.
  4. Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation. The MARES is a small, torpedo-shaped AUV 1.5 meters long and 32 kilograms in weight in the basic version. In a typical configuration, a PC/104 computational system manages the entire mission, including communications with other devices and a control station. Navigation is provided by the fusion of data from an inertial measurement unit (IMU) and an acoustic system for long baseline localization (L. 2013. Nuno Cruz; Bruno Miguel Ferreira; Aníbal Matos. http://repositorio.inesctec.pt/handle/123456789/5008.
  5. Ocean observation with coordinated robotic platforms. 2013. Cruz, N.A.; Ferreira, B.M.; Matos, A.C.. http://www.scopus.com/inward/record.url?eid=2-s2.0-84905010111&partnerID=MN8TOARS.
  6. Autonomous Underwater Vehicles. Autonomous Underwater Vehicles (AUVs) are remarkable machines that revolutionized the process of gathering ocean data. Their major breakthroughs resulted from successful developments of complementary technologies to overcome the challenges associated with autonomous operation in harsh environments. Most of these advances aimed at reaching new application scenarios and decreasing the cost of ocean. 2011. Nuno Cruz. http://repositorio.inesctec.pt/handle/123456789/5009.
  7. Estimation Approach for AUV Navigation Using a Single Acoustic Beacon. Sea Technology. 2010. Nuno Cruz; Bruno Miguel Ferreira; Aníbal Matos; Ferreira, B.; Matos, A.; Cruz, N.. http://repositorio.inesctec.pt/handle/123456789/5871.
  8. The MARES AUV, A Modular Autonomous Robot for Environment Sampling. 2009. Nuno Cruz; Patrícia Ramos; Aníbal Matos. http://repositorio.inesctec.pt/handle/123456789/5004.
Activities

Supervision

Thesis Title
Role 		Degree Subject (Type)
Institution / Organization
2021/09/01 - Current Optimal placement of beacons for improved underwater localization
Co-supervisor of Murillo Prestes Villa
 Programa doutoral em Engenharia Eletrotécnica e de Computadores (PhD)
Universidade do Porto, Portugal
2020/09/01 - Current Information-aware selective feature-based localization for underwater vehicles
Co-supervisor of António José Oliveira
 Programa doutoral em Engenharia Eletrotécnica e de Computadores (PhD)
Universidade do Porto, Portugal
2021 - 2021 Deepwater Intelligent Video Recorder
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2020 - 2020 Controlo de um Pasteurizador com um Autómato Programável
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2020 - 2020 Control of an Autonomous Underwater Vehicle in 6 Degrees of Freedom
Co-supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2019 - 2019 Autonomous Identification and Tracking of Thermoclines
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2018 - 2018 Integration of optical communications in an underwater docking station
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2018 - 2018 Modeling and Control of Heterogeneous Marine Vehicles for Autonomous Intervention
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade do Porto Faculdade de Engenharia, Portugal
2018 - 2018 Guidance of an Autonomous Surface Vehicle for Underwater Navigation Aid
Co-supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2018 - 2018 Altitude Control of an Underwatervehicle Based on Computer Vision
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2017 - 2017 Integração de um Manipulador numa Embarcação Robótica
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2017 - 2017 HoverSea: Inspecção de estruturas marítimas utilizando um drone e um catamarã autónomo
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2017 - 2017 Development of an Autonomous Underwater Profiler
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2016 - 2016 Sistema de Triangulação Laser para Medição de Estruturas Submersas com Alta Definição
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2016 - 2016 A remote monitoring and control system for ecosystem replication experiments
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2016 - 2016 Remote Supervision System for Aquaculture Platforms
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2015 - 2015 Supervisão externa de submarino autónomo
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2015 - 2015 Underwater Optical Communication: An Approach Based on LED
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2015 - 2015 Barco Autónomo Movido a Energias Renováveis
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2015 - 2015 Underwater Stereoscopic Vision with Convergent Cameras
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2015 - 2015 Síntese de imagens acústicas de alvos subaquáticos
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal

Journal scientific committee

Journal title (ISSN) Publisher
2021/06/01 - Current Sensors (1424-8220) MDPI
2017/10/22 - Current Journal of Oceanic Engineering (0364-9059) IEEE
Distinctions

Award

2018 Diploma de Reconhecimento Pedagógico
Universidade do Porto Faculdade de Engenharia, Portugal
2018 Finalist of the Shell Ocean Discovery XPrize
XPrize, United States
2017 Diploma de Reconhecimento Pedagógico
Universidade do Porto Faculdade de Engenharia, Portugal
2016 Diploma de Reconhecimento Pedagógico
Universidade do Porto Faculdade de Engenharia, Portugal
2014 Diploma de Reconhecimento Pedagógico
Universidade do Porto Faculdade de Engenharia, Portugal
2013 Diploma de Reconhecimento Pedagógico
Universidade do Porto Faculdade de Engenharia, Portugal
2011 "Fora de série"
Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal
2008 Prémio de incentivo pedagógico
Universidade do Porto Faculdade de Engenharia, Portugal