Publications

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My Google Scholar profile.
BibTeX entries for my papers can be found here.
My ORCID number : 0000-0002-4675-9595
Scopus ID : 55902162200
ResearcherID : D-4150-2012
Check also the Underwater Vision and Robotics Research Center and the publications page of Dr Pam Reid’s Lab.

Year: 2025

• Charia O, Rajani H, Ferrer Real I, Domingo-Espin M, Gracias N. Real-Time Stringing Detection for Additive Manufacturing. Journal of Manufacturing and Materials Processing. 2025; 9(3):74. https://doi.org/10.3390/jmmp9030074
  

Year: 2024

• Leclerc, F., Palagonia, S., Feuillet, N., Nomikou, P., Lampridou, D., Barrière, P., Dano, A., Ochoa, E., Gracias, N. and Escartin, J. Large seafloor rupture caused by the 1956 Amorgos tsunamigenic earthquake, Greece. Commun Earth Environ 5, 663 (2024). https://doi.org/10.1038/s43247-024-01839-0
  

Year: 2023

• F. Ruscio, R. Costanzi, N. Gracias, J. Quintana, R. Garcia, Autonomous boundary inspection of Posidonia oceanica meadows using an underwater robot, Ocean Engineering, Vol. 283, 2023, 114988, doi:10.1016/j.oceaneng.2023.114988 
• Hughes, A., Escartín, J., Billant, J. et al. Seafloor earthquake ruptures and mass wasting from the 2004 Mw 6.3 Les Saintes submarine earthquake. Communications Earth & Environment, Vol. 4, 270 (2023). doi:10.1038/s43247-023-00919-x
  
• A Arnaubec, M Ferrera, J Escartín, M Matabos, N Gracias, J Opderbecke, Underwater 3D Reconstruction from Video or Still Imagery: Matisse and 3DMetrics Processing and Exploitation Software, Journal of Marine Science and Engineering 11 (5), 985
  
• H Rajani, N Gracias, R Garcia A Convolutional Vision Transformer for Semantic Segmentation of Side-Scan Sonar Data, part of Ocean Engineering special issue on Autonomous Marine Robotics Operations, Ocean Engineering, Volume 286, Part 2, 2023 doi:10.1016/j.oceaneng.2023.115647
• V. Franchi, H. Rajani, R. Garcia, B. Martinez-Clavel and N. Gracias, Distortion Correction of AUV-acquired Side-Scan Sonar Data, OCEANS 2023 - Limerick, Ireland, 2023, pp. 1-10, doi: 10.1109/OCEANSLimerick52467.2023.10244553. Winner of 3rd Prize in the Student's Poster Competition
      
  

Year: 2022

• J. Grinyó, J. Aguzzi, R. García, N. Gracias, T. Nattkemper, M. Zurowietz, U. Hanz, A. Alrashed, F. Rusconi, F. Mienis, First insights on Vazella pourtalesii assemblage dynamics, 11th World Sponge Congress (2022), Leiden, The Netherlands (poster)
  
• E. Ochoa, N. Gracias, K. Istenič, J. Bosch, P. Cieślak, R. García Collision Detection and Avoidance for Underwater Vehicles Using Omnidirectional Vision, Sensors, July 2022, 22(14), 5354; doi: 10.3390/s22145354

Year: 2021

• M. Montseny, C. Linares, N. Viladrich, M. Biel, N. Gracias, P. Baena, E. Quintanilla, S. Ambroso, J. Grinyó, A. Santín, J. Salazar, M. Carreras, N. Palomeras, L. Magí, G. Vallicrosa, J.-M. Gili, A. Gori, Involving fishers in scaling up the restoration of cold-water coral gardens on the Mediterranean continental shelf, Biological Conservation, Volume 262, October 2021, doi:10.1016/j.biocon.2021.109301 
• Vallicrosa, G.; Himri, K.; Ridao, P.; Gracias, N. Semantic Mapping for Autonomous Subsea Intervention. Sensors,  October 2021, 6740. doi: 10.3390/s21206740
• M. Ferrera, A. Arnaubec, K. Istenic, N. Gracias, T. Bajjouk Hyperspectral 3D Mapping of Underwater Environments, Proc. of the IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, October 2021, pp. 3703-3712
• P. Kumar, N. Gracias, K. Istenic, R. Garcia, A. Arnaubec, M. Ferrera, T. Bajjouk Combined use of a frame and a linear pushbroom camera for deep-sea 3D hyperspectral mapping, Proc. of the Global OCEANS 2021 conference, San Diego - Porto, Sept 2021. Selected for the Students Poster Competion.
• V. Puzenat, J. Escartin, J.-E. Martelat, T. Barreyre, S. Bauer, P. Nomikou, N. Gracias, P. Allemand, V. Antoniou, O. Coskun, R. Garcia, P. Grandjean, S. Jørgensen, L. Magí, M. Mandalakis, W. Orsi, P. Polymenakou, A. Schouw, G.Vallicrosa, O. Vlasopoulos. Shallow-water hydrothermalism at Milos (Greece): Nature, distribution, heat fluxes and impact on ecosystems. Marine Geology, Elsevier, 2021, pp.106521. doi:10.1016/j.margeo.2021.106521
• Himri, K.; Ridao, P.; Gracias, N. Underwater Object Recognition Using Point-Features, Bayesian Estimation and Semantic Information. Sensors 2021, 21, 1807. doi:10.3390/s21051807
  
• Rossi P, Ponti M, Righi S, Castagnetti C, Simonini R, Mancini F, Agrafiotis P, Bassani L, Bruno F, Cerrano C, Cignoni P, Corsini M, Drap P, Dubbini M, Garrabou J, Gori A, Gracias N, Ledoux J-B, Linares C, Mantas TP, Menna F, Nocerino E, Palma M, Pavoni G, Ridolfi A, Rossi S, Skarlatos D, Treibitz T, Turicchia E, Yuval M and Capra A (2021) Needs and Gaps in Optical Underwater Technologies and Methods for the Investigation of Marine Animal Forest 3D-Structural Complexity. Frontiers in Marine Science 8:591292. doi: 10.3389/fmars.2021.591292
  

Year: 2020

• T. Serra, N. Gracias, I.E. Hendriks,  Fragmentation in Seagrass Canopies Can Alter Hydrodynamics and Sediment Deposition Rates. Water 2020, 12, 3473, https://doi.org/10.3390/w12123473
• A. Barcelona, J. Colomer, M. Soler, N. Gracias, T. Serra, Meadow fragmentation influences Posidonia oceanica density at the edge of nearby gaps, Estuarine, Coastal and Shelf Science, 2020, https://doi.org/10.1016/j.ecss.2020.107106
  
• J. Escartin, V. Puzenat, , J.-E. Martelat, T. Barreyre, N. Gracias, G. Vallicrosa, R. García, Ll. Magí, P. Nomikou, P. Grandjean, P. Allemand, A. Schouw, S. Le Moine Bauer, S. L. Jorgensen, V. Antoniou, V. Vlasopoulos, P. Polymenaku, M. Mandalakis, O. Coskun & W. Orsi, Hydrothermal flow organization constrains ecosystem distribution: The Milos shallow-water hydrothermal system, iMOVE Workshop, on-line, 23-25 Nov. 2020 (Abstract).
• E. Ochoa, N. Gracias, K. Istenič, R. Garcia, J. Bosch and P. Cieslak. Allowing untrained scientists to safely pilot ROVs: Early collision detection and avoidance using omnidirectional vision MTS/IEEE OCEANS 2020 Global Conference, Singapore, 2020. Recipient of 3rd place prize on students poster competition
  
• Vidal, E, Palomeras, N, Istenič, K, Gracias, N, Carreras, M. Multisensor online 3D view planning for autonomous underwater exploration. Journal of Field Robotics. 2020; 1– 25. https://doi.org/10.1002/rob.21951
• K. Istenič, N. Gracias, A. Arnaubec, J. Escartín and R. Garcia, Automatic scale estimation of structure from motion based 3D models using laser scalers in underwater scenarios, in ISPRS Journal of Photogrammetry and Remote Sensing, Volume 159, 2020, Pages 13-25, DOI: 10.1016/j.isprsjprs.2019.10.007
  

Year: 2019

• J. Billant, J. Bozzinio, F. Leclerc, J. Escartin, N. Gracias, K. Istenic, A. Arnaubec, R. Garcia, Performing submarine field survey without scuba gear using GIS-like mapping in a Virtual Reality environment. In Proc. of the MTS/IEEE Oceans Conference, Marseille, France, 2019, DOI: 10.1109/OCEANSE.2019.8867408
• R. Garcia, R. Prados, J. Quintana, A. Tempelaar, N. Gracias, S. Rosen, H. Vågstøl and K. Løvall (2019). Automatic Segmentation of Fish using Deep Learning with Application to Fish Size Measurement. ICES Journal of Marine Science. DOI: 10.1093/icesjms/fsz186.
• Himri, K.; Ridao, P.; Gracias, N. 3D Object Recognition Based on Point Clouds in Underwater Environment with Global Descriptors: A Survey. Sensors 2019, 19, 4451.  https://doi.org/10.3390/s19204451
• Istenič, K.; Gracias, N.; Arnaubec, A.; Escartín, J.; Garcia, R. Scale Accuracy Evaluation of Image-Based 3D Reconstruction Strategies Using Laser Photogrammetry. Remote Sens. 2019, 11, 2093. https://doi.org/10.3390/rs11182093
• J. Bosch, K. Istenič, N. Gracias, R. Garcia, and P. Ridao. Omnidirectional Multi-Camera Video Stitching using Depth Maps.  IEEE Journal of Oceanic Engineering, 2019. https://doi.org/10.1109/JOE.2019.2924276
• M. Montseny, C. Linares, N. Viladrich, A. Olariaga , M. Carreras, N. Palomeras, N. Gracias, K. Istenič, R. Garcia, S. Ambroso, A. Santín, J. Grinyó, J. Gili, A. Gori. First attempts towards the restoration of gorgonian populations on the Mediterranean continental shelf. Aquatic Conservation: Marine and Freshwater Ecosystems, 2019. https://doi.org/10.1002/aqc.3118
• A. Elibol, N-Y. Chong, H. Shim, J. Kim, N. Gracias, R. Garcia, Mismatched image identification using histogram of loop closure error for feature-based optical mapping,  International Journal of Intelligent Robotics and Applications (2019) . https://doi.org/10.1007/s41315-019-00089-0

Year: 2018

• Gracias N., Ridao P., Garcia R., Carreras M. (2018) Vision for the Marine Environment. In: Encyclopedia of Robotics (Ang M., Khatib O., Siciliano B., eds) . Springer, Berlin, Heidelberg https://doi.org/10.1007/978-3-642-41610-1_17-1
• L. Neumann, R. Garcia, J. Jánosik, N. Gracias, Fast underwater color correction using integral images, 8th International Workshop on Marine Technology : MARTECH 2018. "Instrumentation Viewpoint". Vilanova i la Geltrú: SARTI, 2018, p. 53-54., Porto, Portugal, December 2018
• K. Himri, R. Pi, P. Ridao, N. Gracias, A. Palomer, N. Palomeras, Object Recognition and Pose Estimation using Laser scans For Advanced Underwater Manipulation, Proc. of the 2018 IEEE OES Autonomous Underwater Vehicle Symposium - AUV2018, Porto, Portugal, November 2018
• K. Himri, P. Ridao, N. Gracias, A. Palomer, N. Palomeras and R. Pi, Semantic SLAM for an AUV using object recognition from point clouds, Proc. of the 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018, pp. 360-365, Croatia, September 2018  
• B. Gintert, D. Manzello, I. Enochs, G. Kolodziej, R. Carlton, A. Gleason, N. Gracias, Marked annual coral bleaching resilience of an inshore patch reef in the Florida Keys: A nugget of hope, aberrance, or last man standing?, Coral Reefs, Available online 24 March 2018, ISSN 1432-0975, https://doi.org/10.1007/s00338-018-1678-x.

Year: 2017

• J.  Bosch,  N.  Gracias,  P.  Ridao,  D.  Ribas,  K.  Istenič,  R.  Garcia,  and I. R. Rossi, Immersive touring for marine archaeology. Application of a new compact omnidirectional camera to mapping the Gnalic shipwreck with  an  AUV,  in ROBOT  2017:  Third  Iberian  Robotics  Conference Springer International Publishing, 2017, pp. 183–195.
• G. Panieri, S. Bünz, D. J. Fornari, J. Escartin, P. Serov, P. Jansson, M. E. Torres, J. Johnson, W. Hong, S. Sauer, R. Garcia, N. Gracias, An integrated view of the methane system in the pockmarks at Vestnesa Ridge, 79°N, Marine Geology, Available online 8 July 2017, ISSN 0025-3227, https://doi.org/10.1016/j.margeo.2017.06.006. 
• N. Hurtós, A. Mallios, N. Palomeras, J. Bosch, G. Vallicrosa, E. Vidal, D. Ribas, N. Gracias, M. Carreras, P. Ridao LOON-DOCK: AUV homing and docking for high-bandwidth data transmission, Proc. of the  MTS/IEEE OCEANS 2017 Conference, Aberdeen, UK, June 2017.
• R. Prados, R. Garcia, N. Gracias, L. Neumann, H. Vågstøl, Real-time Fish Detection in Trawl Nets, Proc. of the  MTS/IEEE OCEANS 2017 Conference, Aberdeen, UK, June 2017.
• K Istenič, V. Ila, L. Polok, N. Gracias and R. García, Mission-time 3D Reconstruction with Quality Estimation, Proc. of the  MTS/IEEE OCEANS 2017 Conference, Aberdeen, UK, June 2017 (BEST STUDENT POSTER AWARD).
• Escartín, J., C. Mével, S. Petersen, D. Bonnemains, M. Cannat, M. Andreani, N. Augustin, A. Bezos, V. Chavagnac, Y. Choi, M. Godard, K. Haaga, C. Hamelin, B. Ildefonse, J. Jamieson, B. John, T. Leleu, C. J. MacLeod, M. Massot-Campos, P. Nomikou, J. A. Olive, M. Paquet, C. Rommevaux, M. Rothenbeck, A. Steinfuhrer, M. Tominaga, L. Triebe, R. Campos, N. Gracias, R. Garcia, Tectonic structure, evolution, and the nature of oceanic core complexes and their detachment fault zones (13°20’N and 13°30’N, Mid Atlantic Ridge), Geochemistry, Geophysics, Geosystems, April 2017 doi:10.1002/2016GC006775.
• Gracias, N., R. Garcia, R. Campos, N. Hurtos, R. Prados, A. S. M. Shihavuddin, T. Nicosevici, A. Elibol, R. L. Neumann, J. Escartín, « Chapter 7. Application Challenges of Underwater Vision», in Computer Vision for Vehicle Technology: Land, Sea & Air (A. Lopez, A. Imiya, and T. Padjla, eds.), John Wiley & Sons, Ltd, Chichester, UK, Feb 2017, DOI: 10.1002/9781118868065.ch7
• Garcia, R., N. Gracias, T. Nicosevici, R. Prados, N. Hurtos, R. Campos, J. Escartín, A. Elibol, R. Hegedus, L. Neumann, « Chapter 4. Exploring the Seafloor with Underwater Robots », in Computer Vision for Vehicle Technology: Land, Sea & Air (A. Lopez, A. Imiya, and T. Padjla, eds.), John Wiley & Sons, Ltd, Chichester, UK, Feb 2017, DOI: 10.1002/9781118868065.ch4

Year: 2016

• N. Gracias, R. Garcia, R. Campos, R. Prados, J. Bosch, A. Elibol, T. Nicosevici, L. Neumann and J. Quintana, Omnidirectional Underwater Surveying and Telepresence, Proceedings of the 7th International Workshop on Marine Technology (MARTECH), Instrumentation Viewpoint 19 Barcelona, Spain, November 2016
• G. Vallicrosa, J. Bosch, N. Palomeras, P. Ridao, M. Carreras and N. Gracias, Autonomous homing and docking for AUVs using Range-Only Localization and Light Beacons, Proc. of 10th IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway, Sept 2016
• J.D. Hernandez, K. Istenic, N. Gracias, N. Palomeras, R. Campos, E. Vidal and M. Carreras, Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments, Sensors 2016, 16(8), 1174; doi:10.3390/s16081174
• J. Bosch, P. Ridao, R. Garcia and N. Gracias, Towards omnidirectional immersion for ROV teleoperation, Proceedings of the XXXVII Jornadas de Automática - 2016 conference, Madrid, Spain, September 2016
• Joerg Kalwa, Daniel Tietjen, Marina Carreiro-Silva, Jorge Fontes, Lorenzo Brignone, Nuno Gracias, Pere Ridao, Max Pfingsthorn, Andreas Birk, Thomas Glotzbach, Sebastian Eckstein, Massimo Caccia, João Alves, Thomas Furfaro, Jorge Ribeiro, Antonio Pascoal, The European Project MORPH: Distributed UUV Systems for Multimodal, 3D Underwater Surveys, Marine Technology Society Journal 50 (4), 26-4, DOI: 10.4031/MTSJ.50.4.10 
• J. Escartin, F. Leclerc, M. Catherine, C. Mathilde, S. Petersen, N. Augustin, N. Feuillet, D. Christine, A. Bezos, D. Bonnemains, V. Chavagnac, Y. Choi, M. Godard, K. A. Haaga, C. Hamelin, B. Ildefonse, T. Leleu, J. Jamieson, B. E. John, C. J. MacLeod, M. M. Campos, P. Noumikou, J.-A. Olive, M. Paquet, C. Rommevaux-Jestin, M. Rothenbeck, A. Steinfürer, M. Tominaga, L. Triebe, R. Campos, N. Gracias, N. Gracias, R. Garcia, and M. Andreani, "First direct observation of coseismic slip and seafloor rupture along a submarine normal fault and implications for fault slip history". Earth and Planetary Science Letters, vol. 450, pp. 96–107, 2016. DOI: doi:10.1016/j.epsl.2016.06.024
• A. Elibol, H. Shim, S. Hong, J. Kim, N. Gracias and R. Garcia, Online underwater optical mapping for trajectories with gaps, Intelligent Service Robotics, eISSN: 1861-2784, ISSN: 1861-2776. DOI: 10.1007/s11370-016-0195-4
• A Elibol, J Kim, N Gracias, R Garcia, Fast Underwater Image Mosaicing through Submapping, Journal of Intelligent Robotic Systems, 1-21, 2016
• R Campos, N Gracias, P Ridao, Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints, Sensors 16 (3), 387, 2016
• J Bosch, N Gracias, P Ridao, K Istenič, D Ribas, Close-Range Tracking of Underwater Vehicles Using Light Beacons Sensors 16 (4), 429, 2016

Year: 2015

• J.D. Hernandez, K. Istenic, N. Gracias, R. Garcia, P. Ridao and M. Carreras, Autonomous Seabed Inspection for Environmental Monitoring, Proceedings of the Second Iberian Robotics Conference - ROBOT'2015, Lisboa, Portugal, November 2015
• G. Schultz, J. Keranen, A. Gleason, N. Gracias. Littoral Seafloor Sensing and Characterization Using Marine Electromagnetics, Optical Imagery, and Remotely and Autonomously Operated Platforms. Proceedings of the Oceans MTS/IEEE OCEANS conference, Washington DC, USA, October 2015
• A. Gleason, N. Gracias, ASM. Shiavuddin, G. Schultz, B. Gintert. Improved Supervised Classification of Underwater Military Munitions Using Height Features Derived from Optical Imagery. Proceedings of the Oceans MTS/IEEE OCEANS conference, Washington DC, USA, October 2015
• J. Escartin,T. Barreyre, M. Cannat, R. Garcia, N. Gracias, A. Deschamps, A. Salocchi, P.-M. Sarradin and V. Ballu, Hydrothermal activity along the slow-spreading Lucky Strike ridge segment (Mid-Atlantic Ridge): Distribution, heatflux, and geological controls, Earth and Planetary Science Letters, 431, p. 173 - 185, 2015, doi:10.1016/j.epsl.2015.09.025
• P. Ridao, M. Carreras, D. Ribas, N. Gracias, R. Garcia. Survey and Intervention HROV. Proceedings of the XXXVI Jornadas de Automática - 2015 conference, Bilbao, Spain, September 2015
• R. Camilli, P. Nomikou, J. Escartín, P. Ridao, A. Mallios, S. P. Kilias, A. Argyraki, M. Andreani, V. Ballu, R. Campos, C. Deplus, T. Gabsi, R. Garcia, N. Gracias, N. Hurtós, L. Magí, C. Mével, M. Moreira, N. Palomeras, O. Pot, D. Ribas, L. Ruzié, D. Sakellariou. The Kallisti Limnes, carbon dioxide-accumulating subsea pools. Scientific Reports 5, Article number: 12152 (2015) doi:10.1038/srep12152
• J. Bosch, P. Ridao, D. Ribas, N. Gracias. Creating 360◦ Underwater Virtual Tours Using an Omnidirectional Camera Integrated in an AUV. Proceedings of the Oceans MTS/IEEE OCEANS conference, Genova, Italy, May 2015 Some results in Google Views here
• N. Gracias, J. Bosch, M. Karim Pose Estimation for Underwater Vehicles using Light Beacons. IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV15) April 28-30, 2015. Girona, Spain
• R. Campos, N. Gracias, A. Palomer and P. Ridao Global Alignment of a Multiple-Robot Photomosaic using Opto-Acoustic Constraints. IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV15) April 28-30, 2015. Girona, Spain
• F. Codevilla, S. Botelho, N. Duarte, S. Purkis, A.S.M. Shihavuddin, R. Garcia, N. Gracias. Geostatistics for Context-Aware Image Classification. In Proc. 10th International Conference, ICVS 2015, pp 228-239, Copenhagen, Denmark, July 6-9, 2015. DOI: 10.1007/978-3-319-20904-3_22
• J. Bosch, N. Gracias, P. Ridao, D. Ribas. Omnidirectional Underwater Camera Design and Calibration. Sensors. 2015; 15(3):6033-6065. DOI:10.3390/s150306033

Year: 2014

• A. Elibol, N. Gracias, R. Garcia, J. Kim. "Graph Theory Approach for Match Reduction in Image Mosaicing", Journal of the Optical Society of America A. vol. 31, no. 4, pp. 773-782. ISSN: 1084-7529. DOI: 10.1364/JOSAA.31.000773
• A. Elibol, J. Kim, N. Gracias, R. Garcia. "Towards automatic identification of mismatched image pairs through loop constraints", in Proceedings of SPIE Vol. 9025, 2014. doi:10.1117/12.2040778
• A. Elibol, J. Kim, N. Gracias, R. Garcia. "Efficient Image Mosaicing for Multi-robot Visual Underwater Mapping", Pattern Recognition Letters. Vol. 46, pp. 20–26, 2014. DOI: 10.1016/j.patrec.2014.04.020
• A.S.M. Shihavuddin, N. Gracias, R. Garcia, R. Campos, A. Gleason, B. Gintert. "Automated Detection of Underwater Military Munitions Using Fusion of 2D and 2.5D Features From Optical Imagery," Marine Technology Society Journal, 48(4), 2014. ISSN: 0025-3324. DOI: 10.4031/MTSJ.48.4.7
• R. Garcia, N. Gracias, R. Campos, R. Prados, L. Neumann, T. Nicosevici, J. Escartin. 3-D Mapping for the Characterization of the Seafloor using an Underwater Robot within the MUMAP Project, International Symposium on Naval Architecture and Maritime (INT-NAM), Istanbul, Turkey, 2014.
• J. Escartín, F. Leclerc, M. Cannat, S. Petersen, N. Augustin, A. Bezos, D. Bonnemains, V. Chavagnac, Y. Choi, M. Godard, K. Haaga., C. Hamelin, B. Ildefonse, J. W. Jamieson, B. E. John, T. Leleu, M. Massot-Campos, C. Mevel, P. Nomikou, J.-A. L. Olive, M. Paquet, C. Rommevaux, M. Rothenbeck, A. Steinführer, M. Tominaga, L. Triebe, R. Garcia, N. Gracias, N. Feuillet and C. Deplus, "Quantifying Coseismic Normal Fault Rupture at the Seafloor: The 2004 Les Saintes Earthquake (Mw 6.3) Along the Roseau Fault (French Antilles)," Fall AGU 2014 Meeting, San Francisco, USA, 15-19 Dec. 2014.
• J. W. Jamieson, S. Petersen, N. Augustin, A. Steinführer, I. Yeo, J. Escartín and ODEMAR Scientific Party, "AUV- and ROV-based exploration of active and inactive seafloor massive sulfide deposits at the Semenov and Irinovskoe sites on the Mid-Atlantic Ridge," 43rd Conference of the Underwater Mining Institute, 21-28 Sep 2014, Lisbon, Portugal.
• Escartín, J., ODEMAR Science Party, The 13°20’N and 13°30 ‘N detachments along the Mid-Atlantic Ridge : On the nature of the detachment fautl zone, its formation and evolution, and the links to hydrothermal activity, Geol. Soc. London Conf. On Geometry and growth of normal faults, London, UK, 23-25 June 2014.

Year: 2013
Research Publications

• N. Gracias, P. Ridao, R. Garcia, J. Escartin, M. L’Hour, F. Cibecchini, R. Campos, M. Carreras, D. Ribas, N. Palomeras, L. Magi, A. Palomer, T. Nicosevici, R. Prados, R. Hegedus, L. Neumann, F. de Filippo and A. Mallios. Mapping the Moon: Using a lightweight AUV to survey the site of the 17th Century ship ‘La Lune’. Proceedings of the Oceans MTS/IEEE OCEANS conference, Bergen, Norway, June 2013
• A. Shihavuddin, N. Gracias, R. Garcia, J. Escartin and R. Pedersen, Automated classification and thematic mapping of bacterial mats in the North Sea, Proceedings of the Oceans MTS/IEEE OCEANS conference, Bergen, Norway, June 2013.
• A. Elibol, J. Kim, S-C. Yu, N. Gracias and R. Garcia, Match Elimination using Cycle Basis in Underwater Optical Mapping, Proceedings of the Oceans MTS/IEEE OCEANS conference, Bergen, Norway, June 2013.
• N. Palomeras, S. Nagappa, D. Ribas, N. Gracias and M. Carreras. Vision-based localization and mapping system for AUV intervention, Proceedings of the Oceans MTS/IEEE OCEANS conference, Bergen, Norway, June 2013
• S. Nagappa, N. Palomeras, C.S. Lee, N. Gracias, D. Clark and J. Salvi. Single Cluster PHD SLAM: Application to Autonomous Underwater Vehicles using Stereo Vision, Proceedings of the Oceans MTS/IEEE OCEANS conference, Bergen, Norway, June 2013 
• A. Shihavuddin, N. Gracias, R. Garcia, A. Gleason and B. Gintert, "Image-Based Coral Reef Classification and Thematic Mapping". Remote Sensing, 5(4), pp. 1809-1841. 2013. ISSN 2072-4292. doi:10.3390/rs5041809
• A. Palomer, P. Ridao, D. Ribas, A. Mallios, N. Gracias and G. Vallicrosa. Scan Matching SLAM in Underwater Environments. Proceedings of the Oceans MTS/IEEE OCEANS conference, Bergen, Norway, June 2013.
• A. Elibol, N. Gracias and R. Garcia. "Fast Topology Estimation for Image Mosaicing using Adaptive Information Thresholding", Robotics and Autonomous Systems, vol. 61, no. 2, pp. 125–136, 2013. ISSN: 0921-8890. doi: 10.1016/j.robot.2012.10.010 
• P. Ridao, N. Gracias, M. Carreras, R. Garcia. "From Survey to Intervention- The Challenges of 3D Mapping for Multipurpose Intervention", Workshop on Marine Robotics (EUROCAST'2013), Las Palmas, Spain, February 2013. 

Education Publications

• N. Gracias and R. Garcia. Can we Trust Peer Grading in Oral Presentations? Towards Optimizing a Critical Resource Nowadays: Teacher’s Time, 5th International Conference on Education and New Learning Technologies (EDULEARN), Barcelona, Spain, July 2013

Year: 2012
Research Publications

• R. Prados, R. Garcia, N. Gracias, J. Escartín, L. Neumann. "A Novel Blending Technique for Underwater Giga-Mosaicing," IEEE Journal of Oceanic Engineering, vol. 37, no. 4, pp. 626-644, 2012. ISSN 0364-9059. doi: 10.1109/JOE.2012.2204152
• S. Purkis., B. Vlaswinkel, N. Gracias. Consistency In Vertical-To-Lateral Carbonate Facies Juxtapositions From The Cretaceous – A Means To 3-D Subsurface Modeling Via Markov. Journal of Sedimentary Research, April 2012 v. 82 no. 4 p. 232-243
• M. Prats, D. Ribas, N. Palomeres, J.C. García, V. Nannen, S. Wirth, J.J. Fernández, J.P. Beltrán, R. Campos, P. Ridao, P.J. Sanz, G. Oliver, M. Carreras, N. Gracias, R. Marín, A. Ortiz. Reconfigurable AUV for intervention missions: a case study on underwater object recovery. Journal Intelligent Service Robotics Vol. 5 Num. 1, pp 19-31 , 2012.
• E. Mittelstaedt, J. Escartin, N. Gracias, J.-A. Olive, T. Barreyre, A. Davaille, M. Cannat, R. Garcia. "Quantifying diffuse and discrete venting at the Tour Eiffel vent site, Lucky Strike hydrothermal field" Geochemistry, Geophysics and Geosystems, vol. 13, no. 4, pp. 1-18, 2012. ISSN: 1525-2027. doi:10.1029/2011GC003991
• A. Elibol, N. Gracias and R. Garcia. "Efficient Topology Estimation for Large Scale Optical Mapping", Springer, 2012. ISBN 978-3-642-30312-8 (Book)
• A. Elibol, N. Gracias and R. Garcia. Efficient Image Mosaicing for Optical Underwater Mapping , IEEE 20th Conference on Signal Processing and Communications Applications, 2012.
• A. Shihavuddin, N. Gracias, R. Garcia. "Online Sunflicker Removal using Dynamic Texture Prediction". International Conference on Computer Vision Theory and Applications (VISSAP'2012), Rome, Italy.
• P. Nomikou, Escartin, J.; Ridao, P.; Sakellariou, D.; Camilli, R.; Ballu, V.; Moreira, M.; Mevel, C.; Mallios, A.; Deplus, C.; Andreani, M.; Pot, O.; Garcia, R.; Rouzie, L.; Gabsi, T.; Campos, R.; Gracias, N.; Hurtos, Ν.; Magi, L.; Palomeras, N.; Ribas, D. Preliminary submarine monitoring of Santorini Caldera: Hydrothermal activity, and seafloor deformation Volcanism of the Southern Aegean in the frame of the broader Mediterranean area (Poster). International Conference on Volcanism of the Southern Aegean (VOLSAM 2012), Santorini, Greece, October 2012.
• R. Prados, R. Garcia, N. Gracias, P. Ridao, J. Escartín, L. Neumann. "Construcción de Mapas Ópticos para la Caracterización del Fondo Marino", XXIII Jornadas de Automática, pp. 985-992, Vigo, Spain, 2012. ISBN: 978-84-8158-583-4 
• Cantwell, K., Gintert, B., Lirman, D., Gonzalez, M., Gracias, N., Reid, R.P. (2012) Underwater Landscape Mosaics: the Cure for Common Coral Reef Monitoring. 41st Annual Benthic Ecology Meeting, Norfolk, VA, 21-24 March 2012. (Poster presentation)
• Cantwell, K., Gintert, B., Gracias, N., Lirman, D., Gonzalez, M., Gleason, A.C.R., Reid, R.P. (2012) Reef-Scale Benthic Change: Using Landscape Mosaics to Address Monitoring Gaps. Proceedings of the 12th International Coral Reef Symposium, Cairns, Queensland, Australia, 9-13 July 2012.
• Gintert, B., Gracias, N., Szlyk, T., Ciminello, M., Cantwell, K., Reid, R.P. (2012) Measuring Coral Community Resilience: a 40-year Analysis at Andros Island. Proceedings of the 12th International Coral Reef Symposium, Cairns, Queensland, Australia, 9-13 July 2012.
• Gintert, B, A. Gleason, K. Cantwell, N. Gracias, M. Gonzalez, R. P. Reid, Third-Generation Underwater Landscape Mosaics for Coral Reef Mapping and Monitoring. Proceedings of the 12th International Coral Reef Symposium, Cairns, Australia, 9-13 July 2012
• Gleason, A.C.R, Gintert, B., Gracias, N., Cantwell, K., Gonzalez, M., Reid, R.P. (2012) Enhanced Underwater Mosaicing Technology for Coral Reef Monitoring and Mapping. Proceedings of the 12th International Coral Reef Symposium, Cairns, Queensland, Australia, 9-13 July 2012.
• A. Elibol, N. Gracias and R. Garcia, "Efficient Image Mosaicing for Optical Underwater Mapping," IEEE 20th Conference on Signal Processing and Communications Applications (SIU), Fethiye, Turkiye, 2012 (National conference and published in Turkish).
• J. Quintana, R. Campos, R. Garcia, J. Freixenet, N. Gracias, S. Puig, J. Malvehy. "A novel acquisition device for Total Body Photography," World Congress of Dermoscopy. Brisbane, Australia. 2012. (Abstract)

Educational Publications

• R. Garcia and N. Gracias. "Project-based Learning as a Motivating tool to Teach Computer Vision". IEEE Engineering Education Conference (EDUCON'2012), Marrakesh, Morocco, 2012.

Year: 2011

• E. Mittelstaedt, A. Davaille, P. Van Keken, N. Gracias, J. Escartin. "Mesure des champs de vitesse dans les champs hydrothermaux océaniques" 20eme Congrès Français de Mécanique, Besançon, France, September 2011
• A. Elibol, R. Garcia, N. Gracias. "A New Global Alignment Approach for Underwater Optical Mapping," Ocean Engineering, vol. 38, no. 10, pp. 1207-1219, 2011. ISSN: 0029-8018. DOI:10.1016/j.oceaneng.2011.05.013
• R. Garcia, N. Gracias. Underwater Optical Mapping. 4th International Workshop on Marine Technology (Martech’11), Cádiz, Spain, 2011. ISSN 1697-2562 (BEST PRESENTATION AWARD)
• A. Elibol, N. Gracias, R. Garcia, A. Gleason, B. Gintert, D. Lirman and R.P. Reid. "Efficient Autonomous Image Mosaicing with Applications to Coral Reef Monitoring". Proc. of the Workshop on Robotics for Environmental Monitoring held at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, pp. 50-57, September 2011.
• R. Garcia, N. Gracias, "Detection of Interest Points in Turbid Underwater Images," IEEE OCEANS Conference, pp. 1-9, Santander, Spain, 2011. ISBN (print): 978-1-4577-0086-6. DOI: 10.1109/Oceans-Spain.2011.6003605.
• Cantwell, K., Gintert, B., Gracias, N., Lirman, D., Gonzalez, M., Reid, R.P. (2011) Landscape Mosaics Document Reef-Scale Response to Cold Water Disturbance. Society of Environmental Journalists, October 19, 2011, Miami, FL. (Poster presentation)
• Jackson, K., Eberli, G., Cantwell, K., Gracias, N., Reid, R.P. (2011)Assessing the Impact of Hurricane Irene on Carbonate Sediment Transport in the Exumas. Society of Environmental Journalists, October 19, 2011, Miami, FL. (Poster presentation)
• Cantwell, K., Gintert, B., Gonzalez, M., Gracias, N., Lirman, D., Reid, R.P. (2011) A Landscape View of Cold Water Benthic Mortality. 3rd Annual Coral Reef Forum, National Center for Coral Reef Research, August, 2011.
• Gintert, B., Gracias, N., Gleason, A.C.R., Cantwell, K., Gonzalez, M., Lirman, D., Reid, R.P. (2011) Landscape Mosaic Imaging of Coral Reefs. 3rd Annual Coral Reef Forum, National Center for Coral Reef Research, August, 2011. (Poster presentation)
• Cantwell, K., Gintert, B., Gonzalez, Lirman, D., M., Gracias, N., Reid, R.P. (2011) A Landscape View of Cold Water Benthic Mortality. Research, Creativity, and Innovation Forum, March 2011. (Poster presentation)
• Vlaswinkel, B., Purkis, S., Gracias, N.(2011) Markov Chain/Transition Probability Approach for Geo-Cellular Modeling of Carbonate Depositional Geobodies: Proof-of-Concept Markov Random Field Simulator, 73rd EAGE Conference and Exhibition-Workshops 2011, DOI:10.3997/2214-4609.20144721 
• J. Quintana, R. Campos, N. Gracias, J. Freixenet, R. Garcia. 3D Skin Mapping for Melanoma Detection, Medical Image Computing Conference (MICCAT2011). Barcelona. 2011. 

Year: 2010

• D. Lirman, N. Gracias, B. Gintert, A. C. R. Gleason, G. Deangelo, M. Dick, E. Martinez, R. P. Reid, Damage and recovery assessment of vessel grounding injuries on coral reef habitats by use of georeferenced landscape video mosaics, Limnology and Oceanography: Methods, 8:88-97 (2010) DOI: 10.4319/lom.2010.8.0088
• A. Elibol, N. Gracias, R, Garcia. "Augmented State-Extended Kalman Filter Combined Framework for Topology Estimation in Large Area Underwater Mapping," Journal of Field Robotics, vol. 27, no. 5, pp. 656-674, 2010. ISSN: 1556-4959. DOI: 10.1002/rob.20357
• Gleason, A. C. R., D. Lirman, N. Gracias, T. Moore, S. Griffin, M. Gonzalez, B. Gintert, R. P. Reid, 2011: Damage Assessment of Vessel Grounding Injuries on Coral Reef Habitats Using Underwater Landscape Mosaics, Proceedings of the 63rd Gulf and Caribbean Fisheries Institute, November 1-5, 2010, San Juan, Puerto Rico. pp. 125-129.
• E. Mittelstaedt, A. Davaille, P. E. van Keken, N. Gracias, and J. Escartin. A noninvasive method for measuring the velocity of diffuse hydrothermal flow by tracking moving refractive index anomalies. Geochemistry, Geophysics, Geosystems, Vol 11, Q10005, doi:10.1029/2010GC003227, 2010.

Year: 2009

• Gracias. N.; Negahdaripour, S.; Mahoor, M.; Gleason, A. (2009). Fast image blending using watersheds and graph cuts. Image and Vision Computing, 27(5), 597-607.
• T. Nicosevici, N. Gracias, S. Negahdaripour, R. Garcia. "Efficient three-dimensional Scene Modeling and Mosaicing," Journal of Field Robotics, vol. 26, no. 10, pp. 759-788, 2009. (Special Issue: Three-Dimensional Mapping, Part 1). ISSN (Print): 1556-4959. ISSN (Online): 1556-4967. DOI: 10.1002/rob.20305.
• O. Delaunoy, N. Gracias and R. Garcia. "Small Scale Underwater Change Detection". Instrumentation Viewpoint, 2009. ISSN 1697-2562 (Print) 1886-4864 (Online).
• A. Elibol, N. Gracias and R. Garcia, "Match Selection in Batch Mosaicing using Mutual Information". Lecture Notes in Computer Science vol. 5524, Ed. Springer, pp. 104-111, 2009. 4th Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA2009), Povoa do Varzim, Portugal, 2009. ISSN 0302-9743 (Print) 1611-3349 (Online). ISBN 978-3-642-02171-8 DOI 10.1007/978-3-642-02172-5_15.
• O. Delaunoy, N. Gracias and R. Garcia, "Small Scale Underwater Change Detection". Annual Conference of the American Society of Photogrammetry and Remote Sensing. Baltimore, USA, 2009. (Abstract)

Year: 2008

• J. Escartin, R. Garcia, O. Delaunoy, J. Ferrer, N. Gracias, A. Elibol, X. Cufí, L. Neumann, D.J.Fornari, S.E. Humphris, J. Renard. "Globally aligned photomosaic of the Lucky Strike hydrothermal vent field (Mid-Atlantic Ridge, 37º18.5'N): Release of georeferenced data, mosaic construction, and viewing software," Geochemistry, Geophysics and Geosystems, vol. 9, no. 12, pp. 12(1)-12(17), 2008. ISSN: 1525-2027. DOI: 10.1029/2008GC002204.
• A. Elibol, R. Garcia, O. Delaunoy and N. Gracias, "A New Global Alignment Method for Feature Based Image Mosaicing," Lecture Notes in Computer Science, vol. 5359. Proc. of the 4th International Symposium on Advances in Visual Computing (ISVC08), pp. 257-266, Las Vegas USA, Dec. 2008. ISBN:978-3-540-89645-6. DOI: 10.1007/978-3-540-89646-3_25.
• N. Gracias, S. Negahdaripour, L. Neumann, R. Prados and R. Garcia, "A motion compensated filtering approach to remove sunlight flicker in shallow water images," Proc. of the MTS/IEEE Oceans 2008 Conference, Quebec City, Canada, Sep. 2008. ISBN: 978-1-4244-2619-5. DOI: 10.1109/OCEANS.2008.5152111
• O. Delaunoy, N. Gracias and R. Garcia. "Towards detecting changes in underwater image sequences," MTS/IEEE Techno-Ocean Conference (Oceans'08), Kobe, Japan, Apr. 2008. ISBN: 978-1-4244-2125-1. DOI: 10.1109/OCEANSKOBE.2008.4531004
• P. Reid, N. Gracias, D. Lirman, A. Gleason, B. Gintert, P. Kramer, T. Szlyk, M. Ciminello (2008). High Resolution Video Mosaics for Monitoring Andros Island Reefs. International Coral Reef Symposium, July 9, 2008
• B. Gintert, N. Gracias, P. Reid, T. Szlyk, M. Ciminello, (2008). Long-term Spatiotemporal Dynamics of Benthic Organisms at Andros Island Reefs. International Coral Reef Symposium, July 9, 2008
• B. Gintert, N. Gracias, A. Gleason, D. Lirman, M. Dick, P. Kramer, R.P. Reid, (2008). Second-generation Landscape Mosaics of Coral Reefs. International Coral Reef Symposium, July 9, 2008
• P. Reid, S. Negahdaripour, N. Gracias, D. Lirman, A. Gleason, B. Gintert, P. Kramer, T. Szlyk, M. Ciminello, (2008). Landscape video mosaics: New tools to Complement Coral Reef Resource Mapping and Monitoring. International Coral Reef Symposium, July 9, 2008

Year: 2007

• J. Ferrer, A. Elibol, O. Delaunoy, N. Gracias, R. Garcia, Large-Area Photo-Mosaics Using Global Alignment and Navigation Data, MTS/IEEE OCEANS, Vancouver (Canada), Nov. 2007. DOI: 10.1109/OCEANS.2007.4449367
• J. Ferrer, N. Gracias, O. Delaunoy, R. Garcia. Creating Large and Accurate Mosaics of the Mid-Atlantic Ridge. Instrumentation Viewpoint Journal, 2007. ISSN 1697-2562
• T. Nicosevici, R. Garcia, N. Gracias. Identification of geometrically consistent interest points for 3D scene reconstruction. 2nd International Workshop on Marine Technology (Martech’07), Vilanova i la Geltru, Spain, November 2007. ISSN 1697-2562
• A. Gleason, D. Lirman, D. Williams, N. Gracias, B. Gintert, H. Madjidi, R.P. Reid, G.C. Boynton, S. Negahdaripour, M. Miller and P. Kramer, Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology. Marine Ecology, Vol. 28(2), pp. 254-258, June 2007.
• D. Lirman, N. Gracias, B. Gintert, A. Gleason, R. P. Reid, S. Negahdaripour and P. Kramer. Development and application of a video-mosaic survey technology to document the status of coral reef communities. Environ. Monitoring and Assessment, Vol. 125 pp 59-73, 2007.
• Reid, R., Gracias, N., Negahdaripour, S., Lirman, D., Gleason, A., Gintert, B., and P. Kramer. (2007) Application of ROV-Based video technology to complement coral reef resource mapping and monitoring. SERDP Partners in Environmental Technology Symposium. December 4-6, 2007, Washington D.C. USA.
• Gleason, A., Gracias, N., Lirman, D., Gintert, B., Reid, R. and Negahdaripour, S. (2007) Two-Dimensional Video Mosaics for Mapping and Monitoring Coral Reef Resources. 2007 AAUS Symposium, Miami, FL. [poster]

Year: 2006

• N. Gracias, A. Gleason, S. Negahdaripour, and M. Mahoor. Fast image blending using watersheds and graph cuts. British Machine Vision Conference, Edinburgh, U.K., September 2006.
• Gracias, N. R., Gleason, A. C., Lirman, D., Gintert, B., Doolittle, D., Reid, R. P., and Negahdaripour, S. (2006) Two-Dimensional Video Mosaics for Mapping and Monitoring Coral Reef Resources, AGU Ocean Sciences meeting, Honolulu, HI, February 20-24, 2006, Abstract OS15I-05. 

Year: 2005

• N. Gracias and S. Negahdaripour, Underwater Mosaic Creation using Video sequences from Different Altitudes, MTS/IEEE Conference OCEANS05, Washington DC, USA, September 2005

Year: 2004

• N. Gracias, J.P. Costeira and J. Santos-Victor. Linear Global Mosaics for Underwater Surveying, 4th IFAC/EURON Symposium on Autonomous Vehicles, IAV04, Lisbon, Portugal, July 2004.
• Reid, R.P., Gracias, N., Negahdaripour, S., Lirman, D., Kramer, P.A., and Voss, K. (2004) Application of ROV-based Video Technology to Complement Coral Reef Resource Mapping and Monitoring. SERDP Partners in Environmental Technology Symposium. 30 November – 2 December 2004, Washington D.C. USA. [poster]

Year: 2003

• N. Gracias, S. Zwaan, A. Bernardino and J. Santos-Victor. Mosaic Based Navigation for Autonomous Underwater Vehicles, IEEE Journal of Oceanic Engineering, Vol. 28(1) pp 609-624, October 2003.
• N. Gracias. Mosaic-based Visual Navigation for Autonomous Underwater Vehicles, Ph.D. Thesis, Instituto Superior Técnico, Technical University of Lisbon, Portugal, June 2003

Year: 2002

• N. Gracias, S. Zwaan, A. Bernardino and J. Santos-Victor. Results on Underwater Mosaic-based Navigation, MTS/IEEE Conference OCEANS02, Biloxi, USA, October 2002

Year: 2001

• N. Gracias and J. Santos-Victor. Trajectory reconstruction with uncertainty estimation using mosaic registration, Robotics and Autonomous Systems (Elsevier), 35(3-4), June 2001.
• N. Gracias and J. Santos-Victor Underwater Mosaicing and Trajectory Reconstruction using Global Alignment, MTS/IEEE Conference OCEANS01, Honolulu, USA, November 2001
• J. Santos-Victor, N. Gracias and S. van der Zwaan. Using Vision for Underwater Robotics: Video Mosaics and Station Keeping, 1st International Workshop on Underwater robotics for Sea Exploitation and Environ. Monitoring, Rio de Janeiro, Brazil, October 2001.

Year: 2000 and before

• N. Gracias and J. Santos-Victor. Underwater video mosaics as visual navigation maps, Computer Vision and Image Understanding, Vol. 79(1) pp 66-91, July 2000.
• N. Gracias and J. Santos-Victor. Trajectory Reconstruction using Mosaic Registration, 7th Int. Symp. on Intelligent Robotic Systems SIRS99, Coimbra, Portugal, July 1999 (selected for extended submission to Robotics and Autonomous Systems, Special Issue: SIRS99).
• N. Gracias and J. Santos-Victor. Automatic Mosaic Creation of the Ocean Floor, MTS/IEEE Conference OCEANS98, Nice, France, October 1998.
• N. Gracias. Application of Robust Estimation to Computer Vision: Video Mosaics and 3-D Reconstruction, M.Sc. Thesis, Instituto Superior Técnico, Technical University of Lisbon, Portugal, April 1998
• N. Gracias and J. Santos-Victor. Robust Estimation of the Fundamental Matrix and Stereo Correspondences, 5th Int. Symp. on Intell. Robotic Systems SIRS97, Stockholm, Sweden, July, 1997.
• N. Gracias, J. Lima, M. Figueiredo and A. Fred. Unsupervised Contour Estimation with Genetic Algorithms, IEEE International Conference on Systems, Man and Cybernetics, Beijing, China, 1996.
• N. Gracias, H. Pereira, J. Lima and A. Rosa. Gaia: An Artificial Life Environment for Ecological Systems Simulation, Artificial Life V, Nara, Japan, May 1996.
• J. Allen Lima, N. Gracias, H. Pereira and A. Rosa. Fitness Function Design in Cost Evaluation Based Problems, IEEE International Conference on Evolutionary Computation, Nagoya, Japan, May 1996
• J. Lima, N. Gracias and A. Rosa. Real Time ECG Acquisition and Processing, Proc. Of the BioSignal'96 Conference, Brno, Czech Republic, 1996
• H. Pereira, N. Gracias, J. Lima and A. Rosa, Remote Control of EEG Acquisition, Proc. Of 4th Portuguese Congress on Biomedical Engineering BioEng'96, Aveiro, Portugal, April 1996.
• N. Gracias. Gaia: An Artificial Life Environment for Ecological Systems Simulation, Licenciatura’s extended report, Instituto Superior Técnico, Technical University of Lisbon, Portugal, October 1995. In Portuguese.