Abstract
This paper presents the Advanced Collaborative Educational Model (ACEM) for conception of collaborative learning activities. It is based on collaboration between teachers through virtual interactions, reutilization, interoperability and adaptability of learning activities. The definition of learning activity is oriented to a constructivist approach. Tagging collaboration and ontologies are also considered in order to facilitate sharing knowledge in a more effective and personalized way. The main goal of this research is to describe teachers' procedures when interacting with the collaborative environment and to develop mechanisms to support teachers in their tasks, mainly in the creation of learning activities to be used in an e-learning context. The model will be implemented through a high-level graphical tool that facilitates synchronous and asynchronous communication. © 2011 IEEE.

Abstract
Strategic planning and multi-agent coordination are major research topics in the domain of RoboCup. Innovations in these areas are, however, often developed and applied to only a single RoboCup league and/or one domain, without proper generalization. Moreover, the more technical leagues, like middle-size and humanoid, tend to focus development on low-level skills, that often suffice to gain a competitive edge over other teams. In these leagues, the development of high-level cooperation is secondary. Although the importance of the concept of Setplay, to structure a robotic soccer team behaviour, has been acknowledged by many researchers, no general framework for the development and execution of generic Setplays has been introduced in the context of RoboCup. This paper presents such a framework for high-level Setplay definition and execution, applicable to any RoboCup cooperative league and similar domains. The framework is based on a flexible, standard and league-independent language, which defines Setplays that are interpreted and executed at run-time, using inter-robot communication. An initial major step in the development of the Setplay framework was its usage and testing in the scope of the FCPortugal team, which participates in the RoboCup 2D-simulation and 3D-simulation leagues, where it won several titles both in the 2D and 3D leagues. This framework was also recently implemented in the middle-size team CAMBADA. This team has, in the recent past and with previous versions of the control software, ranked first and third in RoboCup's 2008 and 2009 editions. The implementation is described with concrete examples of Setplay definition and execution, which shows the usefulness of this approach and motivate its use as a major coordination tool for teams participating in the simulation, small-size, middle-size, standard platform and humanoid leagues of RoboCup.

Abstract
The emergence of multi-agent systems in the past years has led to the development of new methodologies to assist in the requirements and architectural analysis, as well as in the design phases of such systems. Consequently, several Agent Oriented Software Engineering (AOSE) methodologies have been proposed. In this paper, we analyze some AOSE methodologies, including Gaia, which supports the architectural design stage, and some proposed extensions. We then use an adapted version of this methodology to design an abstract generic system meta-model for a multi-robot application, which can be used as a basis for the design of these systems, avoiding or shortening repetitive tasks common to most systems. Based on the proposed Generic Robotic Agent Meta-Model (GRAMM), two distinct models for two different applications are derived, demonstrating the versatility and adaptability of the meta-model. By adapting the Gaia methodology to the design of open systems, this work makes the designers' job faster and easier, decreasing the time needed to complete several tasks, while at the same time maintaining a high-level overview of the system.

Abstract
In soccer, like in business, results are often the best indicator of a team's performance in a certain competition but insufficient to a coach to asses his team performance. As a consequence, measurement tools play an important role in this particular field. In this research work, a performance tool for soccer, based only in Cartesian coordinates is presented. Capable of calculating final game statistics, suisber of shots, the calculus methodology analyzes the game in a sequential manner, starting with the identification of the kick event (the basis for detecting all events), which is related with a positive variation in the ball's velocity vector. The achieved results were quite satisfactory, mainly due to the number of successfully detected events in the validation process (based on manual annotation). For the majority of the statistics, these values are above 92% and only in the case of shots do these values drop to numbers between 74 and 85%. In the future, this methodology could be improved, especially regarding the shot statistics, integrated with a real-time localization system, or expanded for other collective sports games, such as hockey or basketball.

Abstract
The Vehicle Scheduling Problem is a well-known combinatorial optimization problem that emerges in mobility and transportation sectors. The heterogeneous fleet with multiple depots extension arises in major urban public transportation companies due to different demands throughout the clay and some restrictions in the use of different vehicle types. This extension introduces complexity to the problem and makes the known deterministic methods unable to solve it efficiently. This paper describes an approach to create a comprehensive model to represent the Multiple Depot Vehicle Scheduling Problem as an Asymmetric Traveling Salesman Problem. To solve the A-TSP problem an Ant Colony based meta-heuristic was developed. The results achieved on solving problems from a Portuguese major public transportation planning database show the usefulness of the proposed approach.

Abstract
Expressiveness and naturalness in robotic motions and behaviors can be replicated with the usage of captured human movements. Considering dance as a complex and expressive type of motion, in this paper we propose a method for generating humanoid dance motions transferred from human motion capture (MoCap) data. Motion data of samba dance was synchronized to samba music, manually annotated by experts, in order to build a spatiotemporal representation of the dance movement with variability, in relation to the respective musical temporal structure (musical meter). This enabled the determination and generation of variable dance key-poses according to the captured human body model. In order to retarget these key-poses from the original human model into the considered humanoid morphology, we propose methods for resizing and adapting the original trajectories to the robot joints, overcoming its varied kinematic constraints. Finally, a method for generating the angles for each robot joint is presented, enabling the reproduction of the desired poses in a simulated humanoid robot NAO. The achieved results validated our approach, suggesting that our method can generate poses from motion capture and reproduce them on a humanoid robot with a good degree of similarity.