Abstract
The scientific and technological development, together with the world of robotics, is constantly evolving, driven by the need to find new solutions and by the ambition of human beings to develop systems with increasingly efficiency. Consequently, it is necessary to develop planning algorithms capable of effectively and safely move a robot within a given non structured scene. Moreover, despite of the several robotic solutions available, there are still challenges to standardise a development technique able to obviate some pitfalls and limitations present in the robotic world. The Robotic Operative System (ROS) arise as the obvious solution in this regard. Throughout this project it was developed and implemented a double A* path planning methodology for automatic manipulators in the industrial environment. In this paper, it will be presented an approach with enough flexibility to be potentially applicable to different handling scenarios normally found in industrial environment.

Abstract
When designing clinical trials for testing novel cardiovascular therapies, it is highly relevant to understand what a given technology can provide in terms of information on the physiologic status of the heart and vessels. Ultrasound imaging has traditionally been the modality of choice to study the cardiovascular system as it has an excellent temporal resolution; it operates in real-time; it is very widespread and - not unimportant - it is cheap. Although this modality is mostly known clinically as a two-dimensional technology, it has recently matured into a true three-dimensional imaging technique. In this review paper, an overview is given of the available ultrasound technology for cardiac chamber quantification in terms of volume and function and evidence is given why these parameters are of value when testing the effect of new cardiovascular therapies.

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A wine forecast model for one of the most arid wine regions of the Europe-Alentejo was improved and tested for the period 1998-2014. During this period, Alentejo region had strong upward trends in wine production associated to the increase of vineyard area. The forecast model was supported on a hierarchical analysis, including the determination of the potential production at flowering by quantifying airborne pollen concentration, followed by a climate based evaluation of the possible impact of fruit-set conditions in the limitation of production. Through the monitoring of airborne pollen flows it is possible to define an accurate main pollen season and determine the regional pollen index that will be used as independent variable in the regional forecast model. The time trend, which was initially removed from data, was then added back to obtain the forecast. Stepwise regression and cross-validation were employed during the period 1998-2014 for calibration of the model used for predicting annual wine production. The developed model explained about 86% of wine variance over the years with absolute average error of 6% for the cross validation and 87% of cases had differences between actual and forecasted wine production below 10%. The reliability and early-indication ability of the proposed forecast model justify their use to respond to a number of government agencies and wine industry concerns and activities.

Abstract
We present Conchord, a system for real-time automatic generation of musical harmony through navigation in a novel 12-dimensional Tonal Interval Space. In this tonal space, angular and Euclidean distances among vectors representing multi-level pitch configurations equate with music theory principles, and vector norms acts as an indicator of consonance. Building upon these attributes, users can intuitively and dynamically define a collection of chords based on their relation to a tonal center (or key) and their consonance level. Furthermore, two algorithmic strategies grounded in principles from function and root-motion harmonic theories allow the generation of chord progressions characteristic of Western tonal music.