Abstract
This paper presents a novel localization method for small mobile robots. The proposed technique is especially designed for the Robot@Factory, a new robotic competition which is started in Lisbon in 2011. The real-time localization technique resorts to low-cost infra-red sensors, a map-matching method and an Extended Kalman Filter (EKF) to create a pose tracking system that performs well. The sensor information is continuously updated in time and space according to the expected motion of the robot. Then, the information is incorporated into the map-matching optimization in order to increase the amount of sensor information that is available at each moment. In addition, the Particle Swarm Optimization (PSO) relocates the robot when the map-matching error is high, meaning that the map-matching is unreliable and the robot gets lost. The experiments presented in this paper prove the ability and accuracy of the presented technique to locate small mobile robots for this competition. Extensive results show that the proposed method presents an interesting localization capability for robots equipped with a limited amount of sensors, but also less reliable sensors.

Abstract
This paper describes a procedure applied to model DC motors. An example of the procedure apply is shown for a 12V brushed DC motor, equipped with a 29:1 metal gearbox and an integrated quadrature encoder. It is described the developed setup applied to obtain the experimental data and the developed algorithm applied to estimate the actuator parameters. It was obtained an electro-mechanical dynamical model that describes the motor, its gear box and the encoder. The motivation to develop a simple and easy to assemble procedure that allows to model DC motors is due to the fact that these actuators are intensively used in mobile robotics, being realistic simulation, based in accurate sensor and actuator models, the key to speed up Robot Software developing time.

Abstract
This paper addresses the development of a new localization system based on a security laser presented on most AGVs for safety reasons. An enhanced artificial beacons detection algorithm is applied with a combination of a Kalman filter and an outliers rejection method in order to increase the robustness and precision of the system. This new robust approach allows to implement such system in current AGVs. Real results in industrial environment validate the proposed methodology.

Abstract
The continuous changes in electricity markets' mechanisms and operations turn this environment into a challenging domain for the participating entities. Simulation tools are increasingly being used for decision support purposes of such entities. In particular, multi-agent based simulation, which facilitates the modeling of different types of mechanisms and players, is being fruitfully applied to the study of worldwide electricity markets. An effective decision support to market players' negotiations is, however, still not properly reached due to the uncertainty that results from the increasing penetration of renewable generation and the complexity of market mechanisms themselves. In this scope, this paper proposes a novel metalearner that provides decision support to market players in their negotiations. The proposed metalearner uses as input the output of several other market negotiation strategies, which are used to create a new, enhanced response. The final result is achieved through the combination and evolution of the strategies' learning results by applying a genetic algorithm.

Abstract
Este capítulo proporciona uma narrativa e reflexão sobre as dinâmicas de aprendizagem e contacto com o espaço físico no âmbito de um ano de participação do autor no jogo Ingress, da Google. Como jogo georreferenciado de realidade alternativa, recorre ao espaço físico que nos rodeia, mas reinterpretado com camadas de informação digital. Como jogo mundial de milhares de utilizadores simultâneos, reunidos em apenas duas equipas mundiais, requer coordenação de esforços, estratégias e colaboração. Como jogo que combina ficção científica com mistério, baseado numa narrativa incompleta que vai sendo revelada, combina dados implícitos, explícitos e ocultos, requerendo cruzamento de informações e perspetivas entre jogadores. Como jogo que é desenvolvido tecnicamente ao longo deste período, com alterações constantes de regras e funcionalidades, requer adaptação rápida às consequências e dinâmicas sociais. Pretende-se com esta narrativa e reflexão descortinar o potencial deste tipo de jogos para dinâmicas e atividades de aprendizagem formal ou informal.

Abstract
Apresentamos um conceito de jogo inovador e o seu protótipo inicial, integrando tipos distintos de interação e de visualização. Dois jogadores interagem como timoneiro de uma nau portuguesa e gigante Adamastor. Um joga em realidade virtual controlada por gestos finos, outro usa aumentação contextual com gestos amplos e fi-nos. Pretende o conceito e o protótipo servirem como exemplificadores das potencialidades das novas formas de interação e de como as concretizar.