Abstract
A nonlinear model predictive formation controller (NMPFC) was used to converge a group of middle sized mobile soccer robots towards a desired target using the concept of active target tracking. This paper presents a novel approach on the formation controller's weight tuning in order to minimize an objective function that reflects the controller's efficiency with respect to a given criteria. This method is here called Iterative Weight Tuning (IWT). In this paper the effectiveness from the proposed method is shown by the results of simulations and experiment with real robots, compared to the tuning performed using genetic algorithms approach. The results demonstrated that the IWT method was successful in achieving a better set of weights that influenced the formation controller to converge the robots into formation in a better fashion regarding the agents' objective function.

Abstract
Purpose - The purpose of this paper is to estimate retailing efficiency in a 26-store women clothing retail chain and to decompose it in several measures in order to contribute to the performance improvement of this retail service firm, as well as to compare the efficiency of the different decision making units. Design/methodology/approach - This paper uses the following measures to estimate efficiency: sigma convergence analysis; efficiency analysis; technical efficiency (TE) analysis; pure technical efficiency (PTE) analysis and scale efficiency (SE) analysis for a set of 26 stores of a women retail service brand operating in Portugal. A cross-section input-oriented data envelopment analysis (DEA) is used to analyse quarterly data sets from 2010 to 2013. Findings - The results show that costs with personnel are slightly increasing when analysed using the sigma convergence method, although there are some geographical differences. Moreover, it is possible to witness that the retail store chain's TE diminishes as the operations outputs do not grow as fast as input savings. On the other hand, there are no SE problems as the levels of SE are larger than pure efficiency levels. Research limitations/implications - The main limitation of the study stems from the fact that the analysis is based on a simple retail chain, which makes it a single case study. Therefore, the generalisation of the conclusions for other firms or for other periods of analysis should be made cautiously. Practical implications - It is shown that some stores have a good TE and other stores have some SE advantage. As such, it is possible to select some stores as benchmarks to deploy internal efficiency throughout the retail chain. Originality/value - The contribution of this paper is based on the application of the sigma conversion and DEA techniques to evaluate efficiency in retail service store.

Abstract
The success of dental implant-supported prosthesis is directly linked to the accuracy obtained during implant's pose estimation (position and orientation). Although traditional impression techniques and recent digital acquisition methods are acceptably accurate, a simultaneously fast, accurate and operator-independent methodology is still lacking. Hereto, an image-based framework is proposed to estimate the patient-specific implant's pose using cone-beam computed tomography (CBCT) and prior knowledge of implanted model. The pose estimation is accomplished in a three-step approach: (1) a region-of-interest is extracted from the CBCT data using 2 operator-defined points at the implant's main axis; (2) a simulated CBCT volume of the known implanted model is generated through Feldkamp-Davis-Kress reconstruction and coarsely aligned to the defined axis; and (3) a voxel-based rigid registration is performed to optimally align both patient and simulated CBCT data, extracting the implant's pose from the optimal transformation. Three experiments were performed to evaluate the framework: (1) an in silico study using 48 implants distributed through 12 tridimensional synthetic mandibular models; (2) an in vitro study using an artificial mandible with 2 dental implants acquired with an i-CAT system; and (3) two clinical case studies. The results shown positional errors of 67+/-34 mu m and 108 mu m, and angular misfits of 0.15+/-0.08 degrees and 1.4 degrees, for experiment 1 and 2, respectively. Moreover, in experiment 3, visual assessment of clinical data results shown a coherent alignment of the reference implant. Overall, a novel image-based framework for implants' pose estimation from CBCT data was proposed, showing accurate results in agreement with dental prosthesis modelling requirements.

Abstract
In this paper we present a study about multi-sensory content within the context of learning activities aimed at people with intellectual disability. A story was prepared together with traditional stimulus (audio and visual) and multisensory (audio, video, tactile and smell). Knowing that people with intellectual disability, due to their cognitive limitation, have multiple learning difficulties, namely in areas such as: communication, reading/writing and attention [1], it is really important to create innovative and pedagogically effective solutions that may motivate them and assist their learning process. Therefore, this study presents Preliminary results showing an overall improvement regarding the participant's memory when using the very multi-sensory contents. (C) 2015 The Authors. Published by Elsevier B.V.

Abstract
The bivalve dredge fleet, considered as one of the most important artisanal fleets due to the high value of the catches, is by far the most extensively studied among the Portuguese artisanal segment. Acknowledging the growing presence of marine phycotoxins in the waters, the present study explores their impact on the revenue of the fleet that operates along the coast of mainland Portugal. The results obtained using stochastic frontier analysis models enlighten the harmful impact of algae blooms on the activity of the artisanal dredge fleets. In particular, it was observed that in the Algarve region, where the frequency and the intensity of these episodes is higher, the sustainability of the dredge fishing activity is seriously compromised by the phycotoxins.

Abstract
The use of graphics in Industry is something completely normal as used to be in education, something different is the way we can apply the concepts. The idea of this document is to show the ways we think industrial graphical systems can be applied in education to increase the way students can learn some kind of skills. In the industry graphic systems show the ways in which the systems are working and operating displays of DCS (Distributed Control System) displays operational information in 2D, 2.5 or 3D environments. Educational graphics are being used to show tales, math, physical or other objects in 2D, this limits the full awareness situation of the things that can be showed to students. To enhance the characteristics of educational graphics we propose the use of some industrial tricks to increase the students' attention and understanding of situations. We think that this increases the amount and quality of information that may be given to students and prevents unnecessary time consuming in explanations.