Abstract
The trend to have more cooperative play and the increase of game dynamics in Robocup MSL League motivates the improvement of skills for ball passing and reception. Currently the majority of the MSL teams uses ball handling devices with rollers to have more precise kicks but limiting the capability to kick a moving ball without stopping it and grabbing it. This paper addresses the problem to receive and kick a fast moving ball without having to grab it with a roller based ball handling device. Here, the main difficulty is the high latency and low rate of the measurements of the ball sensing systems, based in vision or laser scanner sensors.Our robots use a geared leg coupled to a motor that acts simultaneously as the kicking device and low level ball sensor. This paper proposes a new method to improve the capability for ball sensing in the kicker, by combining high rate measurements from the torque and energy in the motor and angular position of the kicker leg. The developed method endows the kicker device with an effective ball detection ability, validated in several game situations like in an interception to a fast pass or when chasing the ball where the relative speed from robot to ball is low. This can be used to optimize the kick instant or by the embedded kicker control system to absorb the ball energy. © 2013 Springer-Verlag.

Abstract
The metabolic disorder which entails the absent or reduced control of blood glucose in the body by means of insulin dependence (Type 1) or intolerance (Type 2) affected more than 366 million people in 2011. This represents an increase of 28% new cases in one year. Diabetes Mellitus has become the most common chronic diseases in nearly all countries, and continues to increase in numbers and significance, as economic development and urbanization lead to changing lifestyles characterized by reduced physical activity, and increased obesity. Recent advances in wireless sensor networking technology have led to the development of low cost, low power, multifunctional sensor nodes that enable environment sensing together with data processing. Instrumented with a variety of sensors, such as temperature, humidity, volatile compound detection, bio implanted sensors; the development of such networks requires testing for transmission distance and human body interference. As Bluetooth Low-Energy (BLE) operates in the free 2.4GHz ISM band, the same band that Wi-Fi signals operate, tests regarding interference, robustness and coexistence must be made in order to ensure Quality of Service (QoS) and therefore achieve medical diagnostic equipment status. This paper presents a BLE prototype and compares the results obtained in terms of radiated power over distance with and without physical barriers. © 2013 The Science and Information Organization.

Abstract
A sensing configuration based on an intensity optical fibre sensor for temperature measurement is reported. Two sensing heads, with identical geometrical configuration, connected in series are implemented. Each sensing head is placed between two fibre Bragg gratings (FBGs), being able to provide a self-referenced measurement, and thus eliminate errors that may arise from undesired intensity fluctuations in the configuration. The first FBG, placed before the aluminium tube, acts as the reference FBG, while the second FBG, placed after the aluminium tube, acts as the signal FBG. It is observed that the amplitude of the signal FBG decays when temperature increases, due to the increase of the ferrules' gap and as result of the material thermal expansion. The temperature response has a behaviour that corresponds to a polynomial fit of third order. The crosstalk between the two sensing heads in series is analysed. The temperature sensitivities obtained in the intervals regions of [36, 48.5] degrees C and [64, 85] degrees C are 2.67 x 10(-3) degrees C-1 and 1.74 x 10(-4) degrees C-1, respectively. Ten sensing heads with this configuration can be multiplexed in series network topology.

Abstract
In this paper a spun elliptically birefringent photonic crystal fiber is fabricated and characterized. Its performance as a current sensor, using a polarimetric configuration, was tested and compared against single mode fiber at 633 nm. In particular the sensor sensitivity and linearity was investigated using fiber loops with different radius or number of turns around the conductor. The results obtained show that the spun fiber (40 rotation per meter) is able to suppress quite effectively the effects of the bend induced birefringence as compared to the standard fiber.

Abstract
This paper describes the open-source software toolchain developed by the Underwater Systems and Technology Laboratory (LSTS) for supporting networked heterogeneous air and ocean vehicle systems. The toolchain supports the deployment of air and ocean vehicles interacting over limited acoustic and wireless networks combined with disruption-tolerant networking protocols. We present the different components of the toolchain and how they can be deployed and extended for different scenarios. We conclude with descriptions of recent applications to onboard deliberative planning and integration of low-cost micro UAVs into the toolchain.

Abstract