Abstract
This paper presents a Rapid P rototyping Framework (RPF) based on MATLAB/Simulink and the next steps towards developing an interactive control architecture based on the TI TMS320F28335 DSP. Firstly, the rapid proto typing framework is described comprising the details of the tools and hardware. Secondly, the experiments towards the realization of a real-time control application for the experimental setup are revealed. Finally, a controller for managing the DC link control of EVs with multiple energy sources was implemented by the RPF to demonstrate the performance of the developed system.

Abstract
The spread of mobile devices in modern societies has forced the industry to create software paradigms to meet the new challenges it faces. Some of these challenges are the huge heterogeneity of devices or the quick changes of users' context. In this scenario, context becomes a key element, enabling mobile applications to be user centric and adapt to user requirements. The Mobile Context Framework, proposed in this paper, is a contribution to solve some of these challenges. Using Web servers running on the devices, context data can be provided to web applications. Besides the framework's architecture, a prototype is presented as proof of concept of the platform's potential. © 2013 Springer-Verlag Berlin Heidelberg.

Abstract
plataforma APEX foi desenvolvida para a prototipagem de ambientes de computação ubíqua. Neste artigo exploramos a sua aplicabilidade ao desenvolvimento de Jogos Sérios. Ou seja, jogos que para além de uma componente lúdica, possuem uma componente instrutiva e formativa. Em concreto, descrevemos o Jogo da Asma. Um jogo que pretende chamar a atenção das crianças para os factores causadores de ataques de asma, bem como transmitir conhecimento sobre como os evitar. Para além de se descrever o jogo, descrevem-se os resultados de um estudo em que se procurou avaliar quer a viabilidade da utilização da plataforma na criação de jogos sérios, quer a usabilidade do próprio jogo.

Abstract
This article focuses on the localization and navigation of a mobile differential robot in an indoor office-like environment. These are fundamental issues to service robotics, which is a branch with a strong market growth. The work implements a vision tracking system, environment mapping, route planning and navigation for an autonomous robot application inside services buildings. One goal of the methodology is its application with low cost equipment. The test bed chosen was a Pioneer P3-DX robot [16] in a service building, with an attached USB webcam, pointed at the ceiling to take advantage of the position of the light fixtures as natural landmarks. The robot location is estimated through two distinct probabilistic methods: a particle filter, when there is no information about the starting location of the robot, and the Kalman filter, given the convergence of the particle filter. Both methods use the detection of light fixtures together with the robot kinematics as information to estimate the pose. The mapping of the environment and its obstacles is obtained from the localization estimates and the information gathered by ultrasound sensors, representing the entire navigation space discretized in the form of an occupation grid. Planning the navigation path is determined by a simple search algorithm, namely the Wavefront algorithm, based on the information contained in the occupancy grid. For a given path, navigation is performed with obstacle avoidance using the virtual forces method. Replanning is used to recover from local minima situations.

Abstract
In this paper we propose FIREMAN, a low cost system for online monitoring of firefighters ventilation patterns when using Self-Contained Breathing Apparatus (SCBA), based on a specific hardware device attached to SCBA and a Smartphone application. The system implementation allows the detection of relevant ventilation patterns while providing feasible and accurate estimation of SCBA air consumption.

Abstract
Environmental performance assessments are often conducted using environmental indicators. Although these indicators provide a starting point for performance assessments, they do not provide guidelines that countries should follow to improve performance. This paper develops an enhanced Data Envelopment Analysis (DEA) model that provides a single summary measure of countries' environmental performance, based on the aggregation of the indicators that underlie the estimation of the Environmental Performance Index (EPI). The DEA model used is based on a novel specification of weight restrictions. The main contribution of the methodology used in this paper is to enable benchmarking in such a way that it becomes possible to identify the strengths and weaknesses of each country, as well as the peers with similar features to the country under assessment. These peers provide examples of good environmental practices that countries with worse performance should follow to improve performance. Journal of the Operational Research Society (2013) 64, 426-438. doi:10.1057/jors.2012.62 Published online 16 May 2012