Abstract
We propose an online sensorimotor architecture for controlling a low-cost humanoid robot to perform dance movements synchronized with musical stimuli. The proposed architecture attempts to overcome the robot's motor constraints by adjusting the velocity of its actuators and inter-changing the attended beat metrical-level on-the-fly. Moreover, we propose quantitative metrics for measuring the level of beat-synchrony of the generated robot dancing motion and complement them with a qualitative survey about several aspects of the demonstrated robot dance performances. Tests with different dance movements and musical pieces demonstrated satisfactory beat-synchrony results despite the physical limitations of the robot. The comparison against robot dance sequences generated without inter-changing the attended metrical-level validated our sensorimotor approach for controlling beat-synchronous robot dancing motions using different dance movements and facing distinct musical tempo conditions.

Abstract
People with vision disabilities deal with serious limitations while moving around. Common navigation systems do not fully address the needs of blind people, which can only be attended with an adapted product. Blavigator is a navigation system for the blind, currently being developed at the University of Tras-os-Montes e Alto Douro. Blavigator proposes a solution to enhance mobility, finding routes and providing contextual information about points of interest in user's surroundings, guiding him to a desired destination. In this paper is presented the navigation module of Blavigator that ensures a continuous feed of information with sufficient detail allowing the blind user to reach the desired destination successfully. A pilot test with 5 blindfolded persons was conducted to test the navigation module feasibility and do some performance analysis. The results are promising and provide evidence that the navigation module helps blind people to successfully reach the desired destination.

Abstract
Humanoid robots usually have a large number of degrees of freedom which turns humanoid control into a very complex problem. Humanoids are used in several RoboCup soccer leagues. In this work, the SimSpark simulator of the Simulation 3D will be used. This paper presents an automatic approach for developing humanoid behaviors based on the development of a generic optimization system. The paper describes the adopted architecture, main design choices and the results achieved with the optimization of a side kick and a forward kick. For both skills, the optimization approach allowed the creation of faster and more powerful and stable behaviors.

Abstract
This paper presents a solution for geometric manipulation in procedural modeling as an Application Programming Interface (API). This approach intends to enable a more powerful control over the geometric entities by performing selections based on their attributes, similar to picking features in graphical interfaces. This is achieved through the definition of a topological structure, which features a set of properties, such as scope, spatial localization and semantic information. The applicable modeling operations allow a more customized control, as well as successive tracking, which induce a greater, faster and more intuitive approach for geometry generation. This approach still constitutes ongoing work, but has already been successfully applied for the generation of large virtual urban environments.

Abstract
The IEC 61508 standard recognizes the programming languages defined in IEC 61131-3 as being appropriate for safety-related applications, and suggests the use of static data type analysis of the source code. In this context, we have added a data type semantic verifier to the MatIEC compiler - an open source ST, IL and SFC code translator to ANSI C. In so doing, we have identified several issues related to the definition of the semantics of the IL and ST programming languages, as well as with the data type model defined in IEC 61131-3. In this paper we describe the issues we uncovered, explain how the data type static analyzer of the MatIEC was implemented, explain the options we took, and suggest how the IEC 61131-3 standard could be made more explicit.

Abstract
At the present time virtual communities are overspread in the web, providing users a cyber-place to share common purposes and interact with other users around the world. Interaction in these environments grapple with new challenges concerning to provide their users better tools to interact and fulfil their goals. In this context we propose a model to create regulated interaction environments based on the theatre metaphor: the Social Theatres. A dynamic multi-layer software architecture (ASTeaS) was developed to support this web-based interaction model, allowing easy construction of such social interaction spaces and adaptation to users' devices requirements. In this paper we discuss the usage of interaction regulation in virtual environments supported by the Social Theatres model and evaluate some aspects of the users interaction in two different case study scenarios.