Abstract
The accurate estimation of the frequency of sinusoids is a frequent problem in many signal processing problems including the real-time analysis of the singing voice. In this paper we rely on a single DFT magnitude spectrum in order to perform frequency estimation in a non-iterative way. Two new frequency estimation methods are derived that are matched to the time analysis window and that reduce the maximum absolute estimation error to about 0.1% of the bin width of the DFT. The performance of these methods is evaluated including the parabolic method as a reference, and considering the influence of noise. A combined model is proposed that offers higher noise robustness than that of a single model. ©2010 IEEE.

Abstract
This study presents the results of a multidisciplinary approach, using hydrogeochemical, isotopic and ecotoxicological analyses, performed to assess the nature and suitability for use of Paranhos and Salgueiros spring waters (Porto city, NW Portugal). Based on the surface activities located along the course of the springs, 23 water samples were collected. All the samples were analysed for major element concentrations. The isotopic techniques employed included delta(2)H, delta(18)O and (3)H. Standard acute bioassays with Daphnia magna were also performed. The hydrogeochemical analyses showed a nitrate and sulphate-enriched composition for these groundwaters, resulting mainly from urban drainage and sewer leakage. In the ecotoxicological analyses, no significant mortality was observed in any of the tests performed. The results obtained in this study suggest that Porto urban groundwater could be suitable for irrigation uses.

Abstract
This paper presents a robust output feedback controller based on sliding modes and indirect adaptive control applied to the angular shaft speed control of a three-phase induction motor. This approach has remarkable stability properties and offers a straightforward and intuitive tuning of its parameters. Moreover, a simplified version of the algorithm, named compact indirect variable structure model reference adaptive control (CIVS-MRAC), provides not only an easy design procedure, but also a computational implementation of low complexity, thus motivating its application in industrial environments.

Abstract
This paper presents a framework for a robotic production line simulation learning environment using Autonomous Ground Vehicles (AGV). An eLearning platform is used as interface with the simulator. The objective is to introduce students to the production robotics area using a familiar tool, an eLearning platform, and a framework that simulates a production line using AGVs. This framework allows students to learn about robotics but also about several areas of industrial management engineering without requiring an extensive prior knowledge on the robotics area. The robotic production line simulation learning environment simulates a production environment using AGVs to transport materials to and from the production line. The simulator allows students to validate the AGV dynamics and provides information about the whole materials supplying system which includes: supply times, route optimization and inventory management. The students are required to address several topics such as: sensors, actuators, controllers and an high level management and optimization software. This simulator was developed with a known open source tool from robotics community: Player/Stage. This tool was extended with several add-ons so that students can be able to interact with a complex simulation environment. These add-ons include an abstraction communication layer that performs events provided by the database server which is programmed by the students. An eLearning platform is used as interface between the students and the simulator. The students can visualize the effects of their instructions/programming in the simulator that they can access via the eLearning platform. The proposed framework aims to allow students from different backgrounds to fully experience robotics in practice by suppressing the huge gap between theory and practice that exists in robotics. Using an eLearning platform eliminates installation problems that can occur from different computers software distribution and makes the simulator accessible by all students at school and at home.

Abstract

Abstract
The Porto settlement (Northwest Portugal, Iberian Peninsula) was originally built in the twelfth century and has been developed on granitic hill slopes of the Douro riverside, being one of the oldest cities in Europe. In the urban area of Porto, the second most important city of the Portuguese mainland, there is a population of about 216,000 inhabitants. This study highlights the importance of urban speleological mapping applied to groundwater and geo-engineering studies. All the water that flows from the so-called Paranhos or Arca D'Agua springs is captured by catchwork galleries and their utilization date back around 1120 AD. Paranhos spring galleries catchworks (c. 3,3 km extension and a -21m below ground level) was one of the main water supplies to Porto City for more than six centuries and, nowadays, these waters are still appropriate for irrigation uses. Topographical, geological, geophysical and hydrogeological data were collected and interpreted, allowing the definition of a hydrogeotechnical zoning. All these features were mapped and overlaid using GIS mapping techniques. This multidisciplinary approach offers a good potential for reliable urban speleological and geo-engineering studies of Arca D'Agua site.