Abstract
This paper reports the design of a new remotely operated underwater vehicle (ROV), which has been developed at the Underwater Systems and Technology Laboratory (USTL) - University of Porto. This design is contextualized on the KOS project (Kits for underwater operations). The main issues addressed here concern directional drag minimization, symmetry, optimized thruster positioning, stability and layout of ROV components. This design is aimed at optimizing ROV performance for a set of different operational scenarios. This is achieved through modular configurations which are optimized for each different scenario.

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Abstract
This paper presents a large amount of data on the composition of quince fruit with regard to phenolic compounds, organic acids, and free amino acids. Subsequently, principal component analysis (PCA) is carried out to characterize this fruit. The main purposes of this study were (i) the clarification of the interactions among three factors-quince fruit part, geographical origin of the fruits, and harvesting year-and the phenolic, organic acid, and free amino acid profiles; (ii) the classification of the possible differences; and (iii) the possible correlation among the contents of phenolics, organic acids, and free amino acids in quince fruit. With these aims, quince pulp and peel from nine geographical origins of Portugal, harvested in three consecutive years, for a total of 48 samples, were studied. PCA was performed to assess the relationship among the different components of quince fruit phenolics, organic acids, and free amino acids. Phenolics determination was the most interesting. The difference between pulp and peel phenolic profiles was more apparent during PCA. Two PCs accounted for 81.29% of the total variability, PC1 (74.14%) and PC2 (7.15%). PC1 described the difference between the contents of caffeoylquinic acids (3-O-, 4-O-, and 5-O-caffeoylquinic acids and 3,5-O-dicaffeoylquinic acid) and flavonoids (quercetin 3-galactoside, rutin, kaempferol glycoside, kaempferol 3-glucoside, kaempferol 3-rutinoside, quercetin glycosides acylated with p-coumaric acid, and kaempferol glycosides acylated with p-coumaric acid). PC2 related the content of 4-O-caffeoylquinic acid with the contents of 5-O-caffeoylquinic and 3,5-O-dicaffeoylquinic acids. PCA of phenolic compounds enables a clear distinction between the two parts of the fruit. The data presented herein may serve as a database for the detection of adulteration in quince derivatives.

Abstract
This paper explores sonic ideas concerning the time-analysis of functional programs defined by instantiating typical recursion patterns such as folds, unfolds. and hylomorphisms. The concepts in this paper are illustrated through a rich set of examples in the Haskell programming language. We concentrate on unfolds and folds (also known as anamorphisms and catamorphisms respectively) of recursively defined types, as well as the more general hylomorphism pattern. For the latter, we use as case-studies two famous sorting algorithms, mergesort and quicksort. Even though time analysis is not compositional, we argue that splitting functions to expose the explicit construction of the recursion tree and its later consumption helps with this analysis.

Abstract
Orchestrating software components, often from independent suppliers, became a central concern in software construction. Actually, as relevant as components themselves, are the ways in which they can be put together to interact and cooperate in order to achieve some common goal. Such is the role of the so-called software connectors: external coordination devices which ensure the flow of data and enforce synchronization constraints within a component's network. This paper introduces a new model for software connectors, based on relations extended in time, which aims to provide support for light inter-component dependency and effective external control.