Abstract
Nowadays location systems are used within a large variety of applications. The application of these systems within indoor environments is already provided by several solutions. However, the need for high accuracy within these environments to pursue such purpose implies the use of specific infrastructures designed towards it. Our project tries to meet the requirements for a simple, low-cost, and scalable location system through different approaches. The main idea of it is to re-construct topological maps of indoor spaces through location estimation, i.e. using off-the-shelf technologies. We try to perform location estimations and then re-create the indoor maps as topological maps as a means of reducing the precision requirements other systems have, and develop a scalable and highly applicable system using sensors featuring mobile devices.

Abstract
Nowadays location systems are used within a large variety of applications. The application of these systems within indoor environments is already provided by several solutions. However, the need for high accuracy within these environments to pursue such a purpose implies the use of specific infrastructures designed towards it. Our project tries to meet the requirements for a simple, low-cost, and scalable location system through different approaches. The main idea of it is to re-construct topological maps of indoor spaces through location estimation, and to serve as a means of reducing the precision requirements other systems may have to develop a scalable and highly applicable solution. © 2012 Authors.

Abstract
In this paper we report on a methodology to model pedestrian behaviours whilst aggregate variables are concerned, with potential applications to different situations, such as evacuating a building in emergency events. The approach consists of using UWB (ultra-wide band) based data collection to characterise behaviour in specific scenarios. From a number of experiments carried out, we detail the single-file scenario to demonstrate the ability of this approach to represent macroscopic characteristics of the pedestrian flow. Results are discussed and we can conclude that UWB-based data collection shows great potential and suitability for human trajectory extraction, when compared to other traditional approaches.

Abstract
The synthesis and application of fractional-order controllers is now an active research field. This article investigates the use of fractional-order PID controllers in the velocity control of an experimental modular servo system. The systern consists of a digital servomechanism and open-architecture software environment for real-time control experiments using MATLAB/Simulink. Different tuning methods will be employed, such as heuristics based on the well-known Ziegler Nichols rules, techniques based on Bode’s ideal transfer function and optimization tuning methods. Experimental responses obtained from the application of the several fractional-order controllers are presented and analyzed. The effectiveness and superior performance of the proposed algorithms are also compared with classical integer-order PID controllers.

Abstract

Abstract
During the last two decades the research and development of legged robots has grown steadily. Legged systems present major advantages when compared with "traditional" vehicles, because they allow locomotion in terrain inaccessible to vehicles with wheels and tracks. However, the robustness of legged robots, and specially its energy consumption, among other aspects, still lag being mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. One of these aspects relates to the optimum parameters that these machines should adopt in order to minimize the energy consumption. Due to the large number of parameters involved in this optimization process, one way to achieve meaningful results is using evolutionary strategies. Genetic Algorithms are a way to "imitate nature" replicating the process that nature designed for the generation and evolution of species. This paper presents a genetic algorithm, running over a simulation application of legged robots, which allows the optimization of several parameters of a quadruped robot model.