Abstract
Dragonflies show unique and superior flight performances than most of other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, it is presented an adaptive scheme controlling a nonlinear model inspired in a dragonfly-like robot. It is proposed a hybrid adaptive (HA) law for adjusting the parameters analyzing the tracking error. At the current stage of the project it is considered essential the development of computational simulation models based in the dynamics to test whether strategies or algorithms of control, parts of the system (such as different wing configurations, tail) as well as the complete system. The performance analysis proves the superiority of the HA law over the direct adaptive (DA) method in terms of faster and improved tracking and parameter convergence.

Abstract

Abstract
One of the most well-known bio-inspired algorithms used in optimization problems is the particle swarm optimization (PSO), which basically consists on a machine-learning technique loosely inspired by birds flocking in search of food. More specifically, it consists of a number of particles that collectively move on the search space in search of the global optimum. The Darwinian particle swarm optimization (DPSO) is an evolutionary algorithm that extends the PSO using natural selection, or survival of the fittest, to enhance the ability to escape from local optima. This paper firstly presents a survey on PSO algorithms mainly focusing on the DPSO. Afterward, a method for controlling the convergence rate of the DPSO using fractional calculus (FC) concepts is proposed. The fractional-order optimization algorithm, denoted as FO-DPSO, is tested using several well-known functions, and the relationship between the fractional-order velocity and the convergence of the algorithm is observed. Moreover, experimental results show that the FO-DPSO significantly outperforms the previously presented FO-PSO.

Abstract
Image segmentation has been widely used in document image analysis for extraction of printed characters, map processing in order to find lines, legends, and characters, topological features extraction for extraction of geographical information, and quality inspection of materials where defective parts must be delineated among many other applications. In image analysis, the efficient segmentation of images into meaningful objects is important for classification and object recognition. This paper presents two novel methods for segmentation of images based on the Fractional-Order Darwinian Particle Swarm Optimization (FODPSO) and Darwinian Particle Swarm Optimization (DPSO) for determining the n-1 optimal n-level threshold on a given image. The efficiency of the proposed methods is compared with other well-known thresholding segmentation methods. Experimental results show that the proposed methods perform better than other methods when considering a number of different measures.

Abstract
The Darwinian Particle Swarm Optimization (DPSO) is an evolutionary algorithm that extends the Particle Swarm Optimization using natural selection to enhance the ability to escape from sub-optimal solutions. An extension of the DPSO to multi-robot applications has been recently proposed and denoted as Robotic Darwinian PSO (RDPSO), benefiting from the dynamical partitioning of the whole population of robots, hence decreasing the amount of required information exchange among robots. This paper further extends the previously proposed algorithm adapting the behavior of robots based on a set of context-based evaluation metrics. Those metrics are then used as inputs of a fuzzy system so as to systematically adjust the RDPSO parameters (i.e., outputs of the fuzzy system), thus improving its convergence rate, susceptibility to obstacles and communication constraints. The adapted RDPSO is evaluated in groups of physical robots, being further explored using larger populations of simulated mobile robots within a larger scenario.

Abstract
This paper investigates the cyclical behaviour of the wine production in Douro region during the period 1932-2008. In general, wine production is characterised by large fluctuations which are composed of short-term and/or long-term cycles. The aim of this paper is twofold: firstly, we decompose the wine production's variance in order to find the dominating production cycles, i.e we try to explain whether wine production follows more long-term or short-term cycles. In the next step, we try to explain those cycles using a dependent variable, namely the medium spring temperature (Tm_Sp) for the period 1967-2008. We estimated a Time-Varying Autoregressive Model, which could explain 75% of the production that is characterised by 4.8- and 2.5-year cycles. We use the Short Time Fourier Transform to decompose the link between wine production and temperature. When the temperature was incorporated, the R (2) increased and the Akaike criterion value was lower. Hence, Tm_Sp causes a large amount of these cycles and the wine production variation reflects this relationship. In addition to an upward trend, there is a clearly identifiable cycle around the long-term trend in production. We also show how much of the production cycle and what cycle in particular is explained by the Tm_Sp. There is a stable but not constant link between production and the Tm_Sp. In particular, the temperature is responsible for 5.2- and 2.4-year cycles which has been happening since the 1980s. The Tm_Sp can also be used as an indicator for the 4.8- and 2.5-year cycles of production. The developed model suggests that stationarity is a questionable assumption, and this means that historical distributions of wine production are going to need dynamic updating.