Abstract
This paper proposes a multi-objective genetic algorithm to optimize a manipulator trajectory. The planner has several objectives namely the minimization of the space and join arm displacements and the energy required in the trajectory, without colliding with any obstacles in the workspace. Simulations results are presented for robots with two and three degrees of freedom, considering the optimization of two and three objectives.

Abstract
Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non trivial optimization problem. In this paper a multi-objective genetic algorithm is proposed to address this problem. Multiple criteria are optimized up to five simultaneous objectives. Simulations results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.

Abstract
A silicon soil moisture sensor, based in the dual-probe heat-pulse (DPHP) method, was modeled, simulated and tested for achieving, with low-cost, accurate and reliable measurements. This method is based on the application of a heat pulse during a fixed interval of time. The maximum rise in temperature (DeltaT(M)) is monitored by the measurement probe, placed at a certain distance of the heater source. A low-cost high-performance and small temperature sensor (a dynamic V-pTAT generator) was designed and fabricated to be placed into the probe which have 0.912 mm inner diameter and 20 mm long. If one considers the range of water contents, ratio of water mass to dry soil mass, in a typical agricultural soil (0.05-0.35 m(3) M-3), the average sensitivity of the dual probe is about 1.95 degreesC per unit change (m(3) M-3) in water content for q = 400 Jm(-1).

Abstract
This paper describes a wireless RF CMOS interface for soil moisture measurements. The interface basically comprises a Delta-Sigma (DeltaSigma) modulator for acquiring an external sensor signal, and a RF section where data is transmitted to a local processing unit. The DeltaSigma modulator is a single-bit, second-order modulator and it is implemented using switched-capacitors techniques in a fully-differential topology. With a sampling frequency of 423.75 kHz and an oversampling ratio (OSR) of 256, the modulator achieves a dynamic range of 98.7 dB (16.1 bit). The output of the modulator is applied to a counter, as a first-order decimation filter, and the result is stored. Prior to transmission, data is encoded as a pulse width modulated signal and assembled in a frame containing preamble and checksum control fields. This frame is then transmitted through a power amplifier operating at 433.92 MHz in class-E mode. To evaluate the DeltaSigma modulator performance, the bitstream was acquired and transferred to a personal computer to perform digital filtering and decimation using MATLAB. The soil moisture sensor is based on dual-probe heat-pulse (DPHP) method and is implemented by using an integrated temperature sensor and a heater. After applying a heat-pulse for a fixed period of time, the temperature rise, that is a function of soil moisture, generates a differential voltage that is amplified and applied to the mixed-signal interface input. The described interface can also be used with other kinds of environmental sensors in a wireless sensors network. The CMOS mixed-signal interface has been implemented in a single-chip using a standard CMOS 0.7 mum process (AMI C07M-A, n-well, 2 metals and 1 poly).

Abstract
This paper presents the implementation of fractional-order algorithms both for hybrid and cascade position/force control of robotic manipulators. The system performance and robustness is analyzed in the time and frequency domains. The effects joint backlash and flexibility are also investigated.

Abstract
This paper presents several experiments with a genetic algorithm (GA) for designing combinational logic circuits. The study addresses the population size and the processing time for achieving a solution in order to establish a compromise between the two parameters. Furthermore, it is also investigated the use of different gate sets for designing the circuits namely RISC and CISC like gate sets.