Abstract
A forecast model for estimating the annual variation in regional wine production has been developed over the past decade for the main wine regions of northern Portugal. Annual wine production has been forecasted based on a hierarchical analysis, including a determination of potential production by measuring airborne pollen concentrations at flowering with Cour traps followed by an evaluation of the possible impact of postflowering conditions on limited crop production. For each region, airborne pollen concentrations, in conjunction with wine yield, account for up to 90 to 95% of the interannual variations in wine production. Ninety-seven to 99% of the annual variability in regional wine production can be explained by agropalynoclimatological forecast models that take into account a number of agronomic and weather conditions after flowering. The reliability and early-indication ability of these forecast models justify their use by institutions and economists in decision making, adoption of technical improvements, and fraud detection.

Abstract
The annual airborne pollen variation of the Porto region was studied from November 2001 to October 2002 using a Cour type sampler. A total of 170 × 106 grains m-2 belonging to 63 taxa was observed. The vegetation surrounding the sampling point includes ornamental, non-ornamental trees, shrubs and herbaceous species. The main pollen types were Cupressaceae, Gramineae, Hamamelidaceae, Pinaceae, Urticaceae, Quercus spp., Acer spp., Myrtaceae, Caryophyllaceae, Oleaceae, Betulaceae and Plantago spp. that represented 88% of the Porto pollen spectrum. Gramineae, Cupressaceae, Myrtaceae, Oleaceae, Pinaceae and Urticaceae pollen are found throughout the year. Concerning total pollen concentration, the distribution throughout the year is very irregular, with several annual peaks, with the maximum concentration registered between the end of March and the first two weeks of April and the lowest observed during autumn.

Abstract
This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables that minimizes the optimization indices. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, leg links length, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the foot locomobility index, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices. Copyright © 2002 IFAC.

Abstract
This paper studies quasi-periodic gaits of multi-legged robot locomotion systems based on the analysis of the dynamic model. The purpose is to determine the system performance during walking and the best strategy to overcome an obstacle. For that objective the robot prescribed motion is characterized in terms of several locomotion and obstacle variables. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute power, the mean power lost in the joint actuators and the mean force of the interface body-legs per walking distance. A set of model-based experiments reveals the influence of the obstacle position and dimensions in the proposed indices.

Abstract
This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the locomobility of the foot, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.

Abstract