Abstract
This study introduces a technique for the design of multivariable decentralized proportional-integral controllers (Pl). This problem is addressed by first analyzing the pairing possibilities of the manipulated and controlled variables, which result in minor interaction between the loops; controller tuning is then performed by using the particle swarm optimization algorithm. The control objective is to design the multivariable controller for the several viable pairing possibilities, minimizing the error between the controller outputs and the set-point variables. Simulation results presented allow the conclusion that the proposed technique can tune the controller with all the loops closed, reducing the interaction effect. It is also shown that for this problem the particle swarm algorithm is faster in converging than a genetic algorithm.

Abstract
The MatPLC is an international project to create and distribute a program similar to a PLC (Programmable Logic Controller) for POSIX Operating Systems, and licensed under the GNU Public License. Considerable effort has been put into designing a robust and scalable system, which includes novel features and capabilities not found in standard PLCs.

Abstract
In this paper an alternative technique for differential gain and phase testing of video ADCs based on the use of joint time-frequency analysis is presented. This technique can lead to a significant improvement in ADC testing time and in the amount of information provided by these specific tests.

Abstract
Analog-to-digital converter (ADC) characterization is usually performed using stationary stimuli like sine waves. However, the use of a non-stationary stimulus, besides providing testing conditions closer to those found in real applications, can lead to interesting improvements in ADC testing speed, This kind of signal needs proper processing techniques in order to extract useful information. In this paper we propose the use of joint time-frequency analysis (JTFA) for this purpose. The basic principles of the technique, and how it can be used in ADC testing are presented. in particular, a method for characterising an ADC on its entire bandwidth using a single stimulus is described.

Abstract
The 5dpo team presented a solid set of innovative solutions. The overall workings of the team are presented. Mechanical and electronic solutions are explained and closed loop working is discussed. Main innovative features include I-R communications link and circular bar code for robot tracking. Low level control now presents a dynamics prediction layer for enhanced motion control. Team strategy is also new and a multi-layered high level reasoning system based on state charts allows for cooperative game play. © 2002 Springer-Verlag Berlin Heidelberg.

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, link lengths, 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.