Abstract
One line of research and development in robotics receiving increasing attention in recent years is the development of biologically inspired robots. The idea is to gain knowledge of biological beings and apply the knowledge thus acquired to implement the same methods of locomotion (or at least use the biological inspiration) on the machines we build. It is believed that this way it is possible to develop machines with capabilities similar to those of biological beings in terms of locomotion skills and energy efficiency. One way to better understand the functioning of these systems, without the need to develop prototypes with long and costly development, is to use simulation models. Given these ideas, this work concerns the study of the biomechanics of the spider crab, using the SimMechanics toolbox of Matlab/Simulink. This paper describes the anatomy and locomotion of the spider crab, its modeling and control and the locomotion simulation of a crab within the SimMechanics environment.

Abstract
Cardiovascular diseases are a growing epidemiological burden in today's society. A great deal of effort has been made to find solutions able to perform non-invasive monitoring and early diagnosis of such pathologies. The pulse wave velocity and certain waveform characteristics constitute some of the most important cardiovascular risk indicators. Optical sensors are an attractive instrumental solution in this kind of time assessment applications due to their truly non-contact operation capability and better resolution than commercial devices. This study consisted on the experimental validation and a clinical feasibility for a non-invasive and multi-parametric optical system for evaluation of the cardiovascular condition. Two prototypes, based on two different types of photodetectors (planar and avalanche photodiode) were tested in a small group of volunteers, and the main hemodynamic parameters were measured, such as pulse wave velocity and indexes of pulse waveform analysis: the Augmentation Index, Subendocardial Viability Ratio and Ejection Time Index. The probes under study proved to be able to measure the pulse pressure wave in a reliable manner at the carotid site, and demonstrated the consistency of the parameters determined using dedicated algorithms. This study represents a preliminary evaluation of an optical system devoted to the clinical evaluation environment. Further development to take this system to a higher level of clinical significance, by incorporating it in a multicenter study, is currently underway. © 2013 Biomedical Engineering Society.

Abstract
The goal of the Vital Responder research project is to explore the synergies between innovative wearable technologies, scattered sensor networks, intelligent building technology and precise localization services to provide secure, reliable and effective first-response systems in critical emergency scenarios. Critical events, such as natural disaster or other large-scale emergency, induce fatigue and stress in first responders, such as fire fighters, policemen and paramedics. There are distinct fatigue and stress factors (and even pathologies) that were identified among these professionals. Nevertheless, previous work has uncovered a lack of real-time monitoring and decision technologies that can lead to in-depth understanding of the physiological stress processes and to the development of adequate response mechanisms. Our "silver bullet" to address these challenges is a suite of non-intrusive wearable technologies, as inconspicuous as a t-shirt, capable of gathering relevant information about the individual and disseminating this information through a wireless sensor network. In this paper we will describe the objectives, activities and results of the first two years of the Vital Responder project, depicting how it is possible to address wearable sensing challenges even in very uncontrolled environments. © 2012 ICST Institute for Computer Science, Social Informatics and Telecommunications Engineering.

Abstract
Local pulse-wave velocity (PWV) is recognized as the simplest and most reproducible process of non-invasively assessing the vascular marker of arterial stiffness that allowing the risk of cardiovascular diseases to be determinate. Devices currently available for local PWV measurement have not yet been generalized to clinical practice since they require high technical expertise and most of them are limited in precision, due to the lack of reliable signal processing methods. This work describes a new type of probes, based on a piezoelectric sensor in different configurations, single probe and double probe. The principle of PWV measurement involves determination of the pulse transit time between the signals acquired simultaneously by both piezoelectric placed 23 mm apart in the same probe. The double probe characterization is accomplished in different studies, carried out in a dedicated test bench system, capable of reproducing a range of clinically relevant properties of the cardiovascular system.

Abstract
This paper envisages showing the potential of innovative non-invasive techniques based on affordable and easily operated instrumentation as well as user-friendly computer aided algorithms in the screening of cardiovascular (CV) diseases. These techniques are based on the assumption that arterial stiffness is currently an important predicator of the CV diseases development and can be assessed by analyzing the arterial pressure waveform (APW). A previously developed PZ based device for non-invasive APW capture is currently under test in clinical environment, using a heterogeneous population constituted by healthy and unhealthy subjects. A dedicated Matlab analysis tool was designed and developed to extract relevant information and further APW analysis. Several recordings of the APW in the same day and in consecutive months are being performed by trained observers, to evaluate its reproducibility. Data mining analysis is subsequently the last task where the Weka 3-6-5 package software is used. The usefulness of developing data mining algorithms for cardiovascular applications can benefit the CV screenings contributing for the early identification of arterial stiffness related patterns.

Abstract
We address the identification of discrete-time linear parameter varying systems in the state-space form with affine parameter dependence. In previous work, some of the authors have addressed this problem and an iterative algorithm that avoids the curse of dimensionality, inherent to this class of problems, was developed for the identification of multiple input multiple output systems. Although convergence of this algorithm has been assured for white noise sequences, it has also converged for other type of scheduling signals. Never less, its application is still not generalized to every class of scheduling parameters. In this paper, the algorithm is modified in order to identify multiple input single output systems with quasi-stationary scheduling signals. In every iteration, the system is modeled as a linear time invariant system driven by an extended input composed by the measured input, the Kronecker product between this signal and the scheduling parameter and the Kronecker product between the scheduling and the state estimated at the previous iteration. The remaining unknown signals are considered as "noise". Furthermore, the system is decomposed into a "deterministic" system driven by the known inputs and a "stochastic" subsystem driven by noise. The system is identified as a high order autoregressive exogeneous model. In order to whiten the noise, the input/output data is filtered by the inverse noise transfer function and a state-space model is estimated for the "deterministic" subsystem. Then, the output simulated by this system is subtracted from the measurements to obtain the output stochastic component. Finally, the state of the system is estimated using a Kalman filter and a deconvolution technique. Then, the state becomes an entry to the system for the next iteration, after being multiplied by the scheduling parameter. The whole process is repeated until convergence. The algorithm is tested using periodic scheduling signals and compared with other approaches developed by the same authors. © 2012 IFAC.