Abstract
Exploring the seas and the oceans is essential for industrial and environmental applications. Given the fact that the seas cover 72% of the surface of the Earth and are home to 90% of all life found on it, underwater imaging has become an active research area in recent years. Due to the high absorption of electromagnetic waves by water, sonar is currently the exemplary choice used in underwater imaging. Yet, underwater images acquired with sonars suffer from various degradations, since the sound signal is affected by the environment and the sonar parameters and geometry. This work proposes an enhancement method that aims at getting close to natural underwater images. The enhanced images can be used in further applications related to seabed mapping and underwater computer vision. The enhancement aims at reducing the echo-decay and some effects of the receiver gain.

Abstract
The work described in this paper is part of the development of a framework to support the joint execution of cooperative missions by a group of vehicles, in a simulated, augmented, or real environment. Such a framework brings forward the need for formal languages in which to specify the vehicles that compose a team, the scenario in which they will operate, and the mission to be performed. This paper introduces the Scenario Description Language (SDL) and the Team Description Language (TDL), two Extensible Markup Language based dialects that compose the static components necessary for representing scenario and mission knowledge. SDL provides a specification of physical scenario and global operational constraints, while TDL defines the team of vehicles, as well as team-specific operational restrictions. The dialects were defined using Extensible Markup Language schemas, with all required information being integrated in the definitions. An interface was developed and incorporated into the framework, allowing for the creation and edition of SDL and TDL files. Once the information is specified, it can be used in the framework, thus facilitating environment and team specification and deployment. A survey answered by practitioners and researchers shows that the satisfaction with SDL+TDL is elevated (the overall evaluation of SDL+TDL achieved a score of 4 out of 5, with 81%/78.6% of the answers 4); in addition, the usability of the interface was evaluated, achieving a score of 86.7 in the System Usability Scale survey. These results imply that SDL+TDL is flexible enough to represent scenarios and teams, through a user-friendly interface.

Abstract
This paper presents an integrated cognitive robotics system for industrial kitting operations in a modern factory setting. The robot system combines low-level robot control and execution monitoring with automated mission and task planning, and a logistics planner which communicates with the factory's manufacturing execution system. The system has been implemented and tested on a series of automotive kitting problems, where collections of parts are picked from a warehouse and delivered to the production line. The system has been empirically evaluated and the complete framework shown to be successful at assembling kits in a small factory environment.

Abstract
This paper aims to develop grasping and manipulation capability along with autonomous navigation and localization in a wheelchair-mounted robotic arm to serve patients. Since the human daily environment is dynamically varied, it is not possible to enable the robot to know all the objects that would be grasped. We present an approach to enable the robot to detect, grasp and manipulate unknown objects. We propose an approach to construct the local reference frame that can estimate the object pose for detecting the grasp pose of an object. The main objective of this paper is to present the grasping and manipulation approach along with a navigating and localization method that can be performed in the human daily environment. A grid map and a match algorithm is used to enable the wheelchair to localize itself using a low-power computer. The experimental results show that the robot can manipulate multiple objects and can localize itself with great accuracy.

Abstract
Electricity consumption has increased all around the world in the last decades. This has caused a rise in the use of fossil fuels and in the harming of the environment. In the past years the use of renewable energies and reduction of consumption has growth in order to deal with that problem. The change in the production paradigm led to an increasing search of ways to shorten consumption and adapt to the production. One of the solutions for this problem is to use Demand Response systems. Lighting systems have a major role in electricity consumption, so they are very suitable to be applied in a Demand Response system, optimizing their use. This optimization can be made in different ways being one of them by using a heuristic algorithm. This paper focuses on the use of Fish School Search algorithm to optimize a lighting system, in order to understand its capability of dealing with a problem of this nature and compare it with other algorithms to evaluate its performance.

Abstract
This paper proposes a new model to allocate reserve costs among the involved players, considering the characteristics of the several entities, and the particular circumstances at each moment. The proposed model is integrated in the Multi-Agent Simulator of Competitive Electricity Markets (MASCEM), which enables complementing the multi-agent simulation of diverse electricity market models, by including the joint simulation of energy and reserve markets. In this context, the proposed model allows allocating the payment of reserve costs that result from the reserve market. A simulation based on real data from the Iberian electricity market - MIBEL, is presented. Simulation results show the advantages of the proposed model in sharing the reserve costs fairly and accordingly to the different circumstances. This work thus contributes the study of novel market models towards the evolution of power and energy systems by adapting current models to the new paradigm of high penetration of renewable energy generation.