Abstract
An autonomous DGPS navigation system must use an accurate three-dimensional (3D) digital map. However, it is crucial to validate it using data collected in the field. One possible way to validate the map is to employ a vehicle driven by an expert to ensure that the trajectory is plotted within the boundaries of navigation paths. It is essential to take this care, especially when the terrain is very highly uneven and small differences in position may correspond to large vertical deviations. A small navigation error can result in a serious fall, which may damage or even destroy the vehicle. In the Douro Demarcated Region, in northern Portugal, the vineyard is planted on narrow terraces built on steep hills along the winding Douro River. This paper presents the results of a dynamic trajectory survey obtained from a real navigation procedure, carried out by an expert driving an instrumented tractor during the spraying of the vineyard. The results were obtained using a DGPS (accuracy = 2 cm) and compared to an existing Digital Elevation Model (DEM) of the vineyard already created by the authors' work group, with an average accuracy of 10 cm. The results are shown in a C# developed interface with OpenGL facilities, which enable the viewing of the 3D vineyard details. The results confirm the validation of the methodology previously adopted for map extraction and respective equipment selection. The trajectory of the tractor, including some maneuvers, is drawn within the inner and outer edges of each terrace or path that exists in the vineyard. The interface can also be used as an important tool in path planning to automatically extract the topology of the vineyard and to select the best path to carry out some vineyard tasks.

Abstract
This paper describes Cybi, an inexpensive smart companion mobile robot for elderly and disabled people. The software architecture that enables users to perform telepresence and teleoperation tasks with Cybi is based on combining Cloud Computing technologies and Fuzzy Logic. On one hand, the robot can be remotely teleoperated from a thin client by executing a specific module of a distributed software component that uses ROS, WebRTC and Google App Engine. On the other hand, Cybi is capable of understanding simple spoken orders that allow it to navigate through an unknown domestic indoor environment. In both cases, a fuzzy reactive navigation software component is used with the aim of making the teleoperation procedure as easy and safe as possible for both elders' caregivers and elderly users themselves. Finally, several real tests are also presented, demonstrating that Cybi could be considered as a suitable robotic companion, since the proposed methods enhance the performance of teleoperation and telepresence tasks. © 2015 IEEE.

Abstract
This paper describes the development of a mobile indoor navigation system, supported by a GIS and built using only open source tools. For the sake of simplicity a single building was chosen for the tests converting the floors to digital information from paper plans. The rooms geometry was saved on a proper database with all the adjacent information associated, which can in turn be provided to the clients application by APIs and Web Services. The system is able to calculate the most adequate path between any of the rooms taking into account the user profile which is defined by it's degree of mobility (eg. wheelchair). By reading a QR code placed in key places inside the building the user can obtain, on a mobile phone, his current position and receive orientations to any room that he might want to go. The directions hints are complemented with the presentation of real pictures associated to key locations in the path to validate that the correct path is taken by the user. (C) 2015 The Authors. Published by Elsevier B.V.

Abstract
The viStaMPS software is a collaborative scientific project that was created with three major purposes: (1) facilitate the usage by users non familiar with the specificities of the programming language that supports StaMPS; (2) implement several visualization tasks not available in the StaMPS standard approach (avoiding that each user develop its own code for visualization and interpretation purposes) and (3) create a collaborative research project, continuously under development counting on the dynamism of its users to improve and/or add new features.

Abstract

Abstract
TIEC 61499 defines an execution model for distributed industrial control applications, i.e. a single application distributed among several devices. In such an environment partial failures are likely to occur. In order to avoid probable system malfunctions and breakdowns due to partial failures, the authors have previously proposed a framework where the concept of replication may be applied to the IEC 61499 execution model. This paper focuses on describing an implementation of this replication framework on the FORTE IEC 61499 execution platform, along with the results of the first tests of the implementation. A set-up for the full validation of the approach is also described.