Abstract
This paper presents a visual localization approach that is suitable for domestic and industrial environments as it enables accurate, reliable and robust pose estimation. The mobile robot is equipped with a single camera which update sits pose whenever a landmark is available on the field of view. The innovation presented by this research focuses on the artificial landmark system which has the ability to detect the presence of the robot, since both entities communicate with each other using an infrared signal protocol modulated in frequency. Besides this communication capability, each landmark has several high intensity light-emitting diodes (LEDs) that shine only for some instances according to the communication, which makes it possible for the camera shutter and the blinking of the LEDs to synchronize. This synchronization increases the system tolerance concerning changes in brightness in the ambient lights over time, independently of the landmarks location. Therefore, the environment's ceiling is populated with several landmarks and an Extended Kalman Filter is used to combine the dead-reckoning and landmark information. This increases the flexibility of the system by reducing the number of landmarks required. The experimental evaluation was conducted in a real indoor environment with an autonomous wheelchair prototype.

Abstract
This paper studies the impact of the energy upon electricity markets using Multidimensional Scaling (MDS). MDS is a computational and statistical technique that produces a spatial representation of similarity between objects through factors of relatedness. MDS represents in a low dimensional map data points whose similarities are defined in a higher dimensional space. Data from major energy and electricity markets is considered. Several maps produced by MDS are presented and discussed revealing that this method is useful for understanding the correlation between them. Furthermore, the results help electricity markets agents hedging against Market Clearing Price (MCP) volatility.

Abstract
Power systems have been through deep changes in recent years, namely with the operation of competitive electricity markets in the scope and the increasingly intensive use of renewable energy sources and distributed generation. This requires new business models able to cope with the new opportunities that have emerged. Virtual Power Players (VPPs) are a new player type which allows aggregating a diversity of players (Distributed Generation (DG), Storage Agents (SA), Electrical Vehicles (V2G) and consumers), to facilitate their participation in the electricity markets and to provide a set of new services promoting generation and consumption efficiency, while improving players` benefits. A major task of VPPs is the remuneration of generation and services (maintenance, market operation costs and energy reserves), as well as charging energy consumption. This paper proposes a model to implement fair and strategic remuneration and tariff methodologies, able to allow efficient VPP operation and VPP goals accomplishment in the scope of electricity markets.

Abstract
Despite the benefits of precision agriculture and precision viticulture production systems, its rate of adoption in the Portuguese Douro Demarcated Region remains low. We believe that one way to raise it is to address challenging real-world problems whose solution offers a clear benefit to the viticulturist. For example, one of the most demanding tasks in wine making is harvesting. Even for humans, the environment makes grape detection difficult, especially when the grapes and leaves have a similar color, which is generally the case for white grapes. In this paper, we propose a system for the detection and location, in the natural environment, of bunches of grapes in color images. This system is able to distinguish between white and red grapes, and at the same time, it calculates the location of the bunch stem. The system achieved 97% and 91% correct classifications for red and white grapes, respectively.

Abstract
In the last decades propofol became established as an intravenous agent for the induction and maintenance of both sedation and general anesthesia procedures. In order to achieve the desired clinical effects appropriate infusion rate strategies must be designed. Moreover, it is important to avoid or minimize side effects which may be associated with adverse cardiorespiratory effects and delayed recovery. Nowadays, to attain these purposes the continuous propofol delivery is usually performed through target-controlled infusion (TCI) systems whose algorithms rely on pharmacokinetic and pharmacodynamic models (Schraag, 2001). This work presents statistical models to estimate both the infusion rate and the bolus administration. The modeling strategy relies on multivariate linear models for panel data (Wooldridge, 2002), based on patient characteristics such as age, height, weight and gender along with the desired target concentration. A clinical database collected with a RugLoopII device on 84 patients undergoing ultrasonographic endoscopy under sedation-analgesia with propofol and remifentanil, (Gambús et al., 2011), is used to estimate the models (training set with 74 cases) and assess their performance (test set with 10 cases). The results obtained in the test set comprising a broad range of characteristics are satisfactory since the models are able to predict bolus and infusion rates comparable to those of TCI. © 2012 IFAC.

Abstract
In competitive electricity markets with deep concerns at the efficiency level, demand response programs gain considerable significance. In the same way, distributed generation has gained increasing importance in the operation and planning of power systems. Grid operators and utilities are taking new initiatives, recognizing the value of demand response and of distributed generation for grid reliability and for the enhancement of organized spot markets' efficiency. Grid operators and utilities become able to act in both energy and reserve components of electricity markets. This paper proposes a methodology for a joint dispatch of demand response and distributed generation to provide energy and reserve by a virtual power player that operates a distribution network. The proposed method has been computationally implemented and its application is illustrated in this paper using a 32 bus distribution network with 32 medium voltage consumers.