Abstract
This paper describes the method employed to track and identify each robot during a Robocup match. Also, the playing ball is tracked with almost no extra processing effort. To track the robots it is necessary the use of adequate markers so that not only the position is extracted but also the heading. We discuss the difficulties associated with this problem, various possible approaches and justify our solution. The identification is performed thanks to a minimalist bar code placed in each robot. The bar code solves the problem of resolving some ambiguities that can arise in certain configurations. The procedure described can be executed in real time as it was shown in Paris in RoboCup-98.

Abstract
This paper describes the 5dpo-2000 team, The paper will be divided into three main sections, corresponding to three main blocks: the Global Level, the Local Level and the Interface Level. These Levels, their subsystems and some implementation details will be described next.

Abstract
An adaptive greenhouse climate controller was implemented to regulate the air temperature, humidity and carbon dioxide concentration, with the aim of achieving set-point accuracy and reduce energy consumption. An optimization algorithm, based on the minimization of a cost function, was used to tune a Proportional-Integral-Derivative controller. The cost function is computed over a future time horizon of one hour as a function of the errors between the predicted and desired outputs and the predicted energy demand. Since the controller must be able to predict the greenhouse climate, it was needed to employ recursive identification algorithms to estimate in real-time the parameters of the climate model. When compared with commercially available controllers, this adaptive controller proved to have better performance regarding set-point accuracy and energy consumption.

Abstract
Competitive and cooperative artificial co-evolution using genetic algorithms are proposed to design PID control structures. A competitive coevolutionary based technique is proposed to design robust single-input single-output PID controllers to deal with prescribed parametric uncertainties. A cooperative coevolutionary approach and structured genetic algorithms are merged to cope with the identification of a multi-input multi-output plant within the problem of auto-tuning decentralised multivariable PI controllers. Simulated illustrative examples of both co-evolutionary techniques are presented. Copyright (C) 2000 IFAC.

Abstract

Abstract
The main objective of this paper is to present a study on the wind energy potential that is being developed in the Region of Tras-os-Montes and Alto Douro. This study started in July 1996 and will continue until the end of 1998. In order to have an adequate characterisation of the wind energy potential in this region it is necessary to measure the wind speed and direction in several places. At this moment the data are being collected at nine places. Due to lack of space, only four places will be addressed in this article. The Region of Douro and Alto Tras-os-Montes has an area of 12,235 km(2). It is located in the Northeast part of Portugal and represents 57.7% of the North Region. Other projects refer to this region as having great potential in the field of renewable energies [1,2]. From the analysis of the collected data, it seems that wind energy in Marao and Alvao mountains is one of the most interesting renewable energies [3,4].