Abstract
This paper presents the energy analysis of periodic gaits for multi-legged locomotion systems. The main purpose is to determine the system performance during walking and the best set of locomotion variables that minimizes a cost function related to energy. For that objective, the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, maximum foot clearance, link lengths, body and legs mass and cycle time. In this work, we formulate three indices to quantitatively measure the performance of the walking robot namely the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators. A set of experiments reveals the influence of the locomotion variables in the proposed indices.

Abstract
Technologies employed in greenhouse production systems have been developed considerably during the recent decades. These improvements have taken place in many different research areas, such as the development of new covering materials and actuating equipments, modeling of the plant physiological processes and greenhouse climate, new cultural techniques, among many other topics. Although, due to economic and environmental increasing requirements there is still a need to improve the tools used for greenhouse management. At the present this work is being addressed with the emphasis on the economic optimization of the production process. This approach implies to know the influence of climate factors on production, as well the establishment of a good interface between engineers, physiologists and biologists. This paper presents the methods that are being implemented and tested with the aim of improving the climate management of a greenhouse located in the UTAD-University campus.

Abstract
Genetic algorithms are proposed to design two-degrees-of-freedom non-linear PID controllers for single input-single output systems. The evolutionary scheme proposed is able to design simultaneously a feedforward compensator and a nonlinear picewise PID controller. A time-domain cost function subjected to a performance constraint is deployed in order to obtain a good compromise between the set-point tracking design and the disturbance rejection design. This evolutionary approach is illustrated by a simulation example and compared with the corresponding linear configuration.

Abstract
In this paper, deterministic and Artificial Neural Networks (ANNs) based techniques are applied to generate solar radiation forecasts with the purpose of being incorporated within a greenhouse predictive control strategy. These predictions are essential to estimate heat load fluctuations in the greenhouse caused by high frequency solar radiation changes, and so to improve ventilation and heating computation requirements for the greenhouse.

Abstract
This work presents an on-chip silicon bulk-micromachined Soil Moisture Sensor (SMS) suited for irrigation control and management applications. The same basic fabrication concepts and materials, which made microelectronics successful, are now being adapted to making low-cost, small, high-performance sensor systems with integrated electronics on the same chip. As a result, this system-on-a-chip includes the SMS, readout electronics, self-test, calibration facilities and a digital bus interface for external data transmission, Moreover, since this sensor has low-cost, it could be employed several sensors networked together with the 1-wire bus, to achieve an accurate measure of the soil moisture at the plant root level. A heat-pulse technique is used (for measuring the maximum temperature on a distant point) to determine the volumetric heat capacity and hence the water content of a porous media, such as soil. This method is based on the Joule effect (heater probe shank) and in Seebeck effect (thermopile - temperature probe shank). The heater and the thermopile are suspended on a dielectric window to reduce undesired heat conduction to the substrate (silicon is a good heat conductor). Thermal simulations of the bulk-micromachined SMS are performed to test sensor performance. In order to validate the method, simulations are made and experimental results were achieved with a macrosensor based on this technique. The results were compared with the measurements performed by the conventional thermo-gravimetric method.

Abstract
This paper reports the design, modelling, fabrication and assembly of a silicon bulk-micromachined soil moisture microsensor using the Dual-Probe Heat-Pulse (DPHP) method. Soil humidity measurement is essential to study soil preservation and control the development of plants, namely in closed ecosystem. The DPHP method uses a heater (Peltier effect) and a temperature probe (Seebeck effect) to determine the volumetric heat capacity of the soil and hence water content (theta (v)). This is the first time that the DPHP method is implemented in a microdevice and the first integrated sensor for soil moisture. This microdevice is more suited to measure at different soil depths in a non-destructive and automated manner.