Abstract
There are several industrial processes that are controlled by a PID or similar controller. In robotics it is also usual the need of position control of joints. Tune a controller is the process to obtain the gains that optimise the behaviour of the system while maintaining its stability and robustness. This paper presents an approach of tuning a speed controller using the Internal Model Control (IMC) method and a position controller using the second order Bessel prototype while testing in different controllers methodology, such as PID, Cascade and feedforward combination with dead zone compensation. In order to compare the controllers, results for an Hermite reference position will allow to validate the proposed solution.

Abstract
Firms aim at achieving their economic interests without neglecting the needs of local and regional communities and the environment itself. The process involves defining and implementing Social Responsibility strategies that leverage organizational competitiveness and sustainability. In this context, the current study purposes to demonstrate how Corporate Social Responsibility (CSR) and a sustainable orientation influence the satisfaction and loyalty of academic tourists to the Metro of Porto (in Portugal). More specifically, our study aims to assess the satisfaction of academic tourists with the Metro of Porto and, additionally, to analyze the variables that determine the satisfaction and loyalty of these tourists to this specific transport company, which has never been achieved before. Our proposed research model seeks to determine how CSR and a sustainable orientation influence academic tourists' loyalty to the Metro of Porto transport services as well as their link to Service Quality, Perceived Value, Corporate Image and Tourist Satisfaction. From a sample of 256 academic tourists, customers of the Metro of Porto, a quantitative analysis was carried out using the structural equation model (SEM-PLS). The results obtained allow us to conclude that CSR and Service Quality have an impact on academic tourists' satisfaction and loyalty to the Metro of Porto. The development of a region is intrinsically linked to transport networks that promote the integration and growth of productive systems. Our results demonstrate the relationship between regional development and business sustainability strategies that integrate Social Responsibility practices. We show the importance that Social Responsibility policies have for companies as a precursor to customer satisfaction and loyalty to a company. Hence, as a guarantee of obtaining economic results, firms must simultaneously contribute to the sustainable development of territories.

Abstract
This paper presents a literature review of the importance of virtual technology for rehabilitation for people with ASD (Autism Spectrum Disorder). ASD is diagnosed as a neurological disability characterized by a range of physical and mental disorders and whose first symptoms appear during early childhood. People with autism deal with issues with social communication, behavior, and attention skills. As a sensitive disturbance, adapted technology allows to re-learn skills stimulating procedures about how to proceed, communicate or behave without difficulties in unexpected environments. The use of technology in educational contexts, home or at school, helps prevent and teach younger people with ASD. Considering different technologies as more appropriate methods, Virtual Reality (VR) applications and personalized environments provide better simulation and comfortable environments. As the main advantage of VR, complete immersion and interactive experience promotes constant learning for people with autism. This systematic review details the benefits of VR studies and compares the benefits of different interactive technologies according to the deficits of several individuals. The use of technology versus the traditional path on therapies helps obtain better and faster results over time. Finally, it explains how VR can be recognized as a tool to help develop cognitive, verbal and nonverbal skills and recognizes technology as a good ally to face fears or reactions by ASD people.

Abstract
In this paper, we describe the study of the kinetics and efficiency of the refractive index matching mechanism created by highly concentrated glycerol solutions in human normal and pathological colorectal mucosa tissues. Considering thewavelength range between 200 and 1000 nm, higher efficiency was obtained for the pathological mucosa, which shows a decreasing efficiency with increasing wavelength. The normal mucosa presents similar values in the deep-ultraviolet and in the near-infrared. Minimal efficiency values of 1% and 1.5% were obtained in the normal and pathological mucosa at 266 nm (combined absorption of DNA/RNA and myoglobin/hemoglobin bands at 260 and 274 nm) and local maxima of 2.9% and 3.8% were obtained in the same tissues at 570 nm. The diffusion time of glycerol was estimated as 417.3 +/- 5.2 s in normal mucosa and 504.9 +/- 3.8 s in pathological mucosa, suggesting that less molecules are necessary in the pathological tissue to produce a higher magnitude RI matching.

Abstract

Abstract
Nowadays, the robotic welding joint estimation, or weld seam tracking, has improved according to the new developments on computer vision technologies. Typically, the advances are focused on solving inaccurate procedures that advent from the manual positioning of the metal parts in welding workstations, especially in SMEs. Robotic arms, endowed with the appropriate perception capabilities, are a viable solution in this context, aiming for enhancing the production system agility whilst not increasing the production set-up time and costs. In this regard, this paper proposes a local perception pipeline to estimate joint welding points using small-sized/low-cost 3D cameras, following an eyes-on-hand approach. A metrological 3D camera comparison between Intel Realsene D435, D415, and ZED Mini is also discussed, proving that the proposed pipeline associated with standard commercial 3D cameras is viable for welding operations in an industrial environment.