Abstract
The goal of this article is to analyse the relationship between rental income and capitalisation rates when real estate value is assessed in parishes of the Lisbon and Porto municipalities. Based on housing market values in euros per square metre during the 2006-2009 period, the income approach was used to compare the two main types of apartments (i.e. B2, or two-bedroom, and B1, or one-bedroom) in Lisbon and Porto. We used the capital asset pricing model to calculate the risk measure. The cluster analysis was used to group the Lisbon and Porto parishes according to their rental income and capitalisation rates. Regressions were used to model both geographical markets. Clear differences were found between Porto and Lisbon, the results being more robust for the Porto municipality in regard to B2 apartments. Moreover, rental income is inversely proportional to capitalisation rates for B1 apartments for Porto parishes, which means that there is an initial overinvestment.

Abstract
The robotic football competition has encouraged the participants to develop new ways of solving different problems in order to succeed in the competition. This article shows a different approach to the ball detection and recognition by the robot using a Kinect System. It has enhanced the capabilities of the depth camera in detecting and recognizing the ball during the football match. This is important because it is possible to avoid the noise that the RGB cameras are subject to for example lighting issues.

Abstract
In recent years, in the services market, we have witnessed a growing importance of concepts such as service quality, satisfaction, word-of-mouth and complaint behaviour. The proposed conceptual model aimed to examine the existing relationships among these dimensions in the context of health clubs. Data was collected through questionnaires and analysed using structural equations modelling (SEM) to simultaneously test all the relationships in the model. Overall, the results suggest that quality is assessed through staff, programme and facilities evaluation, and that service quality is crucial for both satisfaction and word-of-mouth generation. Customers do not complain to third parties, i.e., to external parties that are not involved, but have some influence on the service provider even when low quality is delivered or they are dissatisfied. © 2016 Inderscience Enterprises Ltd.

Abstract
Most data streams systems that use online Multi-target regression yield vast amounts of data which is not targeted. Targeting this data is usually impossible, time consuming and expensive. Semi-supervised algorithms have been proposed to use this untargeted data (input information only) for model improvement. However, most algorithms are adapted to work on batch mode for classification and require huge computational and memory resources. Therefore, this paper proposes an semi-supervised algorithm for online processing systems based on AMRules algorithm that handle both targeted and untargeted data and improves the regression model. The proposed method was evaluated through a comparison between a scenario where the untargeted examples are not used on the training and a scenario where some untargeted examples are used. Evaluation results indicate that the use of the untargeted examples improved the target predictions by improving the model.

Abstract

Abstract
Crop monitoring and harvesting by ground robots in steep slope vineyards is an intrinsically complex challenge, due to two main reasons: harsh conditions of the terrain and reduced time availability and unstable localization accuracy of the Global Positioning System (GPS). In this paper the use of agricultural wireless sensors as artificial landmarks for robot localization is explored. The Received Signal Strength Indication (RSSI), of Bluetooth (BT) based sensors/technology, has been characterized for distance estimation. Based on this characterization, a mapping procedure based on Histogram Mapping concept was evaluated. The results allow us to conclude that agricultural wireless sensors can be used to support the robot localization procedures in critical moments (GPS blockage) and to create redundant localization information.