Abstract
Road network studies attracted unprecedented and overwhelming interest in recent years due to the clear relationship between human existence and city evolution. Current studies cover many aspects of a road network, for example, road feature extraction from video/image data, road map generalisation, traffic simulation, optimisation of optimal route finding problems, and traffic state prediction. However, analysing road networks as a complex graph is a field to explore. This study presents comparative studies on the Porto, in Portugal, road network sections, mainly of Matosinhos, Paranhos, and Maia municipalities, regarding degree distributions, clustering coefficients, centrality measures, connected components, k-nearest neighbours, and shortest paths. Further insights into the networks took into account the community structures, page rank, and small-world analysis. The results show that the information exchange efficiency of Matosinhos is 0.8, which is 10 and 12.8% more significant than that of the Maia and Paranhos networks, respectively. Other findings stated are: (1) the studied road networks are very accessible and densely linked; (2) they are small-world in nature, with an average length of the shortest pathways between any two roads of 29.17 units, which as found in the scenario of the Maia road network; and (3) the most critical intersections of the studied network are 'Avenida da Boavista, 4100-119 Porto (latitude: 41.157944, longitude: - 8.629105)', and 'Autoestrada do Norte, Porto (latitude: 41.1687869, longitude: - 8.6400656)', based on the analysis of centrality measures.

Abstract
The implementation of novel regulatory and technical requirements for the distribution of vehicle axle weights in road freight transport introduces a new set of constraints on vehicle routing. Until now, axle weight distribution in determining the load plan for freight transport units has been overlooked in the vehicle routing process. Compliance with these axle weight constraints has become paramount for road freight transport companies, since noncompliance with the axle weight distribution legislation translates into heavy fines. This work aims to provide a tool capable of generating cargo loading plans and routing sequences for a palletised cargo distribution problem. The problem addressed integrates the capacitated vehicle routing problem with time window and the two-dimensional loading problem with load balance constraints. Two integrative solution approaches are proposed, one giving greater importance to the routing and the other prioritising the loading. In addition, a novel MILP model is proposed for the 2D pallet loading problem with load-balance constraints that take advantage of the standard dimension of the pallets. Extensive computational experiments were performed with a set of well-known literature benchmark instances, extended to incorporate additional features. The computational results show the effectiveness of the proposed approaches.

Abstract
Performing tasks in agriculture, such as fruit monitoring or harvesting, requires perceiving the objects' spatial position. RGB-D cameras are limited under open-field environments due to lightning interferences. So, in this study, we state to answer the research question: How can we use and control monocular sensors to perceive objects' position in the 3D task space? Towards this aim, we approached histogram filters (Bayesian discrete filters) to estimate the position of tomatoes in the tomato plant through the algorithm MonoVisual3DFilter. Two kernel filters were studied: the square kernel and the Gaussian kernel. The implemented algorithm was essayed in simulation, with and without Gaussian noise and random noise, and in a testbed at laboratory conditions. The algorithm reported a mean absolute error lower than 10 mm in simulation and 20 mm in the testbed at laboratory conditions with an assessing distance of about 0.5 m. So, the results are viable for real environments and should be improved at closer distances.

Abstract
In recent years, as a result of population growth and the strong demand for energy resources, there has been an increase in greenhouse gas emissions. Thus, it is necessary to find solutions to reduce these emissions. This will make the use of electric vehicles (EV) more attractive and reduce the high dependency on internal combustion vehicles. However, the integration of electric vehicles will pose some challenges. For example, it will be necessary to increase the number of fast electric vehicle charging stations (FEVCS) to make electric mobility more attractive. Due to the high power levels involved in these systems, there are voltage drops that affect the voltage profile of some nodes of the distribution networks. This paper presents a methodology based on a genetic algorithm (GA) that is used to find the optimal location of charging stations that cause the minimum impact on the grid voltage profile. Two case studies are considered to evaluate the behavior of the distribution grid with different numbers of EV charging stations connected. From the results obtained, it can be concluded that the GA provides an efficient way to find the best charging station locations, ensuring that the grid voltage profile is within the regulatory limits and that the value of losses is minimized.

Abstract
The cooperation between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has brought new perspectives and effectiveness to production and monitoring processes. In this sense, tracking moving targets in heterogeneous systems involves coordination, formation, and positioning systems between UGVs and UAVs. This article presents a Proportional-Integral-Derivative (PID) control strategy for tracking moving target operations, considering an operating environment between a multirotor UAV and an indoor UGV. Different PID architectures are developed and compared to each other in the Gazebo simulator, whose objective is to analyze the control performance of the UAV when used to track the ground robot based on the identification of the ArUco fiducial marker. Computer vision techniques based on the Robot Operating System (ROS) are integrated into the UAV's tracking system to provide a visual reference for the aircraft's navigation system. The results of this study indicate that the PD, Cascade, and Parallel controllers showed similar performance in both trajectories tested, with the Parallel controller showing a slight advantage in terms of mean error and standard deviation, suggesting its suitability for applications that prioritize precision and stability.

Abstract
The world economy depends on information systems. Business value resides in the data stored on Information Technology (IT) systems and on the processes run with those data. Malicious actors target these IT systems to extract value out of them using different cyberattacks. Denial of Service (DoS) attacks are a common and harmful method to render IT systems connected to the Internet and, consequently, business processes running on top of them, unavailable. Cybersecurity researchers in the industry and academia are in search of early warning and detection systems to detect and mitigate these DoS attacks. This article proposes a novel early detection strategy for DoS attacks based on the information provided by Horizontal Visibility Graphs (HVG) and Natural Visibility Graphs (VG) obtained out of the network flows monitored at the receiving end of the attack. From the primary results obtained, this strategy can detect a DoS attack under 70ms and 30 packets. These results point out that the application HVGs and VGs is a relevant and promising research direction to prevent or mitigate the impact of a DoS attack.