Abstract
Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast;, stable and adaptive behaviors are required. This paper proposes a solution for automatic generation of a walking gait using genetic algorithms (CA). A method based oil partial Fourier series was developed for joint; trajectory planning. GAs Were then used for off-line generation of the parameters that define the gait. GAs proved to be a powerful method for automatic generation of humanoid behaviors resulting Oil a walk forward velocity of 0.51m/s which is a good result considering the results of the three best teams of RoboCup 3D simulation league for the same movement.

Abstract
Audience complete action immersion sensation is still the ultimate goal of the multimedia industry. In spite of the significant technical audiovisual advances that enable more realistic contents, coping with individual audience needs and desires is still an incomplete achievement. The proposed project's intention is to contribute for solving this issue through enabling real-time dynamic multimedia storylines with emotional subconscious audience interaction. Individual emotional state assessment is accomplished by direct access to online biometric information. Recent technologic breakthroughs have enabled the usage of minimal invasive biometric hardware devices that no longer interfere with the audience immersion feeling. Other key module of the project is the conceptualization of a dynamic storyline multimedia content system with emotional metadata, responsible for enabling discrete or continuous storyline route options. The unifying component is the definition of the full-duplex communication protocol. The current stage of research has already produced a spin-off product capable of providing computer mouse control through electromyography and has identified key factors in human emotions through experiments conducted in the developed system's architecture that have enabled semi-automatic emotion assessment.

Abstract
While affective computing and the entertainment industry still maintain a substantial gap between themselves, biosignals are subject of digital acquisition through low budget technologic solutions at neglectable invasive levels. The integration of electroencephalography, galvanic skin response and oximeter in a multichannel framework constitutes an effort in the path to identify emotional states via biosignals expression. To induce and detect specific emotions, gender-specific sessions were defined based on International Affective Picture System and performed in a controlled environment. Data was collected and visualized in real-time by the session instructor and stored for processing and analysis. Results granted by distinct analysis techniques showed that high frequency EEG waves are strongly related to emotions and are a solid ground to perform accurate emotion classification. They have also given strong indications that females are more sensitive to emotion induction. One might conclude that the attained success levels concerning relating emotions to biosignals are extremely encouraging not only to this research topic but also to the its application in domains such as multimedia entertainment, advertising and medical treatments.

Abstract
This paper presents a formal model for a multi-purpose, strategical coordination layer. Based on previous work developed for the RoboCup Soccer simulation, small-size, middle-size, legged leagues and RoboCup Rescue simulation league, a generic coordination model was built that allows the management of collaborative networks of heterogeneous agents. The model uses a multi-level hierarchical approach with the following concepts: strategy, tactics, formations, suh-tactics and roles, from high to low level. Hybrid methods, are used to switch formations and tactics. In order to test the model, two strategy instances, for RoboCup Rescue Simulation and RoboCup Soccer, were developed. Strategies are designed with the help of a graphical tool. Results achieved by the team in RoboCup Rescue and Soccer Simulation competitions demonstrate the usefulness of his approach.

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