Abstract
Orientation estimation plays a crucial role in robotics. Precise and reliable estimation of orientation, and the yaw angle in particular, is still a challenge and subject of great concern among researchers. This paper presents the development of a platform for yaw angle estimation by fusing inertial and magnetic sensing (a low-cost multi-sensorial system composed by both a digital compass and a gyroscope). A Kalman filter is used to estimate the error produced by the gyroscope. Experimental results indicate that the proposed solution is able to eliminate the drift effect produced by gyroscope data and, at the same time, has the capacity to react to fast orientation changes.

Abstract
The communication between two neurons is established by endogenous chemical particles aggregated in vesicles that move along the axons. It is known that an abnormal transport of these vesicles is correlated with neurodegenerative diseases. The quantification of the dynamics of vesicles movement can therefore be a window to study early detection of such diseases. Nevertheless, most of the studies in the literature rely on manual tracking techniques. In this paper we present a novel methodology for quantifying neurotransmitter vesicle dynamics by using a combination of image tracking and classification algorithms. We use confocal microscopy videos of living neurons to detect and classify vesicles using support vector machine (SVM), while motion is extracted via global nearest neighbor (GNN) tracking approach. Results of the classification algorithm are presented and compared to a ground truth dataset defined by experts. Sensitivity of 90% and specificity of 97% were obtained at a much lower computational cost than an established method from the literature (0.24s/frame vs. 125s/frame). These preliminary results suggest the great potential of the method and tool we have been developing for single particle movement dynamics measure in living cells.

Abstract

Abstract
In this exploratory study we propose to analyze, in healthy adult volunteers, the heart electrical (electrocardiogram, ECG) and mechanical (phonocardiogram, PCG) activity during exercise. Heart sounds amplitude, frequency content, and RS2, may be important features in the non-invasive assessment of heart activity, such as for the estimation of cardiac output and blood pressure. Nine healthy volunteers were monitored with ECG and PCG simultaneously, under a stress test. After each workload level a 10 s window of signal was collected. PCG first (S1) and second (S2) heart sounds were manually annotated, based on time of QRS complex occurrence. A QRS detector was implemented to detect the QRS complex, and time intervals between electrical and mechanical events. Extracted features were analyzed in relation to heart rate (HR), including RS2, S1 and S2 amplitudes, and high frequency content of S1 and S2. Spearman correlation was used. Changes between baseline and maximum workload stage/HR for each volunteer were analyzed. Significant correlation was observed between HR, and all characteristics extracted (P<0.01). There was a clear difference between all variables from baseline to maximum workload level: with increasing workload/HR heart sounds amplitude increased (more pronounced in S1), RS2 decreased, and high frequency content of S2 decreased in relation to the high frequency content of S1, demonstrating that dynamic cardiovascular relations are individualized during cardiac stress and that assumptions for resting conditions may not be assumed.

Abstract
This chapter presents the preliminary results of an IT organizational project management maturity research called OPM3® Portugal Project, which is currently underway. It was designed by Portuguese research and development organization Ambithus, based on PMI's (Project Management Institute) OPM3® (Organizational Project Management Maturity Model) standard. A descriptive analysis of IT organizations is made, the case studies selection criteria are explained, and a relevant literature revision of clustering models is made. Preliminary results from the IT organizations are presented and organized by Project Management and Portfolio Management processes, and Organizational Enablers. After the results analysis, it presents a list of processes and procedures that serves as the guidelines for what IT organizations need to improve to obtain a better level of maturity in Project Management. The overall results show that the IT Portuguese industry is strong on its processes and has a good level of maturity in project management.

Abstract
A laser scanner is a popular sensor widely used in industry and mobile robots applications that measures the distance to the sensor on a slice of the plan. This sensor can be used in mobile robots localization task. In this paper, a low cost laser scanner sensor is modelled so that it can be implemented in a simulation environment. The simulation reflects the laser model properties such as target colour dependences, noise, limits and time constraints. A correction of the laser scanner nonlinearities is proposed. The noise spectrum is also addressed.