Abstract
Humanoid robots should be capable of adjusting their walking speed and walking direction. Due to the huge design space of the controller, it is very difficult to control the balance of humanoids walk. The position of the Zero Moment Point (ZMP) is widely used for dynamic stability measurement in biped locomotion. The reference trajectory of the Center of Mass (CoM) of a humanoid can be computed from a predefined ZMP trajectory. In order to generate the CoM trajectory, many researchers represent the ZMP equation using the motion equations of simple physical system, e. g. the cart-table model. A Fourier series approximation based method, which generates the CoM trajectory, was previously proposed for straight and curve walking. This paper extends these techniques to generate side and diagonal walking. In order to generate diagonal walking, straight and side walking are combined. The proposed CoM generation approach was tested on a simulated NAO robot. Experiments indicate that the method is successful in generating stable side and diagonal walking. Comparison results of the proposed method with ZMP preview control method show the benefits of the proposed technique.

Abstract
With the rapid expansion of Information and Communication Technologies (ICT) throughout almost all aspects of tourism and hospitality industries, the task of integrating technology into educational curriculum will be a need. Information and Communication Technologies appear one of the area most critical to the success of tourism in the future and the way it will promote the tourist destinations. This paper aims to analyze the relevance given by the various Portuguese and Spanish institutions of higher education to Information and Communication Technologies in their degrees. The analysis carried out was done in degree courses operating in this school year, 2012/2013, in Portuguese and Spanish universities and polytechnics, public and private.

Abstract
This chapter describes the CoSy1-based [1, 2] compilers developed in the context of the REFLECT project to support its aspect-oriented design-flow. In particular, these CoSy-based compilers are guided by LARA strategies and are responsible for generating code targeting traditional processors, as well as generating behavioral-RTL VHDL code [3] targeting hardware accelerators. Throughout this chapter, these compilers are referred collectively as reflectc, except when a specific compilation flow (with its specific name) is used. We also describe the compiler development extensions to support the REFLECT approach [4] and the weaving process controlled by LARA strategies [5-7] as described in Chap. 3. © Springer Science+Business Media New York 2013. All rights are reserved.

Abstract
Earth Observation Satellite (EOS) data have a great potential for land cover mapping, which is mostly based on high resolution images. However, in tropical areas the use of these images is seriously limited due to the presence of clouds. This paper evaluates the ability of temporal-based image classification methods to produce land cover maps in tropical regions. A new approach is proposed for land cover classification and updating based exclusively on temporal series data, illustrated with a practical test using SPOT VEGETATION satellite images from 1999 to 2011 for Rondonia (Amazon), Brazil. Using the GLC2000 as reference, a Normalized Difference Vegetation Index (NDVI) time series of 15 distinct land cover classes (LCC) were created. Two classifiers were used (Euclidean Distance and Dynamic Time Warping) to produce maps of land cover changes for 1999-2011. Due to the difficulties in discriminating 15 LCC in the Amazon region, a hierarchical aggregation was performed by joining the initial classes gradually up to four broad classes. The land cover changes in the 1999-2011 period were evaluated using criteria based on the classification results for the individual years. The comparison with reference data showed consistent results, proving that this approach is able to produce accurate land cover maps using exclusively temporal series EOS data.

Abstract
The increasing incidence of melanoma has recently promoted the development of computer-aided diagnosis systems for the classification of dermoscopic images. Unfortunately, the performance of such systems cannot be compared since they are evaluated in different sets of images by their authors and there are no public databases available to perform a fair evaluation of multiple systems. In this paper, a dermoscopic image database, called PH2, is presented. The PH2 database includes the manual segmentation, the clinical diagnosis, and the identification of several dermoscopic structures, performed by expert dermatologists, in a set of 200 dermoscopic images. The PH2 database will be made freely available for research and benchmarking purposes.

Abstract
Waste oil recycling companies play a very important role in our society. Competition among companies is tough and process optimization is essential for survival. By equipping oil containers with a level monitoring system that periodically reports the level and alerts when it reaches the preset threshold, the oil recycling companies are able to streamline the oil collection process and, thus, reduce the operation costs while maintaining the quality of service. This paper describes the development of this level monitoring system by a team of four students from different engineering backgrounds and nationalities. The team conducted a study of the state of the art, draw marketing and sustainable development plans and, finally, designed and implemented a prototype that continuously measures the container content level and sends an alert message as soon as it reaches the preset capacity.