Abstract
Different Terrain Based Navigation systems for underwater vehicles have already been presented, with experimentally validated results and consistent performance. However, these results are mostly based on the use of both high accuracy inertial navigation systems and high quality sonars. This article presents a study on Particle Filter algorithms that cope with peculiarities of Terrain Based Navigation for sensor limited systems. The focus is on the influence on several parameters, namely the process noise, the measurement noise and the number of the particles, and how these can improve the obtained results. Based on the results obtained by simulation, we present some conclusions relevant for the design of future implementation of the algorithms.

Abstract
The present paper deals with the questions how product quality can be influenced within product manufacturing and how production control can be optimized for increasing product quality. It focuses on discrete manufacturing processes and presents a methodology to gather and analyze relevant influences on product quality and a multi-agent architecture for flexible and quality focused production control. It will be shown how both approaches can be implemented to achieve a flexible, adaptable and quality focused production process control. © IFAC.

Abstract
This paper presents a modeling environment (ME) developed for a Domain Specific Language (PARADIGM) which aims to support the construction of models to be used in the context of Model Based GUI Testing (MBGT). It starts by briefly presenting PARADIGM which aims to increase the level of abstraction of the models and promote reuse in order to diminish the effort in building models for MBGT. Afterwards, it describes the architecture of the ME, how the constraints of the language are enforced within the ME to ensure the consistency of the models built, the test case configuration of the model elements, the test case generation algorithm and how the ME can be extended/adapted to include additional features.

Abstract
Independence of failures is a basic assumption for the correctness of BFT protocols. In literature, this subject was addressed by providing N-version like abstractions. Though this can provide a good level of obfuscation against semantic-based attacks, if the replicas know each others identities then non-semantic attacks like DoS can still compromise all replicas together. In this paper, we address the obfuscation problem in a different way by keeping replicas unaware of each other. This makes it harder for attackers to sneak from one replica to another and reduces the impact of simultaneous attacks on all replicas. For this sake, we present a new obfuscated BFT protocol, called OBFT, where the replicas remain unaware of each other by exchanging their messages through the clients. Thus, OBFT assumes honest, but possibly crash-prone clients. We show that obfuscation in our context could not be achieved without this assumption, and we give possible applications where this assumption can be accepted. We evaluated our protocol on an Emulab cluster with a wide area topology. Our experiments show that the scalability and throughput of OBFT remain comparable to existing BFT protocols despite the obfuscation overhead. © 2013 IEEE.

Abstract
Clusters that combine heterogeneous compute device architectures, coupled with novel programming models, have created a true alternative to traditional (homogeneous) cluster computing, allowing to leverage the performance of parallel applications. In this paper we introduce clOpenCL, a platform that supports the simple deployment and efficient running of OpenCL-based parallel applications that may span several cluster nodes, expanding the original single-node OpenCL model. clOpenCL is deployed through user level services, thus allowing OpenCL applications from different users to share the same cluster nodes and their compute devices. Data exchanges between distributed clOpenCL components rely on Open-MX, a high-performance communication library. We also present extensive experimental data and key conditions that must be addressed when exploiting clOpenCL with real applications.

Abstract
Serious games are starting to attain a higher role as tools for learning in various contexts, but in particular in areas such as education and training. Due to its characteristics, such as rules, behavior simulation and feedback to the player's actions, serious games provide a favorable learning environment where errors can occur without real life penalty and students get instant feedback from challenges. These challenges are in accordance with the intended objectives and will self-adapt and repeat according to the student's difficulty level. Through motivating and engaging environments, which serve as base for problem solving and simulation of different situations and contexts, serious games have a great potential to aid players developing professional skills. But, how do we certify the acquired knowledge and skills? With this work we intend to propose a methodology to establish a relationship between the game mechanics of serious games and an array of competences for certification, evaluating the applicability of various aspects in the design and development of games such as the user interfaces and the gameplay, obtaining learning outcomes within the game itself. Through the definition of game mechanics combined with the necessary pedagogical elements, the game will ensure the certification. This paper will present a matrix of generic skills, based on the European Framework of Qualifications, and the definition of the game mechanics necessary for certification on tour guide training context. The certification matrix has as reference axes: skills, knowledge and competencies, which describe what the students should learn, understand and be able to do after they complete the learning process. The guides-interpreters welcome and accompany tourists on trips and visits to places of tourist interest and cultural heritage such as museums, palaces and national monuments, where they provide various information. Tour guide certification requirements include skills and specific knowledge about foreign languages and in the areas of History, Ethnology, Politics, Religion, Geography and Art of the territory where it is inserted. These skills are communication, interpersonal relationships, motivation, organization and management. This certification process aims to validate the skills to plan and conduct guided tours on the territory, demonstrate knowledge appropriate to the context and finally match a good group leader. After defining which competences are to be certified, the next step is to delineate the expected learning outcomes, as well as identify the game mechanics associated with it. The game mechanics, as methods invoked by agents for interaction with the game world, in combination with game elements/objects allows multiple paths through which to explore the game environment and its educational process. Mechanics as achievements, appointments, progression, reward schedules or status, describe how game can be designed to affect players in unprecedented ways. In order for the game to be able to certify tour guides, the design of the training game will incorporate a set of theoretical and practical tasks to acquire skills and knowledge of various transversal themes. For this end, patterns of skills and abilities in acquiring different knowledge will be identified.