Abstract
This paper describes a novel approach in formation control for mobile robots. Here, a Nonlinear Model Predictive Controller (NMPC) is used to maintain the formation of three omnidirectional mobile robots. The details of the controller structure are presented as well as its functionality in a soccer robot team. Three Middle Size League Robots are used for evaluation. A case of study based in a soccer robot situation is presented, developed, and implemented to evaluate the performance of the controller. Simulations results are presented and discussed.

Abstract
Femtosecond laser fabrication of optical waveguides in bulk silica glass is extended to integrated optical waveplates. Polarization retardation was controlled by laser exposure, providing for trimming of waveguide birefringence between 10-5 and 10-4. © OSA/ CLEO 2011.

Abstract
Most existing location-based services rely on ubiquitous connectivity to deliver location-based contents to the users. However, connectivity is not available anywhere at anytime even in urban centres. Underground, indoors, remote areas, and foreign countries are examples situations where users commonly do not have guaranteed connectivity but could profit from location-based contents. In this work, we propose an open platform for publishing, distributing and maintaining location-based contents that can be accessed offline by the user on a mobile device. Additionally, we describe the prototype we implemented for proof of concept consisting of an smart phone application and a web application back office, using 2D-barcodes as location identifiers. Our prototype provides offline access, as well as publishing, installing and updating location-based content. © 2011 IEEE.

Abstract
We study the performance reaction of investors in a specific small market context. Our sample includes all Portuguese open-end equity funds that invested in stocks issued by Portuguese companies in the period December 1993-June 2009. Instead of the convex flow-performance relationship usually documented for the US, we find an absence of reaction to past performance. We find no evidence to support the "smart money effect", given that capital flows do not favour next period performance winners. We also document persistence of fund flows. Our results are consistent with the idea that large financial intermediaries have the capacity "to drive" their customers to funds with larger fees.

Abstract

Abstract
NNIGnets is a freeware computer program which can be used for teaching, research or business applications, of Artificial Neural Networks (ANNs). This software includes presently several tools for the application and analysis of Multilayer Perceptrons (MLPs) and Radial Basis Functions (RBEs), such as stratified Cross-Validation, Learning Curves, Adjusted Rand Index, novel cost functions, and Vapnik-Chervonenkis (VC) dimension estimation, which are not usually found in other ANN software packages. NNIGnets was built following a software engineering approach which decouples operative from GUI functions, allowing an easy growth of the package. NNIGnets was tested by a variety of users, with different backgrounds and skills, who found it to be intuitive, complete and easy to use.