Abstract
Intelligent wheelchairs operating in dynamic environments need to sense its neighborhood and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, real-time obstacle avoidance extension of the classic potential field methodology. Our algorithm is specially adapted to share the wheelchair's control with the user avoiding risky situations. This method relies on the idea of virtual forces, generated by the user command (attractive force) and by the objects detected on each ultrasonic sensor (repulsive forces), acting on the wheelchair. The resultant wheelchair's behavior is obtained by the sum of the attractive force and all the repulsive forces at a given position. Experimental results from drive tests in a cluttered office environment provided statistical evidence that the proposed algorithm is effective to reduce the number of collisions and still improve the user's safety perception. ©2010 IEEE.

Abstract
In large and complex organizations, the development of workflow automation projects is hard. In some cases, a first important step in that direction is the automation of the routing of incoming documents. In this paper, we describe a project to develop a system for the first routing of incoming letters to the right department within a large, public portuguese institution. We followed a data mining approach, where data representing previous routings were analyzed to obtain a model that can be used to route future documents. The approach followed was strongly influenced by some of the limitations imposed by the customer: the budget available was small and the solution should be developed in SQL to facilitate integration with the existing system. The system developed was able to obtain satisfactory results. However, as in any Data Mining project, most of the effort was dedicated to activities other than modelling (e.g., data preparation), which means that there is still plenty of room for improvement.

Abstract
The implementation of refractometric based fiber optic sensors for environmental monitoring is discussed. Several sensing head configurations and interrogation schemes are presented and compared in the framework of different biochemical sensing applications. Results are presented demonstrating the suitability of this technology to monitor a diversity of chemical and biological parameters of environmental significance.

Abstract
This work presents a volumetric approach to reconstruct and characterise 3D models of external anatomical structures from 2D images. Volumetric methods represent the final volume using a finite set of 3D geometric primitives, usually designed as voxels. Thus, from an image sequence acquired around the object to reconstruct, the images are calibrated and the 3D models of the referred object are built using different approaches of volumetric methods. The final goal is to analyse the accuracy of the obtained models when modifying some of the parameters of the considered volumetric methods, such as the type of voxel projection (rectangular or accurate), the way the consistency of the voxels is tested (only silhouettes or silhouettes and photo-consistency) and the initial size of the reconstructed volume.

Abstract
The increasing usage of mobile technologies for service provision has created the need to understand customer mobile service experiences and to integrate designer's and technology's perspectives for the design of successful mobile services. This paper presents the results of a qualitative study with 44 mobile service customers, providing an in-depth understanding of the experience factors that contribute to design improved mobile services. The study' results indicate that traditional interface factors, such as usefulness and ease of use, continue to be important. However, the study reveals that contextual factors, such as the social environment and service atmosphere, are very important for the mobile service experience. These results reinforce the need to adopt a broader view of the experience factors for the effective design of mobile services.

Abstract
Lenses are one the most popular approaches to define bidirectional transformations between data models. A bidirectional transformation with view-update, denoted a lens, encompasses the definition of a forward transformation projecting concrete models into abstract views, together with a backward transformation instructing how to translate an abstract view to an update over concrete models. In this paper we show that most of the standard point-free combinators can be lifted to lenses with suitable backward semantics, allowing us to use the point-free style to define powerful bidirectional transformations by composition. We also demonstrate how to define generic lenses over arbitrary inductive data types by lifting standard recursion patterns, like folds or unfolds. To exemplify the power of this approach, we "lensify" some standard functions over naturals and lists, which are tricky to define directly "by-hand" using explicit recursion.