Abstract
This paper proposes an enterprise modelling language (EML) for model-based shop floor control. To introduce a new computer executable modelling language, two modelling frameworks were analysed, namely the CIMOSA and GERAM frameworks. This language covers the different life cycle phases of enterprise modelling (design, implementation and operation), allowing an easy and fast transition from each phase to the next. In the operation phase the models can be used to control and monitor (on-line) the enterprise resources behaviour. Section 3 presents an example of an operational model, based on the proposed EML, for real-time enterprise activity control. Despite the fact that the proposed modelling language does not intend to be a full CIMOSA compliant language, it could easily be a first step in that direction. Section 4 tries to validate this hypothesis by showing how a CIMOSA model (functional view), could be built based on the proposed EML.

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This paper proposes a genetic algorithm to generate trajectories for robotic manipulators. The objective is to minimize the ripple in the trajectory time evolution and to minimize the actuator energy requirements without colliding with any obstacles in the workspace, The article presents the results for several redundant and hyper-redundant manipulators.

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This paper presents the architecture and algorithms developed for Dom Dinis, a simple compass-guided robot built by the authors. This includes environment exploration, task planning and task execution. Environment exploration, based on repeating a reactive goal search, enables a progressive construction of a grid-based map. Based on the (possibly incomplete) map, the robot is able to plan its tasks. The execution capabilities of the robot include exception handling. Essential to all these capabilities is the knowledge of the robot's position in the world. The position is computed based on tracking traversed distances and followed orientations. Orientation is given by a compass. Dom Dinis doesn't use wheel encoders at all.

Abstract
In this paper we describe a multiobjective formulation for the long term planning of distribution networks considering a number of important features. The model admits fuzzy representations for loads and evaluates nodal long term marginal prices. It integrates a number of criteria related to investment, operational and reliability costs, risk index measuring the ability to accommodate load uncertainties and the remuneration collected using long term marginal prices. After using a Simulated Annealing approach to identify efficient expansion plans, it is finally conducted a decision analysis in order to select the most adequate plan. At a final section, we illustrate the formulation with a case study based on a Portuguese distribution network.