INSTITUTO DE SISTEMAS E ROBÓTICA PÓLO DE COIMBRA

INSTITUTO DE SISTEMAS E ROBÓTICA PÓLO DE COIMBRA RELATÓRIO DE ACTIVIDADES DE 2008

RELATÓRIO DE ACTIVIDADES DE 2008 A Publications...2 Books...2 Publications in books...2 Publications in International Journals...2 Publications in National Journals...4 Special Issues...4 Other Publications...5 Papers presented at International Scientific Conferences...5 Papers presented at National Scientific Conferences...11 B Organization of Scientific Conferences...12 Participation in Scientific International Organizations...12 Seminars...12 Invited talks...12 Editorial boards...13 Chairperson...14 Advisory board...16 Scientific board...16 Organizing Committee...16 Special Sessions Organization...21 C Graduate Studies...21 PhD. Thesis...21 PhD Supervisions...22 Msc. Supervisions...29 PhD. Courses offered...29 Msc. Courses offered...37 D - International Networks and Exchange Activities...37 E Projects...41 F Patents and Awards...79 1

A Publications Books 1. Lisboa João V. and Carlos F. Gomes (2008), Gestão de Operações, pp. 635, Edição Vida Económica, ISBN 978-972-788-274-8, 2 nd revised edition. 2. Lisboa João V. and Mário G. Augusto (2008), Cálculo Financeiro, 328 p., Vida Económica, Porto, [ISBN: 978-972-788-275-5], October. 3. Marques, Lino/ A. de Almeida/ M.O. Tokhi and G.S. Virk (2008), (Eds.), Advances in Mobile Robotics, World Scientific Pub. Publications in books 1. Araújo, Rui/ Urbano Nunes/ Luciano Oliveira/ Pedro Sousa, and Paulo Peixoto (2008), Support Vector Machines and Features for Environment Perception in Mobile Robotics, Computational Intelligence Paradigms: Innovative Applications', Studies in Computational Intelligence, Vol. SCI 137, pp. 219-250, Springer-Verlag Berlin Heidelberg, Germany. (invited chapter). 2. Augusto, Mário G. (2008), Noções de Cálculo Financeiro, Introdução à Gestão das Organizações, Book Chapter, pp. 519-573, Edição Vida Económica, Porto, [ISBN:978-972-788-273-1], 2ª Edição October. 3. Gama, Paulo (co-autoria) (2008), Contabilidade e Finanças, Introdução à Gestão das Organizações, Book Chapter, pp. 447-518, Edição Vida Económica, Porto, [ISBN:978-972-788-273-1], 2ª Edição October. 4. Gomes, Carlos F. (2008), A Gestão das Actividades Produtivas, Introdução à Gestão das Organizações, Book Chapter, pp. 577-636, Edição Vida Económica, ISBN 978-972-788-273-1, [2ª Edição]. 5. Labakhua, L./ U. Nunes/ R. Rodrigues and F. Leite (2008), Smooth trajectory planning for fully automated passengers vehicles: spline and clothoid based methods and its simulation, Informatics in Control Automation and Robotics, Part II, Lecture Notes in Electrical Engineering, Vol. 15, Springer, pp. 169-182. 6. Lisboa, João V. (2008), Aspectos gerais da empresa, Introdução à Gestão das Organizações, Book Chapter, pp. 9-48, Edição Vida Económica, Porto, [ISBN:978-972-788-273-1], 2ª Edição October. 7. Lisboa, João V. (2008), Gestão stocks, Introdução à Gestão das Organizações, Book Chapter, pp. 637-674, Edição Vida Económica, Porto, [ISBN:978-972-788-273- 1], 2ª Edição October. 8. Moutinho, Alexandra/ Luiz Mirisola/ José Azinheira and Jorge Dias (2008), "Project DIVA: Guidence and Vision Surveillance Techniques for an Autonomous Airship", in Robotics Research Trends, Chapter II, Nova Publishers, ISBN: 1-60021- 997-7 Hardcover. 2

9. Rett, Jörg/ Jorge Dias and Juan-Manuel Ahuactzin (2008), "Laban Movement Analysis using a Bayesian model and perspective projections", in Brain, Vision and AI, Chapter X, ed. Cesare Rossi, IN-TEH, Austria, ISBN:978-953-7619-04-6, first edition, August. 10. Santos, J B./ D. Celorico/ J. Varandas and J. Dias (2008), Medical interface for echographic free-hand images, Computational Vision and Medical Image Processing, ed. J. Tavares & N. Jorge, Taylor & Francis Group, London, ISBN 978-0- 415-45777-4. 11. Tavakoli, Mahmoud/ Lino Marques and Aníbal T. de Almeida (2008), Benchmarks for Pole Climbing Robots, European Robotics Symposium 2008, Herman Bruyninckx; Libor Preucil; Miroslav Kulich (Eds.), Springer Tracts in Advanced Robotics, Vol. 44, Springer, pp. 215-222. Publications in International Journals 1. Almeida, Aníbal/ M. Khalilov/ P. Fonseca/ C. Ferreira/ A. Jahn/ J. Muhling and T. Mansfield (2008), Fuel cell cost-effectiveness assessment for combined heat and power applications, International Journal of Power and Energy Systems. This paper has passed peer review, and final approval by a member of the Editorial Board. IASTED, Vol. 28, Nº2. IP: 0.304 2. Augusto, Mário Gomes/ Lisboa, João/ Yasin, Mahmoud and Figueira, José (2008), Benchmarking in a Multiple Criteria Context: An Application and a Conceptual Framework, European Journal of Operational Research, Vol. 184, Nº 1, pp. 244-254. IP: 1.096 3. Baoming, Ge/ A. de Almeida and J. T. E. Ferreira (2009), Design of Transverse Flux Linear Switched Reluctance Motor, IEEE Transaction on Magnetics, Vol. 45, No. 1, pp 113-119, January. IP: 0.959 4. Coelho, Filipe and Augusto, Mário Gomes (2008), Organizational Factors Associated with Job Characteristics: Evidence from Frontline Service Employees, Journal of Strategic Marketing, Vol.12, Nº 2, pp. 157-172. IP: n/a 5. Ferreira, F. and A. de Almeida (2008), Novel Multi-Flux Level, Three-Phase, Squirrel-Cage Induction Motor for Efficiency and Power Factor Maximization, IEEE Transactions on Energy Conversion, Vol. 23, No. 1, March, pp. 101-109. IP: 1.018 6. Ferreira, João P./ Manuel Crisóstomo and A. Paulo Coimbra (2008), Control of a Biped Robot with Support Vector Regression in Sagittal Plane, IEEE Transactions on Instrumentation and Measurement (accepted for publication, expected on July or August 2009). IP: 0.832 7. Ferreira, João P./ Manuel Crisóstomo and A. Paulo Coimbra (2008), Human Gait Acquisition and Characterization, IEEE Transactions on Instrumentation and Measurement (accepted for publication, expected on July or August 2009). IP: 0.832 8. Gomes, Carlos F./ Yasin, Mahmoud M. and Lisboa, João V. (2008), Project Management in the Context of Organizational Change: The Case of the Portuguese 3

Public Sector, International Journal of Public Sector Management, Vol. 21, Nº 6, pp. 573-585. IP: n/a 9. Gonçalves, Nuno and H. Araujo (2008 online), Estimating Parameters of Noncentral Catadioptric Systems Using Bundle Adjustment, CVIU Computer Vision and Image Understanding, published online in June, 2008. Print: Vol. 113, No. 1, p. 11-28, January 2009. IP: 1.417 10. Hüper, K./ M. Kleinsteuber and F. Silva Leite (2008), Rolling Stiefel manifolds, International Journal of Systems Science. Volume 39, Issue 9, pp 881-887. IP: 0.492 11. Junior, Oswaldo Ludwig/ Urbano Nunes/ Rui Araújo/ Leizer Schnitmanb and Herman Augusto Lepikson (2008, online), Applications of information theory, genetic algorithms, and neural models to predict oil flow, Communications in Nonlinear Science and Numerical Simulation, Elsevier, Vol. 14, Issue 7, July 2009, Pages 2870-2885. IP: n/a 12. Outeiro, M/ R. Chibante/ A. Carvalho and A. de Almeida (2008), A parameter optimized model of a Proton Exchange Membrane fuel cell including temperature effects, Journal of Power Sources, Elsevier, Vol. 185, 952 960, December. IP: 2.809 13. Outeiro, M./ A. Carvalho and A. de Almeida (2009), A new parameter extraction method for accurate modeling of PEM fuel cells", International Journal of Energy Research, John Wiley, Accepted for publication. IP: 0.701 14. Tamir, Caras/ Bachar Ami and Pasternak Zohar (2008), Morphological variation in the oral discs of the scleractinian coral Favia speciosa (Dana) at Indonesia. Computational Biology and Chemistry 32(5):345-348. IP: 1.653 15. Tahri, O./ Y. Mezouar/ N. Andreff and P. Martinet (2009), Visual servoing of Gough-Stewart platform using omnidirectional camera, IEEE Transactions on Robotics, February. IP: 1.976 16. Zohar, Pasternak (2008), Bartumeus Frederic and Grasso Frank W (accepted) Lévy-taxis: a novel search strategy for finding odor plumes in turbulent flowdominated environments. Journal of Physics A: Mathematical and Theoretical. IP: 1.680 Publications in National Journals 1. Almeida, A. De/ Paula Fonseca and Ricardo J. Sousa Lima (2008), Células de Combustível para uso Residencial, REVUE, Revista da Universidade de Évora, Ano V, Nº 9, Junho. Special Issues 1. Nunes, Urbano/ H. Rakha/ Y. Wang and D.-H. Lee (2008), (Guest-Editors). Special Issue on ITSC06, IEEE Transactions on Intelligent Transportation Systems, Vol. 9, Nº. 1, March. 4

2. Leite, F. Silva and K. Krakowski (2008), Covariant differentiation under rolling maps, Preprint of Department of Mathematics, University of Coimbra, Portugal, N. 08-22. Other Publications 1. Ferreira, Miguel and Paulo Gama (2008), Correlation Dynamics of Global Industry Portfolios, Working Paper, CEMAF/ISCTE, 2008 (submitted Journal of Multinational Financial Management). Papers presented at International Scientific Conferences 1. Aires, Kelson and Helder Araujo (2008), Plane Detection Using Monocular Vision, VIIP 2008 8 th IASTED International Conference on Visualization, Imaging, and Image Processing, September 1 3, Palma de Mallorca, Spain. 2. Akat, Salih Burak/ Veysel Gazi and Lino Marques (2008), Asynchronous Particle Swarm Optimization Based Robotic Search, IEEE Workshop and Summer School on Evolutionary Computing Lecture Series by Pioneers (WSSEC2008), Derry, Ireland, August. 3. Almeida, Anibal T. and Pedro Moura (2009), Minimization of Energy Storage Requirements for a Mixed Renewable System with Demand-Side Management, ", IEEE Industrial and Commercial Power Systems Conference, Calgary, Canada, 3-7 May. 4. Almeida, Jorge and Rui Araújo (2008), Tracking Multiple Moving Objects in a Dynamic Environment for Autonomous Navigation, Proc. 10 th IEEE Int. Workshop on Advanced Motion Control (AMC 2008), pp. 21-26, Trento, Italy, March 26-28. 5. Almeida, A./Ferreira, F./ Fong, J. and Conrad, B. (2008), Electric Motor Standards, Ecodesign and Global Market Transformation, IEEE Industrial and Commercial Power Systems Technical Conference, Clearwater Beach, Florida, U.S.A., May. 6. Amorim, I./ R. Rocha and J. Dias (2008), Mobile robotic surveillance systems: Detecting and evaluating changes in 3D mapped environments, Proc. of 2 nd Israeli Conference on Robotics (ICR 2008), Herzlia, Israel, Nov. 19-20. 7. Augusto, Mário Gomes/ Coelho, Filipe and Luas, Lages (2008), Job-Related Characteristics and the Creativity of Frontline Service Employees: The Mediating Effects of Role Stress and Intrinsic Motivation, proceedings of 37 th Conference of European Marketing Academy (EMAC), Brighton, United Kong, May. 8. Augusto, Mário Gomes/ Lisboa, João and Brandão, Elísio (2008), O Efeito de Alavancagem na Rendibilidade dos Capitais Próprios das Empresas da União Europeia, Proceedings of XVIII Luso-Spanish Conference on Management, Porto, February 2008. 5

9. Azevedo Perdicoúlis, T-P and G. Jank (2008), Linear Quadratic OL-Nash Games for a class of repetitive processes, Proceedings of 8 th Portuguese Conference on Automatic Control (CONTROLO 2008), pp 64-69, Vila Real, Portugal, 21-23 July. 10. Azevedo Perdicoúlis, T-P and G. Jank (2008), OL Nash on Affine Repetitive Processes, Proceedings of 18 th International Symposium on Mathematical Theory of Network and Systems. (MTNS08), Blacksburg, Virginia, USA, 28 July 1 August. 11. Azevedo Perdicoúlis, T-P and G. Jank (2008), Existence and Uniqueness of Disturbed Open Loop Nash Equilibria for Affine-Quadratic Differential Games, ISDG2008, Wrocław, Poland, June. 12. Barreto, J. P. / J. M. Santos/ P. Menezes and F. Fonseca (2008), Ray-based Calibration of Rigid Medical Endoscopes, Int. Work. on Omnidirectional Vision, Camera Networks and Non-Classical Cameras, Marseille, October. (Oral) 13. Bastanlar, Y./ L. Puig/ P. Sturm/ J. Campo and J. P. Barreto (2008), DLT-Like Calibration of Central Catadioptric Cameras, Int. Work. on Omnidirectional Vision, Camera Networks and Non-Classical Cameras, Marseille, October 2008. (Oral) 14. Burrows, Hugh/ Rachel C. Evans/ Artur J.M. Valente/ Daniel Alves Cerqueira/ Ângela C. P. Almeida/ L. Marques/ A. T. de Almeida and S. M. Fonseca (2008), Organic, inorganic, polymeric and hybrid matrices for conjugated polymeres for sensor applications, Proc. 6 th Workshop on Luminiscent Conjugated Polymers, 19 th May, Coimbra, Portugal. 15. Cardoso, João R./ F. Silva Leite (2008), Exponentials of skew-symmetric matrices and logarithms of orthogonal matrices, Proceedings of NumAn 2008, Kalamata, Greece, pp. 54-57, September 1-5. 16. Coutinho F. and R. Cortesão (2008), Online Stiffness Estimation for Compliant Robotic Manipulation, in Proc. of the Portuguese Conference on Automatic Control, pp. 578-583, Portugal. 17. Faria, Diego R. and Jorge Dias (2008), Hand Trajectory Segmentation and Classification Using Bayesian Techniques, Workshop on "Grasp and Task Learning by Imitation", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Acropolis Convention Center, Nice, France September, 22-26. 18. Fernandes, Pedro and Urbano Nunes (2008), Multi-Agent Architecture for Simulation of Traffic with Communications, ICINCO 2008 - International Conference on Informatics in Control, Automation & Robotics, Funchal, May. 19. Ferreira, Fernando/ W. Deprez / F. Parasiliti / A. T. de Almeida and R. Belmans (2008), A study of the effects of the stator slots wedges material on the behavior of an Induction Motor, ICEM'08 - International Conference on Electrical Machines, Vilamoura, Portugal, 6-9 September. 20. Ferreira, Fernando and A. T. de Almeida (2008), Considerations on In-Field Induction Motor Load Estimation Methods, ICEM'08 - International Conference on Electrical Machines, Vilamoura, Portugal, 6-9 September. 21. Ferreira, Fernando/ M. V. Cistelecan/ A. T de Almeida and G. Baoming (2008), Simple Strategy to Recovery Energy During Stopping Period in Large High-Inertia Line-Fed Induction Motor Driven Systems, ICEM'08 - International Conference on Electrical Machines, Vilamoura, Portugal, 6-9 September. 22. Ferreira, Fernando/ J. P. Trovão and A. T. de Almeida (2008), Motor Bearings and Insulation System Condition Diagnosis by Means of Common-Mode Current and 6

Shaft-Ground Voltage Correlation, ICEM'08 - International Conference on Electrical Machines, Vilamoura, Portugal, 6-9 September. 23. Ferreira, F./ I. Amorim/ R. Rocha and J. Dias (2008), T-SLAM: Registering Topological and Geometric Maps for Robot Localization in Large Environments, MFI'2008 - IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Seoul, Korea, August 20-22. 24. Ferreira, F. and J. Dias (2008), Merging Topological Maps for Localisation in Large Environments, CLAWAR'2008-11 th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal, 8-10 September. 25. Ferreira, J. F./ P. Bessière/ K. Mekhnacha/ J. Lobo/ J. Dias and C. Laugier (2008), Bayesian Models for Multimodal Perception of 3D Structure and Motion, International Conference on Cognitive Systems (CogSys 2008), pp. 103-108, University of Karlsruhe, Karlsruhe, Germany, April. 26. Ferreira, J. F./ Pinho, C. and Dias J. (2008), Active Exploration Using Bayesian Models for Multimodal Perception, Image Analysis and Recognition, Lecture Notes in Computer Science series (Springer LNCS), International Conference ICIAR 2008, Campilho, Aurélio and Kamel, Mohamed (Eds.), pp. 369-378, Póvoa de Varzim, Portugal, June 25-27, 2008. 27. Ferreira, J. F./ Pinho, C., and Dias, J. (2008), Implementation and Calibration of a Bayesian Binaural System for 3D Localisation, 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO 2008), Bangkok, Tailand, December 14-17. 28. Fonseca, Margarida J./ U. Nunes and L. Figueiredo (2008), Adaptation of Powered Wheelchairs for Quadriplegic Patients with Reduced Strength, ETFA 2008-13 th IEEE Conference on Emerging Technologies & Factory Automation, Hamburg, 15-18 September. 29. Frank W, Grasso/ Pasternak Zohar and Kloskowski Kamil (2009), A role for memory in chemical tracking in turbulent flows. ASLO aquatic sciences conference, January 25-30, Nice, France. 30. Freitas P. and R. Rocha (2008), Adapting Wiki Pages Presentation to People with Different Patterns of Preferences and Needs, Proc. of IASK Int. Conf. E-Activity and Leading Technologies 2008 (E-ALT2008), Madrid, Spain, pages 43-48, Dec. 3-5. 31. Gomes, Carlos F./ Yasin, Mahmoud M and Lisboa, João (2008), Strategic Orientations of Manufacturing Organizations in the European Market: Evidence from Portugal, proceedings of the 39 th Annual Meeting of the Decision Science Institute, Baltimore, Maryland, EUA. 32. Gomes, Carlos F./ Augusto, Mário Gomes and Yasin, Mahmoud M (2008), An Examination of Strategic Effectiveness in the Context of Strategic Groups: A Structural Equation Modeling Approach, Proceedings of the 39 th Annual Meeting of the Decision Science Institute, Baltimore, Maryland, USA. 33. Gomes, Carlos F. and Yasin, Mahmoud M. (2008), An Examination of Effective Performance Dimensions for Entry-Level Managers, proceedings of the 34 th Annual Meeting of the Western Decision Science Institute, San Diego, EUA. 34. Jorge, Maria and Augusto, Mário Gomes (2008), Value Implications of Risk Management and its links to Corporate Governance: A Survey of the Literature and Future Research, Proceedings of 5 th Finance Conference of Portuguese Finance Network, Coimbra, Portugal, July 2008. 7

35. Junior, Oswaldo Ludwig/ Urbano Nunes/ Rui Araújo/ Leizer Schnitman and Herman Augusto Lepikson (2008), Applications of Entropy and Neural Models to Predict Oil Flow, Proc. 2 nd Conference on Nonlinear Science and Complexity (NSC 2008), pp. 1-13, Porto, Portugal, July 28-31. 36. Lobo, Jorge/ João Filipe Ferreira/ José Augusto Prado and Jorge Dias (2008), Robotic Implementation of Biological Bayesian Models for Visuo-inertial Image Stabilization and Gaze Control, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Acropolis Convention Center Nice, France, September, 22-26. 37. Lobo, J./ Ferreira, J. F. and Dias, J. (2008), Robotic Implementation of Biological Bayesian Models Towards Visuo-inertial Image Stabilization and Gaze Control, 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO 2008), Bangkok, Tailand, December 14-17. 38. Ludwig, Oswaldo and U. Nunes (2008), Improving the Generalization Properties of Neural Networks: an Application to Vehicle Detection, 11 th IEEE International Conference on Intelligent Transportation Systems - ITSC 2008, October 12-15, Beijing, China. 39. Machado, Luis/ F. Silva Leite and K. Krakowski (2008), Riemannian Mean as a Limiting Process, Proceedings of 8 th Portuguese Conference on Automatic Control (CONTROLO 2008), pp 396-401, Vila Real, Portugal, 21-23 July. 40. Machado, Luis/ F. Silva Leite and K. Krakowski (2008), A Variational Approach for High Order Least Squares Problems on Riemannian Manifolds, Proceedings of 18 th International Symposium on Mathematical Theory of Network and Systems. (MTNS08), Blacksburg, Virginia, USA, 28 July 1 August. 41. Maduro, Cristina/ Katherine Batista/ Paulo Peixoto and Jorge Batista (2008), Estimating Vehicle Velocity using Rectified Images, VISAPP 2008 Int. Conf. On Computer Vision Theory and Applications, Funchal, Madeira, Jan 22-25. 42. Maduro, Cristina/ Katherine Batista/ Paulo Peixoto and Jorge Batista (2008), Estimation of Vehicle Velocity and Traffic Intensity using Rectified Images, ICIP 2008 IEEE Int. Conference on Image Processing, San Diego, California, USA, Oct 12-15. 43. Marjovi, Ali and Lino Marques (2008), A Scalable Benchmark for Motion Control of Mobile Robots, Proc. of the 11 th Intl. Conf. on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR2008), pp. 146-153, Coimbra, Portugal, Sep. 8-10. 44. Marques, Lino/ Grzegorz Tomaszewski and Aníbal T. de Almeida (2008), Switched Thermal Anemometer, Proc. of IEEE International Instrumentation & Measurement Technology Conference (I2MTC 2008), pp. 1783-1786, May 12-15, Victoria, BC, Canada. 45. Marques, Lino and Enric Cervera (2008), Strategies for Testing Multi-robot systems for Operation in Risky Environments, IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, Jan 7-8, Benicàssim, Spain. 46. Martins, Pedro and Jorge Batista (2008), Monocular Head-Pose Estimation, in M. Camel and A. Campilho (Eds.) ICIAR 2008 Image Analysis and Recognition (Lecture Notes in Computer Science) Springer-Verlag, London, pp. 357-368. 8

47. Martins, Pedro/ Joana Sampaio and Jorge Batista (2008), Facial Expression Recognition using Active Appearance Models, VISAPP 2008 Int. Conf. On Computer Vision Theory and Applications, Funchal, Madeira, Jan 22-25. 48. Martins, Pedro and Jorge Batista (2008), Accurate Single View Model-Based Head Pose Estimation, FG 2008 - IEEE Int. Conference on Automatic Face and Gesture Recognition, Amsterdam, The Netherlands, Sept 17-19, 2008. 49. Martins, Pedro and Jorge Batista (2008), Single View Head Pose Estimation, ICIP 2008 IEEE Int. Conference on Image Processing, San Diego, California, USA, Oct 12-15. 50. Martins, Nuno and Helder Araujo (2008), Calibration and Pose Estimation of a Pox-Slits Camera from a Single Image, ISVC 08-4 th International Symposium on Visual Computing, December 1 3, Las Vegas, Nevada, USA. 51. Mendes, Mateus/ Manuel Crisóstomo and A. Paulo Coimbra (2008), Robot Navigation Using a Sparse Distributed Memory, Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA 08), pp. 53-58, Pasadena, California, May 19-23. 52. Mezouar, Y./ H. H. Abdelkader and O. Tahri (2008), Two Applications of Ominidirectional Vision : Visual-Servo of Serial and Parallel Robots. Workshop on Omnidirectional Robot Vision, International Conference on Simulation, Modeling and Programming for Autonomous Robots, November 3-7, Venice, Italy. 53. Mirisola, Luiz G. B. and Jorge Dias (2008), Tracking from a Moving Camera with Attitude Estimates, ICR 08 - The 2 nd Israeli Conference on Robotics, Herzlia, Israel, 19-20 November. 54. Monteiro, Gonçalo/ João Marcos/ Miguel Ribeiro and Jorge Batista (2008), Robust Segmentation Process to Detect Incidents in Highways, in M. Camel and A. Campilho (Eds.) ICIAR 2008 Image Analysis and Recognition (Lecture Notes in Computer Science) Springer-Verlag, London, pp. 110-121. 55. Monteiro, Gonçalo/ João Marcos/ Miguel Ribeiro and Jorge Batista (2008), Robust Segmentation for Outdoor Traffic Surveillance, ICIP 2008 IEEE Int. Conference on Image Processing, San Diego, California, USA, Oct 12-15. 56. Monteiro, J. and R. Rocha (2008), RACbot-RT: Robust Digital Control for Differential Soccer-Player Robots, Proc. of 5 th Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO 08), Funchal, Portugal, pages 225-228, May 11-15. 57. Monteiro, J. and R. Rocha (2008), Robust Digital Control for Differential Soccer- Player Robots, Proc. of 8 th Conf. on Autonomous Robot Systems and Competitions, Aveiro, Portugal, pages 45-50, Apr. 2. 58. Oliveira, Luciano and U. Nunes (2008), On Integration of Features and Classifiers for Robust Vehicle Detection, 11 th IEEE International Conference on Intelligent Transportation Systems - ITSC 2008, October 12-15, Beijing, China. 59. Oliveira, Luciano/ R. Britto and U. Nunes (2008), On Using Cell Broadband Engine for Object Detection in ITS, IEEE IROS 2008 2 nd Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Nice, France, September. 60. Oliveira, Pedro/ Lino Marques and Aníbal T. de Almeida (2008), Sniffing a fire: experiments in a reduced scale Scenario, IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, Jan 7-8, Benicàssim, Spain. 9

61. Oliveira, Pedro/ Lino Marques and Aníbal de Almeida (2008), Sniffing a Fire: simulating experiments in a reduced scale scenario, Proc. of the 11 th Intl. Conf. on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR2008), pp. 353-362, Coimbra, Portugal, Sep. 8-10. 62. Palaio, Hélio and Jorge Batista (2008), Multi-Object Tracking using Region Covariance Particle Filter with Model Update in a Riemannian Manifold, VS 2008-8th Int. Workshop on Visual Surveillance (in conjunction with ECCV 2008), Marseille, France, Oct. 17, 2008. 63. Palaio, Hélio and Jorge Batista (2008), Multi-Object Tracking Using an Adaptive Transition Model Particle Filter with Region Covariance Data Association, ICPR 2008 19th Int. Conference on Pattern Recognition, Tampa, Florida, USA, Dez 8-11. 64. Pascoal, José/ Lino Marques and Aníbal T. de Almeida (2008), Assessment of laser range finders in risky Environments, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008), pp. 3533-3538, Nice, France. 65. Pascoal, José/ Lino Marques and Aníbal T. de Almeida (2008), Assessment of laser range finders in risky environments, IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, Jan 7-8, Benicàssim, Spain. 66. Pascoal, José/ Pedro Sousa and Lino Marques (2008), khenose - A Smart Transducer for gas sensing, Proc. of the 11 th Intl. Conf. on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR2008), pp. 993-1000, Coimbra, Portugal, Sep. 8-10. 67. Pinho, C./ J. F. Ferreira/ P. Bessière and J. Dias (2008), A Bayesian Binaural System for 3D Sound-Source Localisation, International Conference on Cognitive Systems (CogSys 2008), pp 109-114, University of Karlsruhe, Karlsruhe, Germany, April 2008. 68. Pires, Gabriel/ U. Nunes and M. Castelo-Branco (2008), Brain Computer Interface Approaches to Control Mobile Robotic Devices, Advances in Mobile Robotics, World Scientific, 11 th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp 489-496, Coimbra, Portugal. 69. Pires, Gabriel/ M. Castelo-Branco and U. Nunes (2008), Visual P300-based BCI to steer a Wheelchair: a Bayesian Approach, 30 th International IEEE EMBS Conference, pp. 658-661, Vancouver, British Columbia, Canada, August 20-24. 70. Rett, Jörg/ Luis Santos and Jorge Dias (2008), Laban Movement Analysis for Multi-Ocular Systems, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Acropolis Convention Center Nice, France, September, 22-26. 71. Rocha, Rui/ Filipe Ferreira and Jorge Dias (2008), Multi-Robot Complete Exploration using Hill Climbing and Topological Recovery, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Acropolis Convention Center, Nice, France, September 22-26. 72. Rodrigues, N./ R. Rocha and J. Dias (2008), Extrinsic Calibration between 3D Laser Range Finders and Pinhole Cameras Aided by Inertial Data, Proc. of 2 nd Israeli Conference on Robotics (ICR 2008), Herzlia, Israel, Nov. 19-20. 73. Solea, Razvan and Urbano Nunes (2008), Robotic wheelchair control considering user comfort: modeling and experimental evaluation, ICINCO 2008 - International Conference on Informatics in Control, Automation & Robotics, Funchal, May. 10

74. Sousa, Pedro/ Lino Marques and Aníbal T. de Almeida (2008), Volatile marks for robotics guidance, IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, Jan 7-8, Benicàssim, Spain. 75. Sousa, Pedro/ Lino Marques and Aníbal T. de Almeida (2008), Toward Chemical- Trail Following Robots, Proc. of IEEE/AMLA 7 th Int. Conf. on Machine Learning and Applications (ICMLA2008), pp. 489-494, Dec 11-13, San Diego, California. 76. Sturm, Peter and Joao P. Barreto (2008), General Imaging Geometry for Central Catadioptric Cameras, European Conf. on Computer Vision. Marseille, October. 77. Tahri, O. and Y. Mezouar (2008), On the Efficient Second Order Minimization and Image-Based Visual Servoing, IEEE International Conference on Robotics and Automation, Pasadena, California, May 19-23. 78. Tahri, O./ F. Chaumette and Y. Mezouar (2008), New Decoupled Visual Servoing Scheme based on Invariants from Projection onto a Sphere, IEEE International Conference on Robotics and Automation, Pasadena,California, May 19-23. 79. Tavakoli, Mahmoud/ Ali Marjovi/ Lino Marques and Anibal T. de Almeida (2008), 3DCLIMBER: A climbing robot for inspection of 3D human made structures, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008), pp. 4130-4135, Nice, France. 80. Tavakoli, Mahmoud/ Lino Marques and Anibal de Almeida (2008), A Comparison Study on Pneumatic Muscles and Electrical Motors, Using the 3DClimber as a Case Study, Proc. of the 11 th Intl. Conf. on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR2008), pp. 255-262, Coimbra, Portugal, Sep. 8-10. 81. Tavakoli, Mahmoud/ Ali Marjovi/ Lino Marques and Aníbal de Almeida (2008), A Step Toward Autonomous Pole Climbing Robots, Proc. of the 11 th Intl. Conf. on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR2008), pp. 1114-1121, Coimbra, Portugal, Sep. 8-10. 82. Xavier, João and Helder Araujo (2008), The Experimental Robotics Framework, SIMPAR 2008 International Conference on Simulation, Modeling and Programming for Autonomous Robots, November 1 3, Venice, Italy. Also chapter in Simulation, Modeling, and Programming for Autonomous Robots, LNCS, Springer- Verlag, ISBN 978-3-540-89075-1. 83. Zohar, Pasternak (2008), Environmental monitoring with autonomous underwater robots. Euro-science open forum (ESOF) conference, July 17-21, Barcelona, Spain. Papers presented at National Scientific Conferences 1. Antunes, Michel/ Joao P. Barreto and Paulo Menezes (2008), Integration of Optical Tracking System for Determination of the Position and Orientation of Instruments During the Surgery, RECPAD2008 14.ª Conf. Portuguesa em Reconhecimento de Padrões, October. 2. Duarte, L. and R. Rocha (2008), RAClearning: a Survey of Reinforcement Learning Techniques Applied to Robot Soccer, Proc. of 14 th Portuguese Conference on Pattern Recognition (RecPad 2008), Coimbra, Portugal, Oct. 31. 11

3. Henriques, J. F. and H. Araujo (2008), A Simple and Fast Alternative to the Generalized Hough Transform, RecPad 2008-14th Portuguese Conference on Pattern Recognition, Coimbra, Oct. 31. 4. Junior, Oswaldo Ludwig/ Urbano Nunes and Rui Araújo (2008), Comparison Study of Redundant Sensor Fusion in Autonomous Vehicle Navigation, Proc. 8 th Portuguese Conference on Automatic Control (CONTROLO 2008), pp. 719-725, Vila Real, Portugal, July 21-23. 5. Martins, Pedro and Jorge Batista (2008), Model-Based Facial Expression Recognition, RecPad 2008-14th Portuguese Conference on Pattern Recognition, Coimbra, Oct. 31. 6. Miraldo, P. and H. Araujo (2008), Gestures Interpretation Using Computer Vision for Human-Machine Interaction, RecPad 2008-14th Portuguese Conference on Pattern Recognition, Coimbra, Oct. 31. 7. Monteiro, Gonçalo/ João Marcos/ Jorge Batista and Jorge Batista (2008), Stopped Vehicle Detection System for Outdoor Traffic Surveillance, RecPad 2008-14th Portuguese Conference on Pattern Recognition, Coimbra, Oct. 31. 8. Monteiro, J. and R. Rocha (2008), RACbot-RT: Robust Digital Control for Differential Soccer-Player Robots, Proc. of 14 th Portuguese Conference on Pattern Recognition (RecPad 2008), Coimbra, Portugal, Oct. 31. 9. Palaio, Hélio and Jorge Batista (2008), A Region Covariance and Particle Filter Fusion for Multi-Object Tracking, RecPad 2008-14 th Portuguese Conference on Pattern Recognition, Coimbra, Oct. 31. B Organization of Scientific Conferences Participation in Scientific International Organizations Name of the Organization: Technical Committee on Nonlinear Systems of the International Federation of Automatic Control (IFAC). Participant investigator: F. Silva Leite (2001-2008). Name of the Organization: IEEE Robotics and Automation Society, Technical Committee on Intelligent Transportation Systems. Participant investigator: Urbano Nunes Invited talks Event: First Joint Meeting of the American Mathematical Society and Brasilian Mathematical Society. Rio de Janeiro, Brasil. 2-9 June, 2008. Title of talk: The geometry of rolling 12

Speaker: F. Silva Leite Event: First IberoAmerican Meeting on Geometry, Mechanics, and Control. Santiago de Compostela, Spain. 23-27 June, 2008. Title of talk: Basic concepts of geometric nonlinear control Speaker: F. Silva Leite Event: XVII Fall Workshop on Geometry and Physics. Castro Urdiales, Spain. 3-6 September 2008. Title of talk: The geometry of rolling maps. Speaker: F. Silva Leite Event: 3 rd workshop ISEL SENSORES 2008, Lisboa, 20 November, 2008 Title of talk: Sensores para robôs de operação em ambientes perigosos Speaker: Lino Marques Event: Tianjin University, Tianjin (China), October 28, 2008 Title of talk: Mobile Robot Olfaction @ ISR-UC Speaker: Lino Marques Event: 8 th International UJI Robotics School on Rescue Robotics (IURS-2008), Benicàssim (Spain), September 15-19, 2008 Title of talk: Mobile Robot Olfaction Speaker: Lino Marques Event: Good Experimental Methodology and Benchmarking in Robotics (GEMBench- 2008), Prague (Czech Republic), 25-26 March, 2008 Title of talk: Benchmarking Mobile Robots Motion Speaker: Lino Marques Title of talk: Image Geometry in Non-Conventional Central Cameras using Lifted Coordinates. ICS FORTH, Heraklion, Crete, Greece, July, 2008. Speaker: João Pedro Barreto 13

Title of talk: Stock models for Known irregular demand: Implications in other functional áreas, conferência no âmbito da III Hispano-Fench Meeting on Sustainability and CSR, Universidade de Santiago de Compostela, 13 de Maio de 2008. Speaker: João Lisboa Editorial boards Urbano Nunes Associate Editor of IEEE Transactions on Intelligent Transportation Systems, since Sept. 2005. Helder Araújo - Associate Editor for ICRA'08 2008 IEEE International Conference on Robotics and Automation, May 19 23, 2008, Pasadena, California, USA. Jorge Dias - Journal of Intelligent and Robotic Systems, Springer London Jorge Dias - IEEE TRANSACTIONS ON ROBOTICS, IEEE Jorge Dias - EURASIP Journal on Embedded Systems, Hindawi Publishing Corporation Jorge Dias - Journal of Real-Time Image Processing, Springer Jorge Dias - Robotics and Autonomous Systems Journal, Elsevier Jorge Dias - Journal of Biomechanical Engineering, ASME Digital Library Jorge Dias - International Journal of Information Sciences, Elsevier Jorge Dias - The Imaging Science Journal, The Journal of Photographic Science, Copyright The Royal Photographic Society, W.S. Maney & Son Ltd, UK Jorge Dias - Journal of Systems and Control Engineering, Institution of Mechanical Engineers from UK, Professional Engineering Publishing Jorge Dias - IEEE Robotics & Automation Magazine, IEEE Jorge Dias - ROBÓTICA Automação, Controlo e Instrumentação Jorge Dias - Journal of Intelligent & Robotics Systems, Kluwer Jorge Dias - International Journal of Robotics and Automation, ACTA Press / IASTED Jorge Dias - Machine Vision Applications, Elsevier Jorge Batista - CVIU Computer Vision and Image Understanding Jorge Batista - IEEE Transactions on Intelligent Transportation Systems Jorge Batista - MEAS Measurement João P. Barreto - Guest Editor of Computer Vision and Image Understanding (Special Issue on Omnidirectional Vision) João Veríssimo Lisboa Member of the Editorial Board of Revista Galega de Economia, University of Santiago de Compostela, Spain. João Veríssimo Lisboa Member of the Editorial Board of International Journal of Decision Sciences, Risk and Management João Veríssimo Lisboa Member of the Editorial Board of Management Decision, England. João Veríssimo Lisboa Member of the Editorial Board of Estudos de Gestão Portuguese Journal of Management studies, Portugal. 14

Carlos Ferreira Gomes Member of the Editorial Board of International Journal of Decision Sciences, Risk and Management Carlos Ferreira Gomes Member of the Editorial Board Review of Strategic Outsourcing, an International Journal Chairperson Conference: Workshop on "Planning, Perception and Navigation for Intelligent Vehicles" held at IROS 2008, Nice, France. Participant investigator: Urbano Nunes. Conference: ITSC2008 IEEE Intelligent Transportation Systems Conference, Beijing, China, 2008. Participant investigator: Urbano Nunes. Conference: ITSC2008 IEEE Intelligent Transportation Systems Conference, Beijing, China, 2008. Participant investigator: Urbano Nunes. Conference: Session Chair at the 8 th Portuguese Conference on Automatic Control CONTROLO 2008, July 21-23, Vila Real, Portugal. Participant investigator: Urbano Nunes. Conference: 13º Congresso IO, 2008, session S3E. Participant investigator: T-P Azevedo Perdicoúlis. Conference: CONTROLO 2008, session [WE-8] Control Theory 1 Participant investigator: T-P Azevedo Perdicoúlis. Conference: ISDG2008, session WED71 Participant investigator: T-P Azevedo Perdicoúlis. Conference: MTNS2008, session RSMultidimFinPosSys Participant investigator: T-P Azevedo Perdicoúlis. Conference: CONTROLO 2008, session Optimal Control 2 Participant investigator: F. Silva Leite Conference: VISAPP 2008-3 rd International Conference on Computer Vision Theory and Applications, 22 25 January, 2008, Funchal, Madeira, Portugal Participant investigator: Helder Araújo Conference: XVIII Luso-Spanish Conference on Management, 7-8 February, 2008, Porto, Portugal Participant investigator: Mário Gomes Augusto 15

Advisory board Aníbal T. de Almeida: ECEEE - European Council for an Energy Efficient Economy Expert Advisory Committee Aníbal T. de Almeida: CLAWAR 2009, 12 nd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 9-11 September, Istanbul, Turkey. Scientific board Conference: Program Committee (Reviewer) European Conference in Computer Vision 2008, Marseille, France Participant investigators: João P. Barreto Conference: Program Committee (Reviewer) ICRA2008: IEEE Int. Conf. In Robotics and Automation,, Pasadena, California, USA. Participant investigators: João P. Barreto Conference: Program Committee (Reviewer) IROS2008: IEEE Int. Conf. On Intelligent Robotic Systems Participant investigators: João P. Barreto Conference: Program Committee OMNIVIS2008: Int. Workshop. In Omnidirectional Cameras, Camera Networks and Non-conventional Cameras. Marseille, France. Participant investigators: João P. Barreto Conference: ENSPM08 Encontro Nacional da Sociedade Portuguesa de Matemática. 25-28 June, 2008, ISEC, Coimbra, Portugal Participant investigators: João R. Cardoso Conference: 8 th Portuguese Conference on automatic Control (CONTROLO 2008), 21-23 July 2008, Vila Real, Portugal. Participant investigators: F. Silva Leite Conference: IEEE Workshop and Summer School on Evolutionary Computing Lecture Series by Pioneers (WSSEC2008), 18-22 August 2008, Derry, Northern Ireland. 16

Participant investigators: Lino Marques Conference: IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance (RISE2008), 7-8 January, 2008 - Benicàssim (Spain). Participant investigators: Lino Marques Conference:2008 IEEE International Conference on Robotics and Automation, ICRA 2008, on May 19-23 2008 in Pasadena, California. Participant investigators: Jorge Dias Conference:2008 IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, 22-26 September 2008, Nice, France. Participant investigators: Jorge Dias Conference: 2008 IASTED International Conference on Telehealth and Assistive Technologies (Telehealth/AT 2008), April 16-18 in Baltimore, Maryland. Participant investigators: Jorge Dias Conference:2008 IROBOT'2008-3 rd International Workshop on Intelligent Robotics- IBERAMIA is the international Ibero-American conference on Artificial Intelligence. Participant investigators: Jorge Dias Conference:2008 5 th International Conference on Informatics in Control, Automation and Robotics ICINCO 2008, May 11-15, 2008, Funchal, Madeira - Portugal. Participant investigators: Jorge Dias Conference: The IASTED International Conference on Telehealth and Assistive Technologies Baltimore, Maryland, USA, April 16-18, 2008. Participant investigators: Jorge Dias Conference: Program Committee of the International Conference on Image Analysis and Recognition (ICIAR 2008). Participant investigators: Jorge Batista Conference: Program Committee of the IEEE International Conference on Intelligent Transportation Systems (ITSC 2008) (Program Committee & Associate Editor for Advanced Vehicle Safety Systems & Intelligent Vehicles Technologies and Other Topics). Participant investigators: Jorge Batista Conference: Program Committee of the VISAPP 2008 Int. Conf. On Computer Vision Theory and Applications. Participant investigators: Jorge Batista Conference: Program Committee of the ICIAR 2008 International Conference on Image Analysis and Recognition, June 25-27, 2008, Póvoa do Varzim, Portugal. Participant investigators: Helder Araújo Conference: Technical Committee (Track 1 Computer Vision) of the ICPR 2008--19th International Conference on Pattern Recognition, December 8 11, 2008, Tampa, Florida, USA. Participant investigators: Helder Araújo 17

Conference: Associate Program Committee of Omnivis 2008 8 th Omnidirectional Vision, October 17, 2008, Marseille, France. Participant investigators: Helder Araújo Workshop on Conference: Associate Editor for the IEEE International Conference on Intelligent Transportation Systems (ITSC 2008), 12-15 October, 2008, Beijing, China. Participant investigators: Paulo Peixoto Conference: Scientific Committee Member, Portuguese Finance Network Conference, Coimbra, July 2008. Participant investigators: Mário Gomes Augusto Conference: Scientific Committee Member, Luso-Spanish Conference on Management, Porto, February 2008. Participant investigators: Mário Gomes Augusto Conference: Scientific Committee Member, Luso-Spanish Conference on Management, Porto, February 2008. Participant investigators: João Veríssimo Lisboa Conference: Scientific Committee Member, Portuguese Finance Network Conference, Coimbra, July 2008. Participant investigators: Paulo Gama Conference: Member of the Scientific Council of Tourism and Management Studies, University of Algarve. Participant investigators: Carlos Ferreira Gomes Conference: IROS2008 IEEE/RSJ International Conference of Intelligent Robots and Systems, Nice, France. Position: IPC Member Participant investigator: Urbano Nunes Conference: ICINCO08 5 th International Conference on Informatics in Control, Automation and Robotics, Funchal, Portugal. Position: IPC Member Participant investigator: Urbano Nunes Conference: IEEE International Conference on Intelligent Computer Communication and Processing (ICCP'08), Cluj-Napoca, Romania. Position: IPC Member Participant investigator: Urbano Nunes Conference: 8 th Portuguese Conference on Automatic Control CONTROLO 2008, July 21-23, Vila Real, Portugal. Position: IPC Member Participant investigator: Urbano Nunes Conference: IEEE Intelligent Vehicles Symposium (IV 2008), June 4-6, Eindhoven, The Netherlands. 18

Position: IPC Member Participant investigator: Urbano Nunes Conference: IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI08), August 20 22, Seoul, Korea. Position: IPC Member Participant investigator: Urbano Nunes Conference: 8 th Conference on Mobile Robots and Competitions - 2008 Robotica, Aveiro, Portugal. Position: IPC Member Participant investigator: Urbano Nunes Conference: SAC2008, 23rd ACM Symposium on Applied Computing 2008 - Special track on Robotics: Hardware, Software and Embedded Systems track (RHSES), Fortaleza, Brazil, Mar. 16-20, 2008. Position: Member of the Program Committee. Participant investigator: Rui Rocha Organizing Committee Conference: 13 th IEEE Conference on Emerging Technologies and Factory Automation (ETFA 2008), Hamburg, Germany, September 15-18, 2008. Position: member of the International Program Committee of the Track Intelligent Robots and Systems. Participant investigator: Rui Araújo. Conference: IEEE International Conference on Intelligent Transportation Systems (ITSC2008), Beijing, China, Nov. 2008 Position: Program Co-chair Participant investigator: Urbano Nunes Conference: IEEE IROS08 Workshop on "Planning, Perception and Navigation for Intelligent Vehicles", Sept. 26, 2008 Position: Co-organizer Participant investigator: Urbano Nunes Conference: 11 th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal Sep 8-10, 2008 19