Abstract
In this paper we propose a method to develop an omnidirectional kick (behavior) for a humanoid robot. This behavior uses a path planning module to create a trajectory that the foot must follow to propel the ball in the intended direction. Two additional modules were required when performing the movement: Inverse kinematics module which computes the value of the joints to position the foot at a given position and the stability module which is responsible for the robot's stability. Simulation tests are performed under different ball positions, relative to the robot's orientation, and for various ball directions. The results obtained showed the usefulness of the approach since the behavior performs accurately the intended motion and is able to kick the ball in all the directions desired.

Abstract
Target Controlled Infusion (TCI) systems are based in drug pharmacokinetic and pharmacodynamic models implemented in an algorithm to drive an infusion pump. Infusion control algorithms have been designed, implemented and validated for several anesthetic drugs, devices and controllers. The maintenance phase in these algorithms is represented by an equation that compensates the loss of drug from the central compartment and maintains the set target concentration. The goal of the current study was to improve existing TCI software with a new method for the maintenance phase. We compared and analyzed two different methods to find the more efficient method for the maintenance phase in an open-loop control TCI system.

Abstract
Many people with disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling the devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform and also the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also presented.

Abstract
Increasingly, robot programs are generated off-line, for example, through a virtual model of a robotic cell. However, when the virtual model does not reproduce exactly the real scenario or the calibration process is not performed correctly it is difficult to generate reliable robot programs. In order to circumvent this problem, it was introduced sensory feedback (force and torque sensing) in a robotic framework. By controlling the robot end-effector pose and specifying its relationship to the interaction/contact forces, robot programmers can ensure that the robot maneuvers correctly, damping possible impacts and also increasing the tolerance to positioning errors from the off-line programming process. In this paper Fuzzy-PI and PI reasoning was proposed as a force control technique. The effectiveness of the proposed approach was evaluated in a serie of 20 experiments that demonstrated that Fuzzy-PI controllers are more suitable to deal with this type of situations.

Abstract
Today, industrialized countries are facing a major problem, the lack of skilled engineers. Despite the increasing demand for engineers in the labor market, the number of students going to engineering courses has been declining. This paper reports some initiatives carried out by the industrial robotics laboratory of the University of Coimbra (Portugal) which can contribute to help the youths to obtain an enlarged image of what the engineers can do. These initiatives have focused on the organization of one-day visits to the university campus and participation in events (fairs and exhibitions) to disseminate science and technology. Our participation in such initiatives has been done through the exhibition of a robotic platform to be experienced by the public, usually high school students. In order to allow visitors to intuitively drive the robot, two human-robot interfaces (HRI) has been used. So, to make the process more appealing, the visitors will not only drive the robot but also will play a game with the robot. Besides, it is also important for us receive feedback from the visitors. In such way, a questionnaire about their understanding of the presented robotic platform was proposed. Some points regarding the questionnaires are pointed out for discussion, the students' interest in robotics and the effectiveness of our "hands-on' robotic platform. Results are presented by dividing the answers collected by gender.

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.