Abstract
In this paper the proposal of a low cost high performance educational mobile robot is described. The robot is based on an Arduino, applied in the low level control, while the high level control loop is carried out by an RPI running an object pascal application. The described robot was prototyped in order to have a competitive participation in the Robotic Day Line Follower 2017 competition, taking advantage of the RPI capabilities. The RPI allows the use of higher performance sensors, when compared with the most common standard approaches based on a single 8 bit RISC micro-controller, having as disadvantage the inevitable robot size increase, which compromises in certain situations the robot maneuverability and increases the power consumption. The robot is equipped with DC Motors, the chosen line follower sensor is the picamera and for the obstacle detection sonar sensors are used. © CLAWAR Association.

Abstract
Throughout this paper, the model, its parameter estimation and a controller for a solution using a DC motor with a gearbox worm, coupled to a non-rigid joint, will be presented. First, the modeling of a non-linear system based on a DC Motor with Worm Gearbox coupled to a non-rigid joint is presented. The full system was modeled based on the modeling of two sub-systems that compose it—a non-rigid joint configuration and the DC motor with the worm gearbox configuration. Despite the subsystems are interdependent, its modelling can be performed independently trough a carefully chosen set of experiments. Modeling accurately the system is crucial in order to simulate and know the expected performance. The estimation process and the proposed experimental setup are presented. This setup collects data from an absolute encoder, a load cell, voltage and current sensors. The data obtained from these sensors is presented and used to obtaining some physical parameters from both systems. Finally, through an optimization process, the remaining parameters are estimated, thus obtaining a realistic model of the complete system. Finally, the controller setup is presented and the results obtained are also presented. © 2020 by the authors. Licensee MDPI, Basel, Switzerland.

Abstract
The Robot@Factory Lite (R@FL) is a competition held at the Portuguese Robotics Open that aims to present a problem inspired by the deployment of autonomous mobile robots on a factory shop floor. This paper proposes an approach to transform this competition according to the Industry 4.0 concept using the Wi-Fi to attribute orders to the mobile robot. The main contribution of this paper is to address a Supply Chain Management (SPM) of the ERP (Enterprise Resource Planning) that will inform the tasks to the robot so that it can schedule. It is presented a new hardware architecture that should be able to read the information of the parts through Wi-Fi in a client-server methodology. It also includes encoders that allow to feedback the wheels rotation and can be used to estimate the odometry.

Abstract
The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable.

Abstract
STEAM Education is nowadays a key element for our current digital society. Integrating STEAM and developing competences such as Computational Thinking is highly demanded by the industry and higher education institutions. In order to do so new methodological approaches are required. RoboSTEAM project is an Erasmus+ project defined to address these topics by using of physical devices and robotics employing Challenge Based Learning methodology. One of the first steps in the project development is the definition of current landscape in the research field. Which means to carry out a literature mapping that considers previous applications of Challenge Based Learning in STEAM education and use of robots and physical devices to do so. This paper shows the mapping review process and the main results obtained. The mapping analyze 242 candidate works from the most relevant bibliographic sources and selected 54. Form them it was possible to see that there are not many initiatives on STEM Education related to Challenge base learning and the most of them are specially focused on the application of specific tools and in the development of concrete competences.

Abstract
In this paper it is described a Pilot that took place at Emidio Garcia School from Braganca, Portugal. The presented Pilot is based on a Challenge based Learning Approach, being an activity of the RoboSTEAM - Integrating STEAM and Computational Thinking development by using robotics and physical devices - ERASMUS+ Project. In the presented educational experiment it were used physical devices, being chosen the mBot robot, programmed using Scratch. The presented challenges had as research question a global problem that was Wildfires. Student had to propose and to develop solutions based on the use of robots to prevent and fight wildfires. The students that participated in the experiment were secondary school students, from Spain and Portugal, with their background in technology and arts respectively. Previously to the experiment the involved students filled a STEM semantic Survey and during the experiments their performance was evaluated.