Abstract
This paper describes Cybi, an inexpensive smart companion mobile robot for elderly and disabled people. The software architecture that enables users to perform telepresence and teleoperation tasks with Cybi is based on combining Cloud Computing technologies and Fuzzy Logic. On one hand, the robot can be remotely teleoperated from a thin client by executing a specific module of a distributed software component that uses ROS, WebRTC and Google App Engine. On the other hand, Cybi is capable of understanding simple spoken orders that allow it to navigate through an unknown domestic indoor environment. In both cases, a fuzzy reactive navigation software component is used with the aim of making the teleoperation procedure as easy and safe as possible for both elders' caregivers and elderly users themselves. Finally, several real tests are also presented, demonstrating that Cybi could be considered as a suitable robotic companion, since the proposed methods enhance the performance of teleoperation and telepresence tasks. © 2015 IEEE.

Abstract
This paper describes the development of a mobile indoor navigation system, supported by a GIS and built using only open source tools. For the sake of simplicity a single building was chosen for the tests converting the floors to digital information from paper plans. The rooms geometry was saved on a proper database with all the adjacent information associated, which can in turn be provided to the clients application by APIs and Web Services. The system is able to calculate the most adequate path between any of the rooms taking into account the user profile which is defined by it's degree of mobility (eg. wheelchair). By reading a QR code placed in key places inside the building the user can obtain, on a mobile phone, his current position and receive orientations to any room that he might want to go. The directions hints are complemented with the presentation of real pictures associated to key locations in the path to validate that the correct path is taken by the user. (C) 2015 The Authors. Published by Elsevier B.V.

Abstract
The viStaMPS software is a collaborative scientific project that was created with three major purposes: (1) facilitate the usage by users non familiar with the specificities of the programming language that supports StaMPS; (2) implement several visualization tasks not available in the StaMPS standard approach (avoiding that each user develop its own code for visualization and interpretation purposes) and (3) create a collaborative research project, continuously under development counting on the dynamism of its users to improve and/or add new features.

Abstract

Abstract
TIEC 61499 defines an execution model for distributed industrial control applications, i.e. a single application distributed among several devices. In such an environment partial failures are likely to occur. In order to avoid probable system malfunctions and breakdowns due to partial failures, the authors have previously proposed a framework where the concept of replication may be applied to the IEC 61499 execution model. This paper focuses on describing an implementation of this replication framework on the FORTE IEC 61499 execution platform, along with the results of the first tests of the implementation. A set-up for the full validation of the approach is also described.

Abstract
One of the aspects that affects the reliability of a software application is the programming language used for its development. In industrial automation applications, the most commonly used languages are those defined in the IEC 61131-3 standard. This work contains an analysis of the semantics of ST and IL expressions, and highlights ambiguities in the standard that might lead to seemingly correct code being executed and evaluated differently in distinct IEC 61131-3 execution environments. Examples of code that may be evaluated to different results are given, and an evaluation of several commercially available IEC 61131-3 compilers is made and compared. A static code analyzer was developed capable of identifying legal IEC 61131-3 code that may result in ambiguous behavior, and this analyzer was used to test source code currently in use in real-world control applications.