Abstract
Moored ship behavior inside harbors and, therefore, the operational and security conditions at a port terminal does not have a straightforward relationship with local environmental conditions. Due to the diversity and complexity of the phenomena involved it is important to use a methodology that combines physical model tests with numerical simulations, taking advantage of potential synergies. Results of prototype measurements are also a key element to making the validation and calibration of both physical and numerical models possible. This paper focuses on studying the behavior of moored tankers using combined methodology. Aspects related with the inclusion in the numerical models of shallow water effects, non-linear characteristics of mooring lines and fenders, the influence of harbor boundaries and viscous damping are analyzed and discussed. The role of physical modeling as a tool to address/quantify some of the conditions and to provide data for the calibration of numerical models is presented, as well as the methodology defined for the study of the operational conditions at an existing berth. This methodology includes the development of a computer vision system to measure ship motion at the port terminal (prototype). Actual operational conditions at the berth are also described in the paper.

Abstract
This paper describes a humanoid robot simulator supporting joint trajectory optimization, following accurately the real robot characteristics. The simulator, based on a rigid body simulator (Open Dynamics Engine) and an OpenGL based graphics librmy (GLScene), provides instant visual feedback and realistic dynamics. It allows to design and test behaviours and control methods without access to the real hardware, preventing damages in the real robot in the earlier stages of development. Having in mind the energy consumption minimization, the low level trajectory planning is discussed and experimental results are presented. The proposed methods arc shown to minimize the total energy assuming two intervals of constant acceleration. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.

Abstract
This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). The system, developed in Object Pascal, allows real time localization and control of an autonomous omnidirectional mobile robot. The localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.

Abstract
This paper describes the sensor and actuator modeling of a realistic wheeled mobile robot simulator The motivation of developing such simulator is to produce a personalized versatile tool that allows production and validation of robot software reducing considerably the development time. The mobile robot simulator was developed in Object Pascal with its dynamics based on the ODE (Open Dynamics Engine), allowing to develop robot software for a three wheel omnidirectional robot equipped with Infra-Red distance sensors and brushless motors.

Abstract

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.