Abstract
This paper presents the work performed in the implementation of an underwater simulation environment for the development of an autonomous underwater vehicle for the exploration of flooded underground tunnels. In particular, the implementation of a laser based structured light system, multibeam sonar and other robot details were addressed. The simulation was used as a relevant tool in order to study and specify the robot multiple sensors characteristics and placement in order to adequately survey a realistic environment. A detailed description of the research and development work is presented along with the analysis of obtained results and the benefits this work brings to the project.

Abstract
This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

Abstract
Cable-driven robots have received some attention by the scientific community and, recently, by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites. In this context, this research presents an extension of a cable-driven robot called SPIDERobot, that was developed for automated construction of architectural projects. The proposed robot is formed by a rotating claw and a set of four cables, enabling four degrees of freedom. In addition, this paper proposes a new Vision-Guided Path-Planning System (V-GPP) that provides a visual interpretation of the scene: the position of the robot, the target and obstacles location; and optimizes the trajectory of the robot. Moreover, it determines a collision-free trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene. A set of experiments make possible to validate the contribution of V-GPP to the SPIDERobot while operating in realistic working conditions, as well as, to evaluate the interaction between the V-GPP and the motion controlling system. The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment. The V-GPP system localizes the robot with a precision of 0.006 m, detects the targets and successfully generates a path that takes into account the displacement of cables. Therefore, the results demonstrate that the SPIDERobot can be scaled up to real working conditions.

Abstract
EPS is a one semester student-centred capstone programme designed by Arvid Andersen in Denmark, being currently offered by several European engineering schools. Its goal is to promote the development of scientific, technical and soft skills in students through multicultural teamwork and open, multidisciplinary project based learning. EPS, while an active learning framework, is focussed on problem-solving, communication, creativity, leadership, entrepreneurship, ethical reasoning and global contextual analysis. The School of Engineering of the Porto Polytechnic is an EPS provider since 2011, offering a 30 ECTU package with two-thirds assigned to the project module and one-third to project supportive complementary modules. A total of 138 students from 18 countries participated in the EPS@ISEP, while developing 28 multidisciplinary projects. Based on this experience, this paper identifies strengths, weaknesses and proposes ideas for the improvement of the programme.

Abstract
CloudAnchor is a multiagent e-commerce platform which offers brokerage and resource trading services to Infrastructure as a Service (IaaS) providers and consumers. The access to these services requires the prior negotiation of Service Level Agreements (SLA) between the parties. In particular, the brokerage SLA (bSLA), which is mandatory for a business to have access to the platform, specifies the brokerage fee the business will pay every time it successfully trades a resource within the platform. However, while the negotiation of the resource SLA (rSLA) includes the uptime of the service, the brokerage SLA was negotiated for an unspecified time span. Since the commercial relationship defined through the bSLA - between a business and the platform can be long lasting, it is essential for businesses to be able to renegotiate the bSLA terms, i.e., renegotiate the brokerage fee. To address this issue, we designed a bSLA renegotiation mechanism, which takes into account the duration of the bSLA as well as the past behaviour (trust) and success (transactions) of the business in the CloudAnchor platform. The results show that the implemented bSLA renegotiation mechanism privileges, first, the most reliable businesses, and, then, those with higher volume of transactions, ensuring that the most reliable businesses get the best brokerage fees and resource prices. The proposed renegotiation mechanism promotes the fulfilment of SLA by all parties and increases the satisfaction of the trustworthy businesses in the CloudAnchor platform.

Abstract
The European Project Semester (EPS) is a one semester capstone project/internship framework offered by the EPS providers to engineering, product design and business undergraduates. While a student-centred project-based learning offer, EPS proposes a unique multidisciplinary and multicultural teamwork set up to promote soft, technical and scientific competencies. In the spring of 2016, the EPS at the Instituto Superior de Engenharia do Porto (ISEP) welcomed a team of engineering students who chose to develop a sustainable water desalinator, the working principle relying on solar energy and natural temperature differences to convert saline water into fresh water. This paper describes the team's journey, including the motivation, the solution design process, considering the technical & scientific state of the art as well as the potential impact in terms of ethics, sustainability and marketing, and the development and testing of the prototype. The results obtained validate the purpose of the developed system since a significant reduction of the salt water conductivity, to values of the same order of magnitude of tap water, were observed. Although improvements can be made, the desalinator prototype produced 70 ml/d of distilled water in late spring and 7 ml/d in midwinter atmospheric conditions.