Abstract
The use of collaborative robots in industries is growing rapidly. To ensure the successful implementation of these devices, it is essential to consider the user experience (UX) during their design process. This study is aimed at testing the UX goals that emerge when users interact with a collaborative robot during the programming and collaborating phases. A framework on UX goals will be tested, in the geographical context of Portugal. For that, an experimental setup was introduced in the form of a laboratory case study in which the human-robot collaboration (HRC) was evaluated by the combination of both quantitative (applying the User Experience Questionnaire [UEQ]) and qualitative (semistructured interviews) metrics. The sample was constituted by 19 university students. The quantitative approach showed positive overall ratings for the programming phase UX, with attractiveness having the highest average value (M=2.21; SD=0.59) and dependability the lowest (M=1.64; SD=0.65). For the collaboration phase, all UX ratings were positive, with attractiveness having the highest average value (M=2.46; SD=0.78) and efficiency the lowest (M=1.93; SD=0.77). Only perspicuity showed significant differences between the two phases (t18=-4.335, p=0.002). The qualitative approach, at the light of the framework used, showed that efficiency, inspiration, and usability are the most mentioned UX goals emerging from the content analysis. These findings enhance manufacturing workers' well-being by improving cobot design in organizations.

Abstract
This article presents a real-time trajectory optimizer for shore-to-ship operations using Unmanned Aerial Vehicles (UAVs). This concept aims to improve the efficiency of the transportation system by using UAVs to carry out parcel deliveries to offshore ships. During these operations, UAVs would fly relatively close to manned vessels, posing significant risks to the crew in the event of any incident. Additionally, in these areas, UAVs are exposed to meteorological phenomena such as wind gusts, which may compromise the stability of the flight and lead to potential collisions. Furthermore, this is a phenomenon difficult to predict, which poses a risk that must be considered in the operations. For these reasons, this work proposes a gust-aware multi-objective optimization solution for calculating fast and safe trajectories, considering the risk of flying in areas prone to the formation of intense gusts. Moreover, the system establishes a risk buffer with respect to all vessels to ensure compliance with EASA (European Union Aviation Safety Agency) regulations. For this purpose, Automatic Identification System (AIS) data are used to determine the position and velocity of the different vessels, and trajectory calculations are periodically updated based on their motion. The system computes the minimum-cost trajectory between the ground base and a moving destination ship while keeping these risk buffer constraints. The problem was solved through an Optimal Control formulation discretized on a dynamic graph with time-dependent costs and constraints. The solution was obtained using a Reaching Method that allowed efficient and real-time computations.

Abstract
The performance of time-predictable systems can be improved in multi-core processors using parallel programming models (e.g., OpenMP). However, schedulability analysis of parallel applications is a big challenge due to their sophisticated structure. The common drawbacks of current task-to-thread mapping approaches in OpenMP are that they (i) utilize a global queue in the mapping process, which may increase contention, (ii) do not apply heuristic techniques, which may reduce the predictability and performance of the system, and (iii) use basic analytical techniques, which may cause notable pessimism in the temporal conditions. Accordingly, this paper proposes a task-to-thread mapping method in multi-core processors based on the OpenMP framework. The mapping process is carried out through two phases: allocation and dispatching. Each thread has an allocation queue in order to minimize contention, and the allocation and dispatching processes are performed using several heuristic algorithms to enhance predictability. In the allocation phase, each task-part from the OpenMP DAG is allocated to one of the allocation queues, which includes both sibling and child task-parts. A suitable thread (i.e., allocation queue) is selected using one of the suggested heuristic allocation algorithms. In the dispatching phase, when a thread is idle, a task-part is selected from its allocation queue using one of the suggested heuristic dispatching algorithms and then dispatched to and executed by the thread. The performance of the proposed method is evaluated under different conditions (e.g., varying the number of tasks and the number of threads) in terms of application response time and overhead of the mapping process. The simulation results show that the proposed method surpasses the other methods, especially in the scenario that includes overhead of the mapping. In addition, a prototype implementation of the main heuristics is evaluated using two kernels from real-world applications, showing that the methods work better than LLVM's default scheduler in most of the configurations.

Abstract
The data exchange between different sectors of society has led to the development of electronic documents supported by different reading formats, namely portable PDF format. These documents have characteristics similar to those used in programming languages, allowing the incorporation of potentially malicious code, which makes them a vector for cyberattacks. Thus, detecting anomalies in digital documents, such as PDF files, has become crucial in several domains, such as finance, digital forensic analysis and law enforcement. Currently, detection methods are mostly based on machine learning and are characterised by being complex, slow and mainly inefficient in detecting zero-day attacks. This paper aims to propose a Benford Law (BL) based model to uncover manipulated PDF documents by analysing potential anomalies in the first digit extracted from the PDF document's characteristics. The proposed model was evaluated using the CIC Evasive PDFMAL-2022 dataset, consisting of 1191 documents (278 benign and 918 malicious). To classify the PDF documents, based on BL, into malicious or benign documents, three statistical models were used in conjunction with the mean absolute deviation: the parametric Pearson and the non-parametric Spearman and Cramer-Von Mises models. The results show a maximum F1 score of 87.63% in detecting malicious documents using Pearson's model, demonstrating the suitability and effectiveness of applying Benford's Law in detecting anomalies in digital documents to maintain the accuracy and integrity of information and promoting trust in systems and institutions.

Abstract
Shoulder rehabilitation is a process that requires physical therapy sessions to recover the mobility of the affected limbs. However, these sessions are often limited by the availability and cost of specialized technicians, as well as the patient's travel to the session locations. This paper presents a novel smartphone-based approach using a pose estimation algorithm to evaluate the quality of the movements and provide feedback, allowing patients to perform autonomous recovery sessions. This paper reviews the state of the art in wearable devices and camera-based systems for human body detection and rehabilitation support and describes the system developed, which uses MediaPipe to extract the coordinates of 33 key points on the patient's body and compares them with reference videos made by professional physiotherapists using cosine similarity and dynamic time warping. This paper also presents a clinical study that uses QTM, an optoelectronic system for motion capture, to validate the methods used by the smartphone application. The results show that there are statistically significant differences between the three methods for different exercises, highlighting the importance of selecting an appropriate method for specific exercises. This paper discusses the implications and limitations of the findings and suggests directions for future research.

Abstract
This study investigates the effectiveness of Transformer-based models for retail demand forecasting. We evaluated vanilla Transformer, Informer, Autoformer, PatchTST, and temporal fusion Transformer (TFT) against traditional baselines like AutoARIMA and AutoETS. Model performance was assessed using mean absolute scaled error (MASE) and weighted quantile loss (WQL). The M5 competition dataset, comprising 30,490 time series from 10 stores, served as the evaluation benchmark. The results demonstrate that Transformer-based models significantly outperform traditional baselines, with Transformer, Informer, and TFT leading the performance metrics. These models achieved MASE improvements of 26% to 29% and WQL reductions of up to 34% compared to the seasonal Na & iuml;ve method, particularly excelling in short-term forecasts. While Autoformer and PatchTST also surpassed traditional methods, their performance was slightly lower, indicating the potential for further tuning. Additionally, this study highlights a trade-off between model complexity and computational efficiency, with Transformer models, though computationally intensive, offering superior forecasting accuracy compared to the significantly slower traditional models like AutoARIMA. These findings underscore the potential of Transformer-based approaches for enhancing retail demand forecasting, provided the computational demands are managed effectively.