Proceedings of the First International Conference on Informatics in Control, Automation and Robotics: Setúbal, Portugal, August 25 - 28, 2004 / Vol. 2 - Araújo, Helder (Proceedings of the First International Conference on Informatics in Control, Automation and Robotics Setúbal, Portugal, August 25 - 28, 2004, 2004)