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Teaching robotics and virtual reality in a synergistic approach

Teaching robotics and virtual reality in a synergistic appro...

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IEEE International Conference on E-Learning in Industrial Electronics, ICELIE

作者： Catalin Buiu Andreea Buga Andreea Monica Coman Dept. of Automatic Control and Systems Engineering Politehnica University of Bucharest Bucharest Romania

This paper presents a successful implementation of an undergraduate robotics and virtual reality course that builds upon the synergies existing between these two areas in order to introduce computers and information technology students to some fundamental concepts, through the use of simulation, experiments on real robots and design of robotic creatures in virtual environments. Course objectives, methodological aspects and the main technical solutions are presented in detail. A survey has been proposed in order to evaluate the impact of this course, and parts of it are presented and commented.

关键词： Solid modeling Education Laboratories Augmented reality Educational robots

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An algorithm for sizing photovoltaic pumping systems for tomatoes irrigation

An algorithm for sizing photovoltaic pumping systems for tom...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Imene Yahyaoui Maher Chaabene Fernando Tadeo Dept. Electrical Engineering University of Sfax Tunisia Dept. Systems Engineering and Automatic Control University of Valladolid Spain

ISBN: (纸本)9781479914630

This paper presents an algorithm to optimize the size of the components of a photovoltaic pumping installation, composed of photovoltaic panels and a battery bank. The decision is made on the basis of the measured Photovoltaic Panel Generation, the required power for the load, the needed water quantity for the crops and the correct operation of the battery. The algorithm aims to ensure the system autonomy, minimize the unused energy and fulfill the water demand. Some tests of the algorithm are shown in order to demonstrate that the approach fulfills these objectives.

关键词： Batteries Photovoltaic systems Solar radiation Sun Irrigation

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Experiments with multifractal analysis for fabric wrinkledness assessment

Experiments with multifractal analysis for fabric wrinkledne...

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IEEE 9th International Conference on Computational Cybernetics, ICCC 2013

作者： Fazekas, Zoltán Talu, Ştefan Szalay, László Institute for Computer Science and Control Systems and Control Laboratory Budapest Hungary Technical University of Cluj-Napoca Faculty of Mechanical Engineering Dept. of AET Cluj-Napoca Romania INNOVATEXT Textile Engineering and Testing Institute Co. Budapest Hungary

ISBN: (纸本)9781479900633

Objective assessment of fabric wrinkledness using multifractal methodology is addressed in the paper. As a first experiment with this methodology in this application field, AATCC standard durable press rating replicas, which are used by textile experts worldwide, were photographed and then segmented using common image processing methods. The resulting skeleton images were then analyzed using the multifractal methodology. © 2013 IEEE.

关键词： Fractals

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A case study on effectively identifying technical debt 13

A case study on effectively identifying technical debt

引用

17th International Conference on Evaluation and Assessment in Software engineering, EASE 2013

作者： Zazworka, Nico Spínola, Rodrigo O. Vetro, Antonio Shull, Forrest Seaman, Carolyn Fraunhofer USA Center for Experimental Software Engineering College Park United States Graduate Program in Systems and Computer UNIFACS Salvador Brazil Dept. of Control and Computer Engineering Politecnico di Torino Torino Italy Department of Information Systems UMBC Baltimore United States Elsevier Information Systems GmbH Frankfurt Germany

ISBN: (纸本)9781450318488

Context: The technical debt (TD) concept describes a tradeoff between short-term and long-term goals in software development. While it is highly useful as a metaphor, it has utility beyond the facilitation of discussion, to inspire a useful set of methods and tools that support the identification, measurement, monitoring, management, and payment of TD. Objective: This study focuses on the identification of TD. We evaluate human elicitation of TD and compare it to automated identification. Method: We asked a development team to identify TD items in artifacts from a software project on which they were working. We provided the participants with a TD template and a short questionnaire. In addition, we also collected the output of three tools to automatically identify TD and compared it to the results of human elicitation. Results: There is little overlap between the TD reported by different developers, so aggregation, rather than consensus, is an appropriate way to combine TD reported by multiple developers. The tools used are especially useful for identifying defect debt but cannot help in identifying many other types of debt, so involving humans in the identification process is necessary. Conclusion: We have conducted a case study that focuses on the practical identification of TD, one area that could be facilitated by tools and techniques. It contributes to the TD landscape, which depicts an understanding of relationships between different types of debt and how they are best discovered. Copyright 2013 ACM.

关键词： Software design

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A Droop controller is intrinsically a Phase-Locked Loop

A Droop Controller is intrinsically a Phase-Locked Loop

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Annual Conference of the IEEE Industrial Electronics Society

作者： Qing-Chang Zhong Dushan Boroyevich Dept. of Automatic Control and Systems Engineering The University of Sheffield Center for Power Electronics Systems Virginia Polytechnic Institute and State University

ISBN: (纸本)9781479902255

This paper demonstrates that a droop controller, which is fundamental to the operation of power systems and now the parallel operation of inverters, is intrinsically the same as a phase-locked loop (PLL), which is widely adopted in modern electrical engineering. This bridges the gap between the two communities working on droop control and PLLs. As a result, droop controllers and PLLs can be improved and further developed via adopting the advancements in the other community. This also offers insightful understanding to power systems that have inverters and generators mixed together and leads to significant technological breakthrough for the grid connection of renewable energy. For example, there is no longer a need for grid-connected inverters to have a phase-locked loop and a droop controller at the same time.

关键词： Phase locked loops Inverters Impedance Reactive power Frequency control Voltage control

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Investigating technical debt folklore: Shedding some light on technical debt opinion

Investigating technical debt folklore: Shedding some light o...

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2013 4th International Workshop on Managing Technical Debt, MTD 2013

作者： Spínola, Rodrigo O. Vetrò, Antonio Zazworka, Nico Seaman, Carolyn Shull, Forrest Graduate Program in Systems and Computer Universidade Salvador UNIFACS Salvador BA Brazil Dept. of Control and Computer Engineering Politecnico di Torino Torino Italy Elsevier Information Systems GmbH Frankfurt Germany Department of Information Systems UMBC Baltimore MD United States Fraunhofer USA Center for Experimental Software Engineering College Park United States

ISBN: (纸本)9781467364430

We identified and organized a number of statements about technical debt (TD Folklore list) expressed by practitioners in online websites, blogs and published papers. We chose 14 statements and we evaluated them through two surveys (37 practitioners answered the questionnaires), ranking them by agreement and consensus. The statements most agreed with show that TD is an important factor in software project management and not simply another term for 'bad code'. This study will help the research community in identifying folklore that can be translated into research questions to be investigated, thus targeting attempts to provide a scientific basis for TD management. © 2013 IEEE.

关键词： Surveys

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Implementation of a telemedicine system for optimal on site medical response in case of disasters and for emergency situations management

Implementation of a telemedicine system for optimal on site ...

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E-Health and Bioengineering Conference (EHB)

作者： Ciprian Lupu Vasile Olaru Dorel Bivolan Andreea Udrea Dept. of Automatic Control and Systems' Engineering University Politehnica of Bucharest Bucharest Romania Research Dept. IAROM S.A. Bucharest Romania Research Dept. ELPROF S.A. Bucharest Romania

This paper presents a telemedicine support system developed by implementing an integrated disaster management protocol, and providing specialized expertise in local/remote affected regions (affected civilians, soldiers, rescuers, explorers, people in remote areas, etc.). The system has a modular structure consisting in: a containerized management system (regional / local), a mobile monitoring-rescue system including an individual acquisition and monitoring system and a communication handheld/portable monitoring stretcher and an integrated communication module and other software facilities.

关键词： Global Positioning System Servers Monitoring Biomedical monitoring Communities Databases Biology

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Nonlinear control Design for the Photovoltaic Isolated-Port Architecture with Submodule Integrated Converters

Nonlinear Control Design for the Photovoltaic Isolated-Port ...

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IEEE Energy Conversion Congress and Exposition

作者： Yoash Levron Daniel Clement Dragan Maksimovic Carlos Olalla Dept. of Electrical Computer and Energy Engineering University of Colorado at Boulder Boulder CO 80309-0425 USA Dept. of Electronic Electrical and Automatic Control Engineering Universitat Rovira i Virgili Tarragona Spain

ISBN: (纸本)9781479903375

Differential power processing (DPP) isolated-port architecture with submodule integrated converters (subMICs) enables improved energy capture in photovoltaic (PV) power systems. This paper describes a control scheme for flyback subMICs operating in discontinuous conduction mode (DCM). The duty-cycle is driven in proportion to a voltage error, with no further processing, thus eliminating the need to measure or to control the current explicitly. The approach is well suited for very simple, analog PWM controller implementation, but the resulting control loops become nonlinear. The system stability is demonstrated using the Lyapunov stability theorem. Experimentally measured module-level efficiency is greater than 95% for a 72-cell PV module having 3 substrings with solar irradiation of 80%, 60% and 40%, respectively.

关键词： respectively stability substrings submodule PHOTOVOLTAIC substring voltage error design control Converters Energy capture control ring System stability solar radiation Solar Irradiance nonlinear control Lyapunov methods Building construction ARCHITECTURE

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Structured coprime factorizations description of Linear and Time-Invariant networks

Structured coprime factorizations description of Linear and ...

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IEEE Conference on Decision and control

作者： Şerban Săbau Cristian Oară Sean Warnick Ali Jadbabaie Stevens Institute of Technology Hoboken NJ US Faculty of the Automatic Control Dept. University “Politehnica” Bucharest Romania The Faculty of the Computer Science Department Brigham Young University Faculty of the Electrical and Systems Engineering Dept University of Pennsylvannia

In this paper we study state-space realizations of Linear and Time-Invariant (LTI) systems. Motivated by biochemical reaction networks, Gonçalves and Warnick have recently introduced the notion of a Dynamical Structure Functions (DSF), a particular factorization of the system's transfer function matrix that elucidates the interconnection structure in dependencies between manifest variables. We build onto this work by showing an intrinsic connection between a DSF and certain sparse left coprime factorizations. By establishing this link, we provide an interesting systems theoretic interpretation of sparsity patterns of coprime factors. In particular we show how the sparsity of these coprime factors allows for a given LTI system to be implemented as a network of LTI sub-systems. We examine possible applications in distributed control such as the design of a LTI controller that can be implemented over a network with a pre-specified topology.

关键词： Transfer functions Equations Indium phosphide Mathematical model Network topology Topology Electronic mail

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