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Leadership approach towards Agile, Waterfall and Iterative implementation of the software development products

IOP Conference Series: Materials Science and engineering 2021年第1期1169卷

作者： O Popa C. Mihele C Făgărăşan A. Pîslă Design engineering & Robotics Department Machine Building Faculty Technical University of Cluj-Napoca 103-105 Muncii Avenue Cluj-Napoca Romania

The automotive industry is one of the most dynamic markets, gathering around many different sectors from material extractions to robotics and cloud computing. The current research analyses the influences and particularities of leadership and identifies the challenges and advantages of the two principal methodologies in software development projects within the automotive industry, Agile and Waterfall. Some aspects of reducing methodological disadvantages are suggested and presented. The aim is to arrive at a sustainable solution that can ensure the delivery of reliable and flexible software products. The impact of these methodologies on the quality standards and project documentation is analyzed, which is a vital part of automotive software development. By influencing the product development lifecycle, there is an opportunity to develop a structured framework that can be adopted to build software products in a more flexible and agile way.

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Corrigendum to 'Foot trajectories and loading rates in a transfemoral amputee for six different commercial prosthetic knees: An indication of adaptability'[Medical engineering and Physics, Volume 68, June 2019, Pages 46-56]

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Medical engineering & physics 2024年 124卷 104030页

作者： Alireza Abouhossein Mohammed I Awad Hafiz F Maqbool Carl Crisp Todd D Stewart Neil Messenger Robert C Richardson Abbas A Dehghani-Sanij David Bradley Department of Ergonomics School of Public Health and Safety Shahid Beheshti University of Medical Sciences *** Tehran Iran Robotics Design and Optimisation Mechanical Engineering University of Leeds School of Mechanical Engineering Leeds LS2 9JT United Kingdom. Electronic address: a.abouhossein@leeds.ac.uk. Faculty of Engineering Ain Shams University Cairo Egypt. Department of Mechatronics & Control Engineering University of Engineering & Technology Lahore Faisalabad Pakistan. Robotics Design and Optimisation Mechanical Engineering University of Leeds School of Mechanical Engineering Leeds LS2 9JT United Kingdom. Institute Medical and Biological Engineering School of Mechanical Engineering University of Leeds Leeds LS2 9JT UK. School of Sport and Exercise Sciences University of Leeds Leeds LS2 9JT UK. Abertay University Bell Street Dundee DD1 1HG UK.

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Robust Localization with Architectural Floor Plans and Depth Camera

Robust Localization with Architectural Floor Plans and Depth...

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IEEE/SICE International Symposium on System Integration

作者： Yoshiaki Watanabe Karinne Ramirez Amaro Bahriye Ilhan Taku Kinoshita Thomas Bock Gordon Cheng Robotics Group Research and Development Institute Takenaka Corporation Japan Department of Electrical Engineering Chalmers University of Technology Sweden Division of Project and Construction Management Faculty of Architecture Istanbul Technical University Turkey Division of Human Mechanical Systems and Design Graduate School of Engineering Hokkaido University Japan Chair of Building Realization and Robotics Technical University of Munich Germany Institute for Cognitive Systems Technical University of Munich Germany

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

Autonomous navigation is of great importance for service robots. Such robots need various technologies, especially localization, and mapping. In this paper, we focus on the localization problem. Commonly, to solve the localization problem, the creation of a map is needed. However, creating the map takes considerable time and costs. Therefore, one solution for indoor environment is to use architectural floor plans since buildings have own floor plans. If a robot can use them for localization, it enables users to cut the time and costs for creating the map from scratch. However, the floor plans sometimes do not match with a real building. Besides, sensor measurement sometimes contains objects such as a pedestrian, which are not contained in the floor plans. In this paper, we propose a localization algorithm with architectural floor plans that is robust to such inconsistencies. The algorithm estimates a robot coordinate by matching the floor plan with the point clouds obtained from depth images. Outliers derived from the inconsistencies in the point clouds are filtered with plane information from the depth images with the Generalized ICP framework. We tested our algorithm with floor plans in a real building and in a simulator as a case study. The results show that our algorithm can localize a robot with average more than twice accuracy compared to AMCL and be used for real-time applications.

关键词： Robot kinematics Three-dimensional displays Robot sensing systems Buildings Two dimensional displays Cloud computing

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Estimation of Forearm Pose Based on Upper Arm Deformation Using a Deep Neural Network

Estimation of Forearm Pose Based on Upper Arm Deformation Us...

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IEEE International Conference on robotics and Biomimetics

作者： Sung-Gwi Cho Tetsuya Kurasumi Masahiro Yoshikawa Ming Ding Jun Takamatsu Tsukasa Ogasawara Division of Information Science Nara Institute of Science and Technology (NAIST) Japan Faculty of Robotics & Design Engineering Osaka Institute of Technology (OIT) Japan

Activities of body tissues such as muscles, tendons, and bones appear in the deformation of skins. It would be possible to obtain the information of the body motions by measuring the skin deformation. In our research, we focused on upper arm deformation, which is changed with not only the elbow flexion and extension but also the forearm pronation and supination. Thus, with the measurement of the upper arm deformation, we can estimate the elbow pose. In this paper, we propose a forearm pose estimation method based on upper arm deformation. A distance sensor array with eight sensor units is developed to measure the upper arm deformation. From the measured deformation, a deep neural network (DNN) based model is trained and used to estimate the forearm pose. The results of experiment show that our proposed method was able to estimate the forearm pose with RMSE of 2.9 degrees for the elbow joint angle and 7.6 degrees for the forearm pronation and supination angle.

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A transient FEA-based methodology for designing soft surgical manipulators 15

A transient FEA-based methodology for designing soft surgica...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Elkeran, Mohamed Fanni, Mohamed Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Mansoura University Egypt

ISBN: (纸本)9781538660720

Traditionally, any new development in soft robotics has to come first through many trial-and-error experiments. Many researchers tried to develop analytical models either to study certain phenomena in an already existed deigns or to use them to enhance soft robots performance. However, there is no general methodology that can be used to design any arbitrary soft robot from scratch. Such methodology should have the ability to test different operation scenarios for checking certain control approaches or certain types of sensors and actuators. This paper introduces a general tool for developing soft surgical manipulators, which is based on transient finite element analysis (FEA). To verify the feasibility of the proposed approach, experiments have been conducted on a fabricated soft manipulator. The test setup incorporates pressure sensors and vision tracking system to record the manipulator trajectory. Air pressure measurements are used as input to FEA for transient simulation. The experimental results demonstrate high level of agreement with FEA results and prove that the suggested approach is promising to be used in designing new soft surgical robots. © 2018 IEEE.

关键词： Finite element method

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design methodology of a spring roll dielectric elastomer-based actuator for a hand rehabilitation system 15

Design methodology of a spring roll dielectric elastomer-bas...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Amin, Heba Assal, Samy F.M. Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University ofScience and Technology Alexandria Egypt Faculty of Engineering Department of Production Engineeringand Mechanical Design Tanta University Tanta Egypt

ISBN: (纸本)9781538660720

Development of hand rehabilitation devices is crucial for recovering hand functions of impaired patients after stroke or injures. The demand for the development of new devices that avoid the defects of stationary systems or avoid the obstacles of other portable devices is increasing. In this paper, a spring roll Dielectric Elastomer (DE)-based actuator for a hand rehabilitation system, that avoid the bulky size, complicated structure and the difficulty in controlling the pneumatic actuation, is developed. A design methodology of pre-specified specifications is established to calculate the design parameters of the actuator;namely, the proper spring stiffness, the number oflayers and the pre-strain for the DE material. Theoretical analysis and ANSYS MULTIPHYSICS simulations are carried out throughout this design methodology to obtain those parameters. The fabrication procedures to obtain a prototype are finally presented. © 2018 IEEE.

关键词： Elastomers

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Assist Timing Decision Method for Wire Type Walking Assist Suit by Hip Joint Angular Acceleration

Assist Timing Decision Method for Wire Type Walking Assist S...

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IEEE Global Conference on Consumer Electronics (GCCE)

作者： Junyuan Zhang Hiroumi Murai Akihito Ito Nobutaka Tsujiuchi Tsuyoshi Inoue Kenta Murakami Fumiya Hanzawa Kazuaki Kishimoto Jun Ozawa Faculty of Science and Engineering Doshisha University Kyoto Japan Faculty of Robotics & Design (of Affiliation) Osaka Institute of Technology Osaka Japan Living Innovation Division Panasonic Corporation Tokyo Japan Technical Development Div. ATOUN Inc. Nara Japan Panasonic-AIST Advanced AI Research Laboratory National Institute of Advanced Industrial Science and Technology Tsukuba Japan

ISBN: (数字)9781728198026

ISBN: (纸本)9781728198033

In this study, we proposed a method to determine the assist timing for wire type assist suit. In this method, since the assist timing is determined based on the hip joint angular acceleration by the IMU sensor, the assist can be performed at the optimal timing for each user. As a result of the experiment that in some trials, the maximum hip extension torque were reduced compared to normal walking can be observed. That is the effectiveness of this method can be expected.

关键词： Legged locomotion Torque Wires Timing Acceleration Hip Consumer electronics

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Agile, waterfall and iterative approach in information technology projects

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IOP Conference Series: Materials Science and engineering 2021年第1期1169卷

作者： C Fagarasan O Popa A Pisla C Cristea Design engineering & Robotics Department Machine Building Faculty Technical University of Cluj-Napoca 103-105 Muncii Avenue Cluj-Napoca Romania Electrical Machines and Drives Department Faculty of Electrical Engineering Technical University of Cluj-Napoca 26-28 G. Baritiu Street Cluj-Napoca Romania

The aim of this paper is to analyse the Agile methods implementation capability within software projects as a more viable alternative to the waterfall model and determine the key factors that guarantee the continuous delivery of software to market at the right and agreed quality level. Two Agile implementation methods were considered: Scrum and Kanban, which were evaluated based on factors like predictability, practicability and complexity. The conclusions show the selected methodologies advantages and disadvantages, and project key attributes can be used to choose the suitable methodology for a project. Regarding the Agile implementation methods, the most straightforward and predictable one was proven to be Scrum. This framework supports frequent delivery of software products that can address complex problems and adapt to the rapid market changes.

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Breaking free from PFAS: biocompatible, durable and high-performance octenyl succinic anhydride (OSA)-modified starch/chitosan coating with ZnO for textile applications

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Carbohydrate polymers 2025年 365卷 123792页

作者： Anja Verbič Blaž Stres Ivan Jerman Barbara Golja Ema Žagar Vuk Martinović Petja Logar Gregor Lavrič Anže Prašnikar Blaž Likozar Uroš Novak Ana Oberlintner Department of Catalysis and Chemical Reaction Engineering National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia. Department of Catalysis and Chemical Reaction Engineering National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia Jožef Stefan Institute Department of Automation Biocybernetics and Robotics Jamova cesta 39 Ljubljana Slovenia Faculty of Civil and Geodetic Engineering Institute of Sanitary Engineering Jamova 2 Ljubljana Slovenia University of Ljubljana Biotechnical Faculty Jamnikarjeva 101 Ljubljana Slovenia. Laboratory for Coating Development Department of Materials Chemistry National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia. Department of Textiles Graphic Arts and Design Faculty of Natural Sciences and Engineering University of Ljubljana Aškerčeva 12 1000 Ljubljana Slovenia. Department of Polymer Chemistry and Technology National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia. Pulp and Paper Institute Bogišićeva 8 1000 Ljubljana Slovenia. Department of Catalysis and Chemical Reaction Engineering National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia. Electronic address: ana.oberlintner@ki.si.

The development of textile coatings as alternatives to per- and polyfluoroalkyl substances (PFAS) is a high priority due to global regulatory efforts aiming to phase out PFAS, driven by alarming environmental contamination and significant human health concerns. To address the urgent need for replacements, this research develops a health-friendly hydrophobic coating for two of the most common textile substrates, cotton and polyester. The developed coating, consisting of chitosan matrix and octenyl succinic anhydride-modified starch in synergy with ZnO, achieved water contact angles up to 132°. A successful transition to industrial application provided a translucent and homogeneous hydrophobic protection, without noticeably affecting the material's physical properties. Maintained or improved mechanical properties, supported by FTIR analysis, indicate a benign coating process that provides fiber reinforcement. Durability is demonstrated through multiple washing cycles without decrease in hydrophobicity, and high abrasion resistance (min. 20,000 cycles), winning against its commercial fluorinated counterpart. The water-repellent properties show stability over a longer period of time (min. 230 days). The biodegradability study confirmed the environmental compatibility as the biopolymer coating decomposed in 8 days. Finally, multivariate statistical analysis determined an optimal coating process to ensure effective integration of the newly developed sustainable coating into textile manufacturing processes.

关键词： Biopolymer Chitosan Functional textile Hydrophobic coating Modified starch Octenyl succinic anhydride

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Experimental implementation of a new non-redundant 6-DOF quadrotor manipulation system

arXiv

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arXiv 2019年

作者： Khalifa, Ahmed Fanni, Mohamed Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menofia University Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Mansoura University Egypt

This paper presents an experimental validation of a new quadrotor-based aerial manipulator. A quadrotor is equipped with a 2-DOF robotic arm that is designed with a new topology to enable the end-effector of the whole system to track a 6-DOF trajectory. An identification experiment is carried out to find out the system parameters. The mathematical model of the whole system is presented. A measurement scheme is proposed to get the accurate pose of the vehicle considering the motion of the manipulator below the quadrotor. The system controller is designed and implemented based on PID with a gravity compensation algorithm. System simulation is implemented in the MATLAB/SIMULINK environment with real system parameters, to better emulate a realistic setup. Real-time Experiments are conducted. Both simulation and experimental results show the feasibility and a satisfactory efficiency of the proposed system in achieving the position holding and transferring an object to a specific target position. Copyright © 2019, The Authors. All rights reserved.

关键词： Manipulators

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