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Soccer simulation league is one of the founding leagues of RoboCup. In this paper we discuss the past, present and planned future achievements and changes. Also we summarize the connections and inter-league achievements of this league and provide an overview of the community contributions that made this league successful.
The objective of this thesis is the conceptual design of a battery management system for the first prototype of the UWC (University of the Western Cape) Modular Battery System. The battery system is a lithium-ion battery that aims to be used in renewable energy systems and for niche electric vehicles such as golf carts.
The concept that is introduced in this thesis comprises the parameter monitoring, the safety management and has its main focus on an accurate state of charge estimation.
Another battery system that was already implemented is used as base for the parameter monitoring and the safety management for the new battery management system. In contrast to that, the concept for the state of charge estimation must be developed completely.
Different methods for the state of charge estimation which are based on the measured voltage, current and temperature are discussed, evaluated and the chosen method is conceived in this thesis. The method used for the state of charge estimation is different for the time when the battery is active than when it is inactive. During charge and discharge Coulomb counting is used and when the cell is inactive voltage versus state of charge lookup tables are used to update the estimation.
To have an accurate estimation when the cell is inactive only for a short time, a model of the voltage relaxation is used to predict the voltage when the cells are in equilibrium. This allows the algorithm to reset the state of charge that is estimated by Coulomb counting – which tends to have a growing error over time – frequently.
To evaluate the accuracy of the voltage prediction, cell tests were executed where the voltage relaxation was sampled. The recursive least square method to predict the end voltage was tested with a MATLAB programme. With the help of voltage versus state of charge lookup tables it was possible to determine the state of charge accuracy with the accuracy of the voltage prediction.
In this paper an RFID/NFC (ISO 15693 standard) based inductively powered passive SoC (system on chip) for biomedical applications is presented. A brief overview of the system design, layout techniques and verification method is dis-cussed here. The SoC includes an integrated 32 bit microcontroller, sensor interface circuit, analog to digital converter, integrated RAM, ROM and some other peripherals required for the complete passive operation. The entire chip is realized in CMOS 0.18 μm technology with a chip area of 1.52mm x 3.24 mm.
Im Rahmen dieser Arbeit wurde ein Telepräsenzsystem entwickelt, bei dem ein Teleroboter mit beweglicher Kamera zum Einsatz kommt, der seine Ausrichtung über ein Head-mounted Display synchronisiert. Der Anwender des Systems sieht auf dem Display das Abbild der Umgebung des Teleroboters. Jede Kopfbewegung des Anwenders wird in Echtzeit auf die Kamerabewegung umgesetzt. Der Anwender kann sozusagen seinen Sehsinn temporär auf den Roboter auslagern, der ihn in einer entfernten Umgebung repräsentiert.
The invention concerns a method for spectrum monitoring a given frequency band, in which the spectral power density (S(f)) within the given frequency band is determined for all noise and signal components in the frequency band and, in order to detect the presence of one or more signals within the given frequency band, it is evaluated whether the spectral power density (S(f)) exceeds a threshold value (&lgr;). According to the invention, the threshold value (&lgr;) is calculated in accordance with an estimation of a distribution density (hR(S)) for the noise component of the spectral power density (S(f)) within the given frequency band and in accordance with a predefined value for the false-alarm probability (Pfa).
Die Erfindung betrifft ein Verfahren zum Spektrum-Monitoring eines vorgegebenen Frequenzbandes, bei dem die spektrale Leistungsdichte (S(f)) innerhalb des vorgegebenen Frequenzbandes für alle in dem Frequenzband enthaltenen Rausch- und Signalanteile bestimmt wird und für das Detektieren des Vorhandenseins eines oder mehrerer Signale innerhalb des vorgegebenen Frequenzbandes das Überschreiten eines Schwellenwertes (λ) durch die spektrale Leistungsdichte (S(f)) ausgewertet wird. Erfindungsgemäß wird der Schwellenwert (λ) abhängig von einer Schätzung einer Verteilungsdichte (hR(S)) für den Rauschanteil der spektralen Leistungsdichte (S(f)) innerhalb des vorgegebenen Frequenzbandes und einem vorgegebenen Wert für die Falschalarmwahrscheinlichkeit (Pfa) berechnet.