Sérgio Cruz

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This work describes a hardware architecture for implementing a sequential approach of the Extended Kalman Filter (EKF) that is suitable for mobile robotics tasks, such as self-localization, mapping and navigation problems. As such algorithm is computationally intensive, commonly it is implemented in PC-based platforms to be employed on larger robots. In(More)
Effort estimation in software development projects is far from being an easy task. In fact, despite the several effort estimation techniques available in the literature and the need for companies to perform such task in a daily basis, most small and medium-sized companies still suffer from the problem of incorrect estimations that often result in losing the(More)
In this paper a Hardware Architecture for computing the Extended Kalman Filter (EKF) is presented which is addressed to solve the self-localization problem of autonomous mobile robots. In this case, the overall EKF algorithm has been implemented in hardware over an Altera Cyclone IV FPGA with a Nios II processor, in which the latter is used only for(More)
Software reuse is the practice of using existing artifacts (code, architecture, requirements, etc.) in new projects. The advantages of using previously developed software in new projects are easily understood. However, reusing artifacts is usually done in an ad-hoc and incipient way, requiring an important effort of adaptation, so developers frequently(More)
A new method to diagnose rotor faults in 3-phase induction motors coupled to time-varying loads Abstract. This paper proposes a new method, based on the analysis of the active and reactive powers of the induction motor, for the diagnosis of rotor faults in motors coupled to time-varying loads. This new method is able to discriminate the presence of a true(More)
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