Abstract
Mobile robotics has become an essential content in many subjects within most Bachelor's and Master's degrees in engineering. Visual sensors have emerged as a powerful tool to perform reliable localization and mapping tasks for a mobile robot. Moreover, the use of images permits achieving other high level tasks such as object and people detection, recognition, or tracking. Nonetheless, our teaching experience confirms that students encounter many difficulties before dealing with visual localization and mapping algorithms. Initial stages such as data acquisition (images and trajectory), preprocessing or visual feature extraction, usually imply a considerable effort for many students. Consequently, the teaching process is prolonged, whereas the active learning and the students' achievement are certainly affected. Considering these facts, we have implemented a Matlab software tool to generate an open variety of virtual environments. This allows students to easily obtain synthetic raw data, according to a predefined robot trajectory inside the designed environment. The virtualization software also produces a set of images along the trajectory for performing visual localization and mapping experiments. As a result, the overall testing procedure is alleviated and students report to take better advantage of the lectures and the practical sessions, thus demonstrating higher achievement in terms of comprehension of fundamental mobile robotics concepts. Comparison results regarding the achievement of students, engagement, satisfaction and attitude to the use of the tool, are presented.

Abstract
Communication is crucial in agile contexts due to the need for collaboration and the number of different people involved, ranging from developers to users and business people. This communication should be effective to ensure everyone is on the same page; otherwise it can lead to undesired results such as misunderstanding and loss of productivity. As such, there is a need to ensure good communication in agile contexts. This paper presents a pattern language to tackle this issue, alongside with the patterns of a section of the language. The pattern language aims to provide a set of practices that help with recurrent problems and increase the effectiveness of communication. The patterns presented in this paper (Information Radiators, Co-Located Team, Open Space, Informal Communication Space and Cubes) address the issues related with the physical environment surrounding an agile team. © 2020 ACM.

Abstract
This paper was originally published under standard Springer Nature copyright (© The Author(s), under exclusive licence to Springer Nature America, Inc.). It is now available as an open-access paper under a Creative Commons Attribution 4.0 International license. © 2020, The Author(s).

Abstract
This study presents Integrid’s project framework to manage low voltage (LV) electrical networks, aiming to avoid both technical and quality constraints, induced by the ever-increasing amount of flexible resources spread all over the grid. These assets cover a large amount of renewable-based energy generation to electrical vehicles and energy storage units. For this to be possible, new advanced tools were developed to exploit the benefits of the so-called distributed energy resources, while overcoming limitations on the metering and communication infrastructures. Hence, this study describes the approach taken to perform the active management of LV networks, without a perfect level of observability, exploiting the flexibility provided by the distribution system operator’s resources combined with the one offered by private consumers through the home energy management systems. Additionally, some results followed by a brief discussion are presented, enforcing the success of the developed tools. The algorithms within these tools allow to forecast both microgeneration, available flexibility and load profiles, as well as to estimate the network’s state, at different time frames.

Abstract

Abstract
We present new near-infrared VLTI/GRAVITY interferometric spectra that spatially resolve the broad Br gamma emission line in the nucleus of the active galaxy IRAS 09149-6206. We use these data to measure the size of the broad line region (BLR) and estimate the mass of the central black hole. Using an improved phase calibration method that reduces the differential phase uncertainty to 0.05 degrees per baseline across the spectrum, we detect a differential phase signal that reaches a maximum of similar to 0.5 degrees between the line and continuum. This represents an offset of similar to 120 mu as (0.14 pc) between the BLR and the centroid of the hot dust distribution traced by the 2.3 mu m continuum. The offset is well within the dust sublimation region, which matches the measured similar to 0.6 mas (0.7 pc) diameter of the continuum. A clear velocity gradient, almost perpendicular to the offset, is traced by the reconstructed photocentres of the spectral channels of the Br gamma line. We infer the radius of the BLR to be similar to 65 mu as (0.075 pc), which is consistent with the radius-luminosity relation of nearby active galactic nuclei derived based on the time lag of the H beta line from reverberation mapping campaigns. Our dynamical modelling indicates the black hole mass is similar to 1x10(8) M-circle dot, which is a little below, but consistent with, the standard M-BH-sigma (*) relation.