Conference Session

Electrical and Computer Division Technical Session 6

Collection

2017 ASEE Annual Conference & Exposition

Authors

H. Bryan Riley, Ohio University

Tagged Topics

Diversity

Tagged Divisions

Electrical and Computer

taking the required EE the capstone course. Plans are 𝑑 = 43,300𝑥1.236 (2)where: d – actual distance in cm. to continue this project and investigate related x – sensor reading performance and tradeoff matters associated with 6more sophisticated sensors, vehicle control, and [9] W. Qui, et al., “Autonomous vehicle longitudinal followingtarget recognition and identification. Longer term control based on model predictive control”, IEEE Conference

Conference Session

Electrical and Computer Division Technical Session 8

Collection

2017 ASEE Annual Conference & Exposition

Authors

Faycal Saffih, University of Waterloo

Tagged Divisions

Electrical and Computer

variousdisciplines in teaching engineering courses is coined as “blended learning” as it blends variousfields in teaching an engineering course and as referenced in [1] at young ages and up to highschool level and beyond!In the present paper, an artificially-intelligent blended learning method is proposed, applied andanalyzed for future recommendation and development. Firstly, the application subject namely thecourse used to implement and carry the suggested approach is presented. In the following section,the suggested pedagogical approach’s plan is laid out and justified to serve the set goals. Finally,and after implementing the proposed holistic pedagogical approach, a quantitative and qualitativeassessment of the suggested blended teaching method is

Conference Session

New Developments in ECE

Collection

2019 ASEE Annual Conference & Exposition

Authors

Son Nguyen, University of California, Davis; Andre Knoesen, University of California, Davis; Hooman Rashtian, University of California, Davis

Tagged Divisions

Electrical and Computer

years. Based on thepreliminary surveys and course evaluations, the course is successful in motivating students and to introducethem to different important topics in electrical and computer engineering. For future work, the plan is toobtain the IRB approval to collect assessment data about subjective experience of students in the class aswell as their performance in in their future downstream junior and senior years.AcknowledgmentsThis work is supported by Texas Instruments. The authors would like to thank Jason Rubadue at TexasInstruments for his support.References[1] Chu, P. P. (2016, June), Integrating Computer Engineering Labs with a "Sound Theme" Paper presentedat 2016 ASEE Annual Conference & Exposition, New Orleans, Louisiana.[2

Conference Session

Improvements in ECE Circuit Analysis

Collection

2020 ASEE Virtual Annual Conference Content Access

Authors

Eva Cosoroaba, University of Vermont

Tagged Topics

Diversity

Tagged Divisions

Electrical and Computer

tallied in the BB grade center. Use a Resistor: 1) To buy a resubmission of an NSQ report. Note: each report be revised only once. E-mail regarding token use must be submitted by EOD (end-of-day, 11:59pm) the day following grade posting and revised reports are due three days after grades were posted, EOD. Example: If report grades are posted Monday, e-mail is due Tuesday EOD and report revision Thursday EOD. 2) To get a 24-hour extension on the lab report submission deadline. Note: two resistors can be redeemed for a 48-hour extension. You will have to specify the number of resistors you plan to use via e-mail the day before the report is due, by EOD. You cannot extend the same

Conference Session

Innovations in ECE Education I

Collection

2007 Annual Conference & Exposition

Authors

Dick Blandford, University of Evansville; Deborah Hwang, University of Evansville

Tagged Divisions

Electrical and Computer

change in emphasis in computer science on more engineeringrelated topics. Computer science at that time had no real plans for accreditation mostly becausethe Computer Science Accreditation Board (CSAB) required a minimum of five faculty in acomputer science program and accreditation seemed unnecessary as computer science graduateswere able to find jobs regardless of program accreditation.In the year 2000, when CSAB joined with ABET and the Computing Accreditation Commission(CAC) was created, there was a sense that accreditation in computer science would becomemuch more important to industry, graduate schools, and prospective students. In 2006 thecomputer science program at the University of Evansville was accredited for the first time. Thistoo

Conference Session

Innovations in ECE Education I

Collection

2008 Annual Conference & Exposition

Authors

Wookwon Lee, Gannon University; Fong Mak, Gannon University

Tagged Divisions

Electrical and Computer

managementplan, and test plan. Actual design and verification are conducted in a team environment usingmodern software and hardware tools. Ethics and legal issues are also discussed as part of thecourse. In the subsequent sections, details of the course are provided, as well as, evaluation ofcourse outcomes and students’ learning experience in this course.Course Objectives and TopicsIn our ECE graduate curriculum, the Engineering Project and Management is a core courseintended for the first-year graduate students. This course focuses on the skills required to managethe development of effective system architectures from concept through engineering design andproduction. The course objectives are i) to understand ethics and the common developmentprocess of

Conference Session

Innovations in ECE Education I

Collection

2008 Annual Conference & Exposition

Authors

James Klein, University of Idaho; Herbert Hess, University of Idaho; Brian Johnson, University of Idaho

Tagged Divisions

Electrical and Computer

guidance. By allowing the senior design team to completesuch tasks as problem definition and project scheduling, essentially on their own, theundergraduate students effectively decided the level and type of design work that they would beundertaking. This method of integration ensures that the design aspect of the senior designproject is not taken away from the undergraduate students.From Mentor to Team MemberThe transition time from graduate mentor to integrated team member is something that must bedecided on a project by project basis. It is suggested that following the initial planning phase ofthe senior design project, the graduate student may be integrated into the team in order to helpwith the burden of initial research and solution

Conference Session

New Trends in ECE Education II

Collection

2007 Annual Conference & Exposition

Authors

Arlen Planting, Boise State University; Sin Ming Loo, Boise State University

Tagged Divisions

Electrical and Computer

software.This paper describes the process that led us to the discovery that internet protocols might beapplicable to send messages reliably between two devices less than an inch apart, and thedevelopment of an experimental course to expose students to computer science topics in order tofind better solutions for small embedded system applications. Section 2 describes our experiencewith a project where the apparently logical choice of methods to manage transmission andreceiving of data initially produced code that was overly complex and difficult to keep runningreliably. Various attempts to fix the problems and provide a robust protocol were unsuccessful,until an internet protocol was applied. Section 3 outlines the plan for an experimental one-semester

Conference Session

Design in the ECE Curriculum

Collection

2007 Annual Conference & Exposition

Authors

Wagdy Mahmoud, University of the District of Columbia

Tagged Divisions

Electrical and Computer

designer, which is a very demandingjob. Such a job require talented and highly-competent professional with a leadership quality andvision. The author will be very satisfied if these system-level design projects help train a few ofsuch professional. To ensure achieving such results, we are planning to continue developing adiversified set of quality system-level projects, refining the contents of existing ones, and toimproving the tutorials and handouts of used design tools. We are also working on improving theevaluation and assessment tools of these project courses.References1. N. Ahmed, T. Natarajan, and k. R. Rao, “Discrete Cosine Transform,” IEEE Trans. Computers, Vol. C-23, pp.90-94, 19742. S. A. White, “Application of Distributed Arithmetic

Conference Session

ECE Poster Session

Collection

2006 Annual Conference & Exposition

Authors

Janos Grantner, Western Michigan University; Ramakrishna Gottipati, Western Michigan University

Tagged Divisions

Electrical and Computer

that graduates are exposed toindustrial design tools and nearly cutting edge technology so they will possess a suitable skilllevel before entering the work force of leading US semiconductor companies.The unstructured (anonymous) segment of the assessment indicates that some students need morehelp to familiarize with the use of the Mentor Graphics tools and they also like to have moreattention by the lab instructor. We are planning to have two well-trained lab instructors in eachlab section. In addition, we will extend the Tutorials to cover for recovery from various situationswhen the user has made some errors and can’t continue the work.The current competition for bonus credits rewards the smallest and fastest circuit designs. Sincethe Mentor

Conference Session

ECE Laboratory Design

Collection

2006 Annual Conference & Exposition

Authors

Fitra Khan, University of Texas-Brownsville; Mahmoud Quweider, University of Texas-Brownsville; Juan Iglesias, University of Texas-Brownsville; Amjad Zaim, University of Texas-Brownsville

Tagged Divisions

Electrical and Computer

into the curricula. This hasallowed educators to keep on developing new laboratory modules for enriching their courses. Inaddition to currently implemented modules in areas like networking, databases and operatingsystems, new modules in areas such as encryption, autonomous intelligent systems, and webdesign and programming are planned to be developed, for example.After being supported originally by NSF, the CNL project has reached maturity and it is nowinstitutionalized. This paper details the rationale, scope and achievements of the project. The Page 11.418.21 This material is based upon work supported by the National Science Foundation

Conference Session

Digital Communications Systems

Collection

2006 Annual Conference & Exposition

Authors

Bruce Dunne, Grand Valley State University

Tagged Divisions

Electrical and Computer

to be a low-cost, highly flexibleapproach to offering a digital communications laboratory. Students are enthusiastic about usingthis platform to learn about digital communications, and it has uses in several other courses aswell. The major drawback to its use is the steep learning curve, although this is somewhatmitigated with training, documentation and community support. Finally, several enhancementsand improvements are planned for the labs. Page 11.497.9 Figure 4. Constellation Experiment DisplayBibliography1. Internet URL http://www.ti.com/2. F.K. Tuffner, J.W. Pierre and R.F. Kubichek, “Innovative

Conference Session

Flipping ECE Courses

Collection

2014 ASEE Annual Conference & Exposition

Authors

Rafic Bachnak, Pennsylvania State University, Harrisburg; Sofía Carolina Maldonado, Texas A&M International University

Tagged Divisions

Electrical and Computer

othermedium such as video on-demand or podcasts. However, there is no specific model for flippedclassrooms, it simply draws on such concepts as student engagement, hybrid course design, andcourse podcasting. This paper describes how the flipped classroom technique was incorporatedinto a three-credit electrical engineering course that met twice a week. This paper presentsdetails about the course, discusses student survey results, and describes plans to improve thedelivery of this and similar courses.I. IntroductionData compiled by the American College Testing (ACT) shows that, currently, the National first-to second-year retention rate in 4-year public institutions averages 65.6%. Meanwhile, the meanfor the National 5-year graduation rate of 4-year

Conference Session

New Trends in ECE Education II

Collection

2013 ASEE Annual Conference & Exposition

Authors

Margret Hjalmarson, George Mason University; Jill K Nelson, George Mason University; Lisa G. Huettel, Duke University; Wayne T. Padgett, Rose-Hulman Institute of Technology; Kathleen E. Wage, George Mason University; John R. Buck, University of Massachusetts, Dartmouth

Tagged Divisions

Electrical and Computer

ofstrategies (e.g., clickers, problem-based learning) can feel overwhelming to facultybecause of the additional time required for set-up, planning and grading. We focused onsmaller types of changes that could still be beneficial in increasing students’ engagementin the class so as to provide an easier transition into more interactive teaching. Finally,the groups focused on being encouraging to individuals’ needs and concerns about theirteaching. The small group format made this responsiveness easier and regular meetingsprovided an open forum for discussing changes to teaching practice.ConclusionsThe results first provide a model for helping instructors share their formative assessmentteaching practices with colleagues, furthering adoption of research

Conference Session

Electrical and Computer Engineering (ECE) Poster Session

Collection

2013 ASEE Annual Conference & Exposition

Authors

Branimir Pejcinovic, Portland State University

Tagged Divisions

Electrical and Computer

. Page 23.198.9 • Recording of lectures is of limited use in the active learning environment. However, foreign students find these very valuable due to language barrier. • Our attempt to provide some additional materials as pre-recorded videos did not work as well as some other techniques. We attribute this to relatively poor quality and excessive duration. These will have to be planned better, last no longer than 10-15 minutes, and directly address students’ misconceptions and/or difficulties. • Homework assignments were de-emphasized in this round, but students still need more practice and we will re-introduce some of it in the few critical areas. • There seem to be some issues related to

Conference Session

ABET Accreditation, Assessment, and Program Improvement in ECE

Collection

2012 ASEE Annual Conference & Exposition

Authors

Danial J. Neebel, Loras College; Nicholas J. Burek, Loras College; Thomas Griebel, Loras College

Tagged Divisions

Electrical and Computer

bounce off “solid” tiles.2) Building an interactive game. Students will update their design from the previous exercise to add user input that controls the movement of sprite on the screen. a) Use the joystick to move the sprite horizontally and vertically. b) Using the movement ability from Parts A and B, create a “game” that requires the user to put the sprite in a “box” on the screen. c) For an added challenge, modify the current program so that the left button on the joystick causes the sprite teleport to a random location on the screen.Future use for FPGArcade includes plans to incorporate the VGA module with hardware supportfor the tile-based graphics into an embedded VHDL MIPS core. The MIPS core currently in useat the

Conference Session

Embedded System Design

Collection

2010 Annual Conference & Exposition

Authors

Sven Bilen, Pennsylvania State University; Okhtay Azarmanesh, Pennsylvania State University

Tagged Divisions

Electrical and Computer

maintain a database of public safety emitters in a region,including the emitter location, physical layer parameters such as modulation type and transmitfrequency, and an association to which emergency team is using this frequency and waveform.At least 20 different emergency response teams will be trying to coordinate their activities.4,5The tools the students are using for this Challenge are a combination of what they have used in Page 15.556.5their first two Challenge solutions. They are using MATLAB for the initial design simulationsand later, during the design phase, they plan to implement it in hardware using USRP boards,transferring their codes

Conference Session

Innovations in Power Education in ECE

Collection

2010 Annual Conference & Exposition

Authors

Mark Lau, Universidad del Turabo; Sastry Kuruganty, Universidad del Turabo

Tagged Divisions

Electrical and Computer

the differential equations that describe thebehavior of synchronous machines.Transient stability is very rich in technical and mathematical content. As such it is a challengingtopic for students to grasp and for instructors to present. This paper uses spreadsheets toimplement the step-by-step procedure that is typical in a transient stability study. Unlikecommercially available power system software, spreadsheets expose the solution steps withclarity without obscuring the inner workings of the numerical methods employed.1. IntroductionStability is a major concern in the planning and operation of power systems. Networkdisturbances such as a short circuit in a transmission line, sudden loss of generation, or the lossof a large load may cause

Conference Session

Assessment of Learning in ECE

Collection

2014 ASEE Annual Conference & Exposition

Authors

Rami Jubrail Haddad, Georgia Southern University; Youakim Kalaani, Georgia Southern University

Tagged Divisions

Electrical and Computer

Gathering Real-Time Formative Assessment in the University Classroom Using Tablet PCs,” 39th ASEE/IEEE Frontiers in Education Conference Proceedings, 18-21 Oct. 2009.[11] Nichols, P.D., Meyers, J.L., & Burling, K.S., “A Framework for Evaluating and Planning Assessments Intended to Improve Student Achievement,” Educational Measurement: Issues and Practice, 28 (3), pp. 14-23, Fall 2009.[12] Heritage, M., Kim, J., Vendlinski, T.P., & Herman, J.L., “From Evidence to Action: A Seamless Process in Formative Assessment?” CRESST Report 741, University of California, National Center for Research on Evaluation, Standards, and Student Testing (CRESST), Los Angeles, CA, July 2011.[13] Gardner, T.Q., Kowalski, S.E., &

Conference Session

Teaching Circuit Theory and Electronics

Collection

2011 ASEE Annual Conference & Exposition

Authors

Michelle Denise Miller, Northern Arizona University; Elizabeth J. Brauer, Northern Arizona University; John Sharber, Northern Arizona University

Tagged Divisions

Electrical and Computer

cognitive principle of automaticity, by which well-learned processes takeless of the individual’s limited cognitive capacity, thus leaving more capacity for other tasks,such as learning new concepts or problem-solving.[4,5] Lastly, our system offers rapid feedbackand an optimal level of difficulty (not too easy nor too hard), characteristics which canpotentially produce the state of optimal cognitive functioning that psychologists refer to as“flow”.[6]We are continuing to enhance these modules. We have reworked the questions in the op ampmodule to make the questions more focused on single steps in the solution process. We aredeveloping additional modules on Kirchhoff’s Voltage and Current Laws for dc circuits andworking on plans for modules in ac

Conference Session

Experiential Learning in ECE

Collection

2011 ASEE Annual Conference & Exposition

Authors

Kenneth V Noren, University of Idaho, Moscow

Tagged Divisions

Electrical and Computer

or strongly agreed that the laboratory assignmentsadded value to the class and be kept as part of the class. Development of formal assessmenttools are planned for future courses.Present and Future workThere are several activities being conducted in the Spring Semester of 2011 to determine if andwhere the board will be useful in the EE curriculum at the University of Idaho. The board isbeing used in a junior level electronics class. Experiments utilizing the board are beingdeveloped for a introductory freshman level electrical engineering course. It is also being usedfor a senior design project for an engineering outreach student.Table I. Data from a classroom assessment.1 A total of 14 students participated in the survey

Conference Session

Electrical and Computer Poster Session

Collection

2012 ASEE Annual Conference & Exposition

Authors

John J. Devore, Kansas State University; David L. Soldan, Kansas State University

Tagged Divisions

Electrical and Computer

vision difficulties. We plan to provide the ability to configure colors in the described tooland even to substitute other font characteristics for color to allow use by totally color-blindusers. However, our proof-of-concept program which was used to produce the figures in thisdocument is only capable of using a red-green color-coded display.Motivation for Creating VisiBooleInstructors of digital-logic continually strive to find ways to help each student experience adigital-logic “eureka” moment, preferably early in their studies. Techniques taught to beginningstudents are straightforward. They include creating a truth table for a given function(combinational or sequential), transforming it into a sum-of-minterms or product-of-maxtermsform, and

Conference Session

Technology in the ECE Classroom

Collection

2011 ASEE Annual Conference & Exposition

Authors

Paul J. Weber, Lake Superior State University

Tagged Divisions

Electrical and Computer

agreed with the statement. Values ranged from 1 (“Very Strongly Agree”) to 9 (“VeryStrongly Disagree”) in increments of one. The questions with their abbreviations for the resultswere as follows: 1. Because of the EOLQs, I…Studied more than I would have if there had not been EOLQs. (Studied More) 2. Because of the EOLQs, I…Studied more often (not necessarily more in total) throughout the semester than I would have if there had not been EOLQs. (Studied More Often) 3. I feel that the EOLQs…Were beneficial to my learning. (Beneficial to Learning) 4. I feel that the EOLQs…Supplemented the other homework assignments well. (Supplemented HW Well) 5. I plan to use a study method similar to the EOLQs in future classes (if the

Conference Session

Laboratory Development in ECE

Collection

2011 ASEE Annual Conference & Exposition

Authors

Patrick Kane, Cypress Semiconductor Corp.; Alexander Ganago, University of Michigan; Robert F. Giles, University of Michigan; Hongwei Liao, University of Michigan, Ann Arbor

Tagged Divisions

Electrical and Computer

many are transferable to other fields ofengineering, in which the students major. Due to careful design of the assignment, all studentteams completed the in-lab work within 2 hours as scheduled, which is among the key factors forstudent satisfaction with the lab. We collected feedback in several formats and found that manystudents see this lab as interesting, enjoyable, and valuable for their learning and their futurecareers.Our investigation of the student feedback relates to studies on interdisciplinary learning6 , 7, 8 andlearning in groups or teams9, 10. We plan to continue our research of the outcomes of this lab forstudent learning in their courses of major

Conference Session

Experiential Learning in ECE

Collection

2011 ASEE Annual Conference & Exposition

Authors

James Peyton Jones, Villanova University; Connor W. McArthur, Villanova University; Tyler A. Young, Villanova University

Tagged Divisions

Electrical and Computer

”, www.mathworks.com/ matlabcentral/fileexchange/13399/, 2009.19. McNinch, L. C., Soltan, R. A., Muske, K. R., Ashrafiuon, H., Peyton-Jones, J. C. “An Experimental Mobile Robot Platform for Autonomous Systems Research and Education”, Proceedings of the 17th IASTED International Conference on Robotics and Applications, (2009): 412-41820. McNinch, L. C., Soltan, R. A., Muske, K. R., Ashrafiuon, H., Peyton-Jones, J. C. “Application of a Coordinated Trajectory Planning and Real-time Obstacle Avoidance Algorithm”. Proceedings of the 2010 American Control Conference, June 30-Jul 2, Baltimore MD, (2010).21. NXT OSEK/JSP, website, http://lejos-osek.sourceforge.net/22. VU-LEGO Real Time Target, website, http://www.mathworks.com/matlabcentral

Conference Session

New Trends in ECE Education

Collection

2011 ASEE Annual Conference & Exposition

Authors

Xingguo Xiong, University of Bridgeport; Linfeng Zhang, University of Bridgeport; Lawrence V. Hmurcik, University of Bridgeport; Navarun Gupta, University of Bridgeport

Tagged Divisions

Electrical and Computer

project/thesis research topics, and perform successfulresearch in the field. The program has attracted many graduate students into the fieldof nanoelectronics.In the future, we plan to further develop a new course specifically aboutNanoelectronics. In this class, students can do some in-depth course projects innanoelectronics field, and further their knowledge and skills to prepare them to meetthe challenges as future nanoelectronics engineers or researchers. References[1] T.H. Ning, "Silicon VLSI trends - what else besides scaling CMOS to its limit?", Proceedings ofthe 10th International Symposium on the Physical and Failure Analysis of Integrated Circuits 2003(IPFA'03), pp. 1-4, July 7-11, 2003.[2

Conference Session

Teaching Analog and Digital Communication: Novel Ideas for Lecture Courses, Laboratories, and Projects

Collection

2011 ASEE Annual Conference & Exposition

Authors

Chaitri Aroskar, Missouri University of Science and Technology; Yahong Rosa Zheng, Missouri University of Science and Technology

Tagged Divisions

Electrical and Computer

with understanding the material.Thus, the students receive an elaborate and informative feedback on their performance.Enhancing retention: Each project utilizes some basic concept learnt in an earlier project orlecture. For example, the ZF equalizer lab uses the subsystem and masking skill learnt in the AMlab. This repeated use of prior knowledge to build projects helps students retain information.EvaluationThese laboratory projects are ready to be tested and will be implemented in class duringSpring2011. Planned assessment tools are entry, mid-term and exit surveys, to understand howthe students are coping with the introduction of a lab component. Also, students are asked to listthe difficulties faced by them during the projects, in their lab

Conference Session

Web-based Learning in ECE

Collection

2010 Annual Conference & Exposition

Authors

Kathleen Meehan, Virginia Tech; Joshua Quesenberry, Virginia Tech; Justeen Olinger, Virginia Western Community College; Kevin Diomedi II, Virginia Western Community College; Robert Hendricks, Virginia Tech; Richard Clark, Virginia Western Community College; Peter Doolittle, Virginia Tech

Tagged Divisions

Electrical and Computer

Adobe Connect Pro was the best software solution for use in ourdistance learning circuits laboratory course. Unfortunately, the Virginia Techadministration has not made a commitment as of yet to purchase the softwarelicense. Although monthly and pay-for-use plans are available for individual users,it was not clear if there exists a means within the Electrical and ComputerEngineering Department to fund the necessary licenses long-term and, therefore,there was a substantial risk that the investment of the faculty’s and staff’s time andeffort to incorporate Adobe Connect Pro into the distance learning circuitslaboratory course would only be of value for a few semesters. a) b) Figure 3: Examples

Conference Session

New ECE Courses

Collection

2014 ASEE Annual Conference & Exposition

Authors

Dick Blandford, University of Evansville; Mark Earl Randall, University of Evansville

Tagged Divisions

Electrical and Computer

ProjectsThe projects can be divided into three groups: introductory, software, and software/hardware.Introductory projects are given to familiarize students with the programming environment andthe language. They also give students a good idea of what is expected and allow them to plan forlater projects. Software projects are mostly centered on electrical engineering concepts such asthe fast Fourier transform, convolution, digital filters, or the statistical processing of largeamounts of data. The projects which involve both software and hardware make use of theWindows phone programming interface, internally constructed hardware, or the FEZ boards5which provide a C# interface to a high speed ARM processor. The FEZ boards are low costopen source boards

Conference Session

Electrical and Computer Engineering (ECE) Poster Session

Collection

2013 ASEE Annual Conference & Exposition

Authors

James Ellingson, U. of St. Thomas, School of Engineering; Kundan Nepal, University of Saint Thomas; Megan Rose McGill, University of St. Thomas; Mitchell J Hoffmann, University of St. Thomas

Tagged Divisions

Electrical and Computer

://turtlebot. com/last visited (2011): 11-25. (accessed March 14, 2013)[7] Kinect for Windows Website: http://msdn.microsoft.com/en-us/library/hh973075.aspx (accessed March 14,2013)[8] Robot Operating System (ROS) Wiki Website: http://www.ros.org/wiki/ (accessed March 14, 2013)[9] Quigley, Morgan, Brian Gerkey, Ken Conley, Josh Faust, Tully Foote, Jeremy Leibs, Eric Berger, Rob Wheeler,and Andrew Ng. "ROS: an open-source Robot Operating System." In ICRA workshop on open source software, vol.3, no. 3.2. 2009.[10] Chitta, Sachin, Benjamin Cohen, and Maxim Likhachev. "Planning for autonomous door opening with a mobilemanipulator." In Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp. 1799-1806. IEEE,2010