Abstract-Active thermal control techniques make it feasible to regulate the steady state and transient thermal-mechanical stress in power electronic modules for applications such as motor drives. Online junction temperature estimation and manipulation of the switching frequency and current limit to regulate the losses are used to prevent overtemperature and power cycling failures in insulated gate bipolar transistor (IGBT) power modules. The techniques developed in this work are used to actively control the junction temperature of the power module. This control strategy improves power module reliability and increases utilization of the silicon thermal capacity by providing sustained operation at maximum attainable performance limits.

This article presents a new control architecture designed for heterogeneous modular, multi-configurable, chained micro-robots. This architecture attempts to fill the gap that exists in heterogeneous modular robotics research, in which little work has been conducted compared to that in homogeneous modular robotics studies. The architecture proposes a three-layer structure with a behaviour-based, low-level embedded layer, a halfdeliberative half-behaviour-based high layer for the central control, and a heterogeneous middle layer acting as a bridge between these two layers. This middle layer is very important because it allows the central control to treat all modules in the same manner, facilitating the control of the robot. A communication protocol and a module description language were also developed for the control architecture to facilitate communication and information flow between the heterogeneous modules and the central control. Owing to the heterogeneous behaviour of the architecture, the system can automatically reconfigure its actions to adapt to unpredicted events (such as actuator failure). Several behaviours (at low and high levels) are also presented here.

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Microscopy plays a crucial role in the diagnosis of numerous diseases. However, the need for trained microscopists and pathologists, the complexity of pathology, and the accessibility and affordability of the technology can hinder the provision of rapid and high-quality diagnoses and healthcare. In this work, we present an affordable, 3D-printed, portable, robotic, mobile-based slide scanning microscope. The proposed device is composed of electronic, mechanical, and optical modules operated via smartphone with a control app. The device is connected and fully integrated with a telemedicine web platform, where digitized microscopy images can be remotely visualized and analyzed. The robotic scanner, which has approximately 1-µm resolution, has been evaluated in two clinical scenarios with histology and stool samples. The results showed sufficient image quality for performing a proper diagnosis in all cases under study.