Knowing accurately the dynamic parameters of a manipulated object is required for common coordination strategies in physical human-robot interaction. Bias in object dynamics results in inaccurately calculated robot wrenches, which may disturb the human during interaction and bias the recognition of the human motion intention. This paper presents an identification strategy of object dynamics for physical human-robot interaction, which allows the tracking of desired human motion and inducing the motions necessary for parameter identification. The estimation of object dynamics is performed online and the estimator minimizes the least square error between the measured and estimated wrenches acting on the object. Identification-relevant motions are derived by analyzing the persistence of excitation condition, necessary for estimation convergence. Such motions are projected in the null space of the partial grasp matrix, relating the human and the robot redundant motion directions, to avoid disturbance of the human desired motion. The approach is evaluated in a physical human-robot object manipulation scenario.

Harvesting energy from nonconventional sources in the environment has received increased attention over the past decade from researchers who study these alternative energy sources for low power applications. Although that energy harvested is small and in the order of milliwatt, it can provide enough power for wireless sensors and other low-power applications. In the environment there is a lot of wasted energy that can be converted into electricity to power the various circuits and represents a potentially cheap source of power. Energy harvesting is important because it offers an alternative power supply for electronic devices where is does not exist conventional energy sources. This technology applied in a wireless sensor network (WSN) and devices on the IoT, will eliminate the need for network-based energy and conventional batteries, will minimize maintenance costs, eliminate cables and batteries and is ecological. It has the same advantage in applications from remote locations, underwater, and other hard to reach places where conventional batteries and energy are not suitable. Energy harvesting will promote environmentally friendly technologies that will save energy, will reduce CO2 emissions, which makes this technology indispensable for achieving next-generation smart cities and sustainable society. In response to the challenges of energy, in this article we remind the basics of harvesting energy and we discuss the various applications of this technology where traditional batteries cannot be used.

Our article monitors the degree of emotional involvement of the audience in the action film in theaters by measuring the concentration of CO2. The software performs data processing obtained dispersion sensors and displays data during the film. The software will also trigger the start of the air conditioning condenser where we can get harvesting energy by installing a piezoelectric device. Useful energy can be recovered from various waste produced in cinema. The time lag between actions and changes in environmental systems determines that decisions made now will affect subsequent generations and the future of our environment.

Project management in modern IT companies is often based on agile methodologies which have several advantages compared to traditional methodologies such is waterfall. Having in mind that clients sometimes change project during development it is crucial for an IT company to choose carefully which methodology is going to implement and is it going to be mostly based on one or is it going got be combination of several. There are several modern and often used methodologies but among those Scrum, Kanban and XP programming are usually the most common. Sometimes companies use mostly tools and procedures from one but quite often they use some of the combination of those methodologies. Having in mind that those methodologies are just a framework they allow companies to adapt it for their specific projects as well as for other limitations. These methodologies are in limited usage Bosnia but more and more IT companies are starting to use agile methodologies because it is practice and common not just for their clients abroad but also starting to be the only option in order to deliver quality product on time. However it is always challenging which methodology or combination of several companies should implement and how to connect it to its own project, organizational framework and HR management. This paper presents one case study based on local IT start up and delivers solution based on theoretical framework and practical limitations that case company has.