A continuous finite-time control scheme for networked bilateral teleoperation is proposed in this brief. The terminal sliding mode technology is used and new master–slave torques are designed. With the new controller, the coordination error of the master manipulator and the slave manipulator converges to zero in finite time. Moreover, the reaching time and the sliding time can be derived. Finally, the comparisons are performed and simulations show the effectiveness of the proposed approach.

A sliding mode controller is designed to compensate for the flexibility uncertainties of a cable robot and improve its tracking performance. Of the most significant sources of these uncertainties are the elasticity of the cables and the flexibility of the joints. A favorable approach to improve the accuracy of the system is first to model the cable and joint flexibilities and then convert the model uncertainties into parametric uncertainties. Parametric uncertainties are the product of imprecise flexibility coefficients and are finally neutralized by a sliding mode controller. The flexibility in cables is modeled by considering the longitudinal vibration of the time-varying length cables. A simulation study is carried out to confirm the presented model and the positive effect of the designed controller. Then the impact of these uncertainties on the dynamic load carrying capacity (DLCC) of the robot is examined and compared for different cases. Finally, experimental tests are conducted on the IUST (Iran University of Science and Technology) cable-suspended robot to validate the presented theories and simulation results.

This paper presents a new monocular SLAM algorithm that uses straight lines extracted from images to represent the environment. A line is parametrized by two pairs of azimuth and elevation angles together with the two corresponding camera centres as anchors making the feature initialization relatively straightforward. There is no redundancy in the state vector as this is a minimal representation. A bundle adjustment (BA) algorithm that minimizes the reprojection error of the line features is developed for solving the monocular SLAM problem with only line features. A new map joining algorithm which can automatically optimize the relative scales of the local maps is used to combine the local maps generated using BA. Results from both simulations and experimental datasets are used to demonstrate the accuracy and consistency of the proposed BA and map joining algorithms.

This paper presents a vision-based obstacle avoidance design using a monocular camera onboard a mobile robot. A novel image processing procedure is developed to estimate the distance between the robot and obstacles based-on inverse perspective transformation (IPT) in an image plane. A robust image processing solution is proposed to detect and segment a drivable ground area within the camera view. The proposed method integrates robust feature matching with adaptive color segmentation for plane estimation and tracking to cope with variations in illumination and camera view. After IPT and ground region segmentation, distance measurement results are obtained similar to those of a laser range finder for mobile robot obstacle avoidance and navigation. The merit of this algorithm is that the mobile robot can have the capacity of path finding and obstacle avoidance by using a single monocular camera. Practical experimental results on a wheeled mobile robot show that the proposed imaging system successfully obtains distances of surrounding objects for reactive navigation in an indoor environment.

A unified answer is offered to two distinct fundamental questions: whether a nonclassical solution to the semantic paradoxes should be extended to other apparently similar paradoxes (in particular, to the paradoxes of logical properties) and whether a nonclassical logic should be expressed in a nonclassical metalanguage. The paper starts by reviewing a budget of paradoxes involving the logical properties of validity, inconsistency, and compatibility. The author’s favored substructural approach to naive truth is then presented and it is explained how that approach can be extended in a very natural way so as to solve a certain paradox of validity. However, three individually decisive reasons are later provided for thinking that no approach adopting a classical metalanguage can adequately account for all the features involved in the paradoxes of logical properties. Consequently, the paper undertakes the task to do better, and, building on the system already developed, introduces a theory in a nonclassical metalanguage that expresses an adequate logic of naive truth and of some naive logical properties.

We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

This paper presents optimization-based dynamic three-dimensional (3D) human running prediction. A predictive dynamics method is used to formulate the running problem, and normal running is formulated as a symmetric and cyclic motion. In addition, a slow jog along curved paths has been formulated. It is a non-symmetric running motion, so a stride formulation has been used. The dynamic effort and impulse are used as the performance measure, and the upper body yawing moment is also included in the performance measure. The joint angle profiles and joint torque profiles are calculated for the full-body human model, and the ground reaction force is determined. The effects of foot location and orientation on the running motion prediction are simulated and studied. Simulation results from this methodology show good correlation with experimental data obtained from human subjects.

This paper investigates the usefulness of Web portals in a workbench for assisting student interpreters in the search for and collection of vocabulary. The experiment involved a class of fifteen English as a Foreign Language (EFL) student interpreters, who were required to equip themselves with the appropriate English vocabulary to handle an interpreting task they had been assigned. The subjects were given the same topic for vocabulary building in two stages – one stage without and the other stage with the use of the workbench. They were not allowed to repeat vocabulary items in the two stages. They documented their experience in vocabulary preparation in the first stage, and provided think-aloud protocols for the second stage. They also completed a questionnaire and submitted two portfolios. The vocabulary portfolios compiled during the two stages were then compared. The results indicate that, with the use of the workbench, the subjects were more efficient in performing the task of building vocabulary by searching for the required vocabulary, and were able to build a vocabulary portfolio that was larger in size and richer in variety. The data also reveal that most students make use of Web portals that have a specific focus, rather than general search engines. The findings provide important information to support the use of the workbench as a tool for training EFL student interpreters in vocabulary building, and also show that guided Web portals are essential for users who need to perform Web-based language learning activities to achieve efficient search results.

In this paper, we present the design of two serial spherical mechanisms to substitute for a single spherical joint that is usually used to connect the platform with the base in three degrees of freedom parallel mechanisms. According to the principle derived from the conceptual design, through using the two serial spherical mechanisms as the constraint limb, several redundantly actuated parallel mechanisms are proposed for ankle rehabilitation. The proposed parallel mechanisms all can perform the rotational movements of the ankle in three directions while at the same time the mechanism center of rotations can match the ankle axes of rotations compared with other multi-degree-of-freedom devices, due to the structural characteristics of the special constraint limb and platform. Two special parallel mechanisms are selected to analyze their kinematical performances, such as workspace, dexterity, singularity, and stiffness, based on the computed Jacobian. The results show that the proposed scheme of actuator redundancy can guarantee that the redundantly actuated parallel mechanisms have no singularity, better dexterity, and stiffness within the prescribed workspace in comparison with the corresponding non-redundant parallel mechanisms. In addition, the proposed mechanisms possess certain reconfigurable capacity based on control strategies or rehabilitation modes to obtain sound performance for completing ankle rehabilitation exercise.

For reproducing the manipulation of Traditional Chinese Medicine (TCM) remedial massage and meanwhile guaranteeing safety, a 4-degree-of-freedom anthropomorphic robotic arm with integrated elastic joints is developed, and a passivity-based impedance control is used. Due to the series elasticity, integrated joints may minimize large forces that occur during accidental impacts, and, further, may offer more accurate and stable force control and a capacity for energy storage. Human expert's fingertip force curve in the process of massage therapy is acquired in vivo by a dedicated measurement device. Then three massage techniques, pressing, kneading, and plucking, are implemented by the soft arm, respectively, on torso model in vitro and on human body in vivo. Experimental results show that the developed robotic arm can effectively replicate the TCM remedial massage techniques.

This study examined the effects of communication mode (i.e., face to face versus computer mediated communication) on the instances of negotiation of meaning (NofM) and its level of noticing by learners. Sixty-four participants (32 dyads) completed two jigsaw tasks in two different mediums (one in each) and four days after the tasks they were asked to identify the instances where they had communication breakdowns in a stimulated recall protocol. The findings of the study revealed that the average number of the NofM exchanges and durations of the tasks were higher in face to face mode (F2F) but the participants of the synchronous computer mediated communication (SCMC) group noticed a higher average of NofM instances (M=10.72) compared to the F2F group (M=9.13) and the difference was significant. Based on these results, we can argue that F2F promotes a better context for the production of NofM, but the SCMC environment leads to more instances of noticing.

We consider a team of autonomous kinematically controlled non-holonomic planar Dubins car-like vehicles. The team objective is to encircle a given target so that all vehicles achieve a common and pre-specified distance from it and are uniformly distributed over the respective circle, and the entire formation rotates around the target with a prescribed angular velocity. The robots do not communicate with each other and any central decision-maker. The sensing capacity of any vehicle is heavily restricted: It has access only to the distance to the target and to the distances to the companion vehicles that are in a given disc sector centered at the vehicle at hand; no robot can distinguish between its companions, and does not know their parameters. A distributed control law is proposed, and mathematically rigorous proofs of its non-local convergence as well as collision avoidance property are presented. The performance of the control law is illustrated by computer simulations and experiments with real robots.

This paper presents research findings of a longitudinal empirical case study that investigated an innovative Computer Assisted Language Learning (CALL) professional development program for pre-service English as Foreign Language (EFL) teachers. The conceptualization of the program was based on the assumption that pre-service language teachers learn better in situated contexts (Egbert, 2006). Therefore, a key component of the program was the development of school-based research projects, in which the student teachers needed to design, implement, and evaluate technology-enhanced EFL lessons in collaboration with in-service teachers. Data were collected via field notes, video recordings of lessons, academic research reports produced by the pre-service teachers, and in-depth interviews with the pre-service and in-service teachers. Our findings indicate that the field experiences provided professional learning opportunities that supported the student teachers’ development as CALL practitioners. The participating pre-service teachers especially emphasized the important role played by school-based experiences in allowing them to use technology in authentic language teaching scenarios and to evaluate the impact of technology on language teaching and learning. The paper concludes with a discussion of important principles and guidelines that should underlie and inform such collaborative efforts and a summary of the implications of the findings for the design of CALL pre-service teacher education programs.

We propose a wireless power distribution system (WPDS) operating at 2.45 GHz CW in buildings instead of wired power distribution in order to reduce the initial cost of the building. Required technologies for the WPDS are (a) low-cost and low-loss deck plate waveguide, (b) variable microwave power distributor for the waveguide, and (c) high-power (>100 W) rectifier at the outlet. We developed and tested the deck plate waveguide, power distributor, and high-power rectenna consisting of 256 Si Schottky barrier diodes and newly developed GaN diodes. Finally, a test WPDS was built and microwave power transmission experiments were conducted. The total efficiency of the test WPDS was estimated to be 52%.

The wireless efficiency of the strongly coupled magnetic resonance (SCMR) method greatly depends on the Q-factors of the TX and RX resonators, which in turn are strongly dependent on the geometrical parameters of the resonators. This paper analytically derives the equations that can be used to design optimal spiral resonators for SCMR systems. In addition, our analysis illustrates that under certain conditions globally maximum efficiency can be achieved.

This paper is dedicated to the extensive review of state-of-the-art contactless energy transfer (CET) systems that are gaining increasing interest in the automatic machinery industries. We first introduce the circuit equivalent networks considered in the literature, and discuss the main operating principles. Possible circuital resonant solutions are also discussed together with the required compensating networks. Then we focus on the problem of transferring, at the maximum efficiency, high-power levels (of the order of 1 kW or higher), showing that highly coupled inductive links are needed, requiring to refrain from the resonance condition. These systems are usually referred to as CET systems, since the link distances are negligible with respect to the coils dimensions. The operating frequencies are of the order of tens to hundreds of kilohertz. The fundamental figures of merit are analytically defined and used to measure the actual limitations involved in this class of systems, including aspects related to realization feasibility with respect to voltages and currents limitations. Finally, state-of-the-art CET works are surveyed, and realistic applications for different operating frequencies are considered and critically compared.