This paper introduces a simplified matrix method for balancing forces and moments in planar parallel manipulators. The method resorts to Newton’s second law and the concept of angular momentum vector, yet it is not necessary to perform the velocity and acceleration analyses, tasks that were normally unavoidable in seminal contributions. With the introduction of natural matrices, the proposed balancing method is independent of the time and the trajectory generated by the moving links of parallel manipulators. The effectiveness of the method is exemplified by balancing two planar parallel manipulators.

The authors have studied models and control methods for legged robots without having active ankle joints that can not only walk efficiently but also stop and developed a method for generating a gait that starts from an upright stationary state and returns to the same state in one step for a simple walker with one control input. It was clarified, however, that achieving a perfect upright stationary state including zero dynamics is impossible. Based on the observation, in this paper we propose a novel robotic walker with parallel linkage legs that can return to a perfect stationary standing posture in one step while simultaneously controlling the stance-leg motion and zero-moment point (ZMP) using two control inputs. First, we introduce a model of a planar walker that consists of two eight-legged rimless wheels, a body frame, a reaction wheel, and massless rods and describe the system dynamics. Second, we consider two target control conditions; one is control of the stance-leg motion, and the other is control of the ZMP to stabilize zero dynamics. We then determine the control input based on the two conditions with the target control period derived from the linearized model and consider adding a sinusoidal control input with an offset to correct the resultant terminal state of the reaction wheel. The validity of the proposed method is investigated through numerical simulations.

We take another look at the construction by Hofmann and Streicher of a universe $(U,{\mathcal{E}l})$ for the interpretation of Martin-Löf type theory in a presheaf category $[{{{\mathbb{C}}}^{\textrm{op}}},\textsf{Set}]$. It turns out that $(U,{\mathcal{E}l})$ can be described as the nerve of the classifier $\dot{{\textsf{Set}}}^{\textsf{op}} \rightarrow{{\textsf{Set}}}^{\textsf{op}}$ for discrete fibrations in $\textsf{Cat}$, where the nerve functor is right adjoint to the so-called “Grothendieck construction” taking a presheaf $P :{{{\mathbb{C}}}^{\textrm{op}}}\rightarrow{\textsf{Set}}$ to its category of elements $\int _{\mathbb{C}} P$. We also consider change of base for such universes, as well as universes of structured families, such as fibrations.

The snake robot can be used to monitor and maintain underwater structures and environments. The motion of a snake robot is achieved by lateral undulation which is called the gait pattern of the snake robot. The parameters of a gait pattern need to be adjusted for compensating environmental uncertainties. In this work, 3D motion dynamics of a snake robot for the underwater environment is proposed with vertical motion using the buoyancy variation technique and horizontal motion using lateral undulation. “The neutral buoyant snake robot motion in hypothetical plane and added mass effect is negligible”, these previous assumptions are removed in this work. Two different control algorithms are designed for horizontal and vertical motions. The existing super twisting sliding mode control (STSMC) is used for the horizontal serpentine motion of the snake robot. The control law is designed on a reduced-ordered dynamic system based on virtual holonomic constraints. The vertical motion is achieved by controlling the mass variation using a pump. The water pumps are controlled using the event-based controller or Proportional Derivative (PD) controller. The results of the proposed control technique are verified with various external environmental disturbances and uncertainties to check the robustness of the control approach for various path following cases. Moreover, the results of STSMC scheme are compared with SMC scheme to check the effectiveness of STSMC. The practical implementation of the work is also performed using Simscape Multibody environment where the designed control algorithm is deployed on the virtual snake robot.

This systematic review maps the trends of computer-assisted pronunciation training (CAPT) research based on the pedagogy of second language (L2) pronunciation instruction and assessment. The review was limited to empirical studies investigating the effects of CAPT on healthy L2 learners’ pronunciation. Thirty peer-reviewed journal articles published between 1999 and 2022 were selected based on specific inclusion and exclusion criteria. Data were collected about the studies’ contexts, participants, experimental designs, CAPT systems, pronunciation training scopes and approaches, pronunciation assessment practices, and learning measures. Using a pedagogically informed codebook, the pronunciation training and assessment practices were classified and evaluated based on established L2 pronunciation teaching guidelines. The findings indicated that most of the studies focused on the pronunciation training of adult English learners with an emphasis on the production of segmental features (i.e. vowels and consonants) rather than suprasegmental features (i.e. stress, intonation, and rhythm). Despite the innovation promised by CAPT technology, pronunciation practice in the studies reviewed was characterized by the predominant use of drilling through listen-and-repeat and read-aloud activities. As for assessment, most CAPT studies relied on human listeners to measure the accurate production of discrete pronunciation features (i.e. segmental and suprasegmental accuracy). Meanwhile, few studies employed global pronunciation learning measures such as intelligibility and comprehensibility. Recommendations for future research are provided based on the discussion of these results.

Social media challenge several established concepts of memory research. In particular, the day-to-day mundane discourse of social media blur the essential distinction between commemorative and non-commemorative memory. We address these challenges by presenting a methodological framework that explores the dynamics of social memory on various social media. Our method combines top-down data mining with a bottom-up analysis tailored to each platform. We demonstrate the application of our approach by studying how the Holocaust is remembered in different corpora, including a dataset of 5.3 million Facebook posts and comments collected between 2015 and 2017 and a 5 million Tweets and Retweets dataset collected in 2021. We first identify the mnemonic agents initiating the discussion of the memory of the Holocaust and those responding to it. Second, we compare the macro-rhythms of Holocaust discourse on the two platforms, identifying peaks and mundane discussions that extend beyond commemorative occasions. Third, we identify distinctive language and cultural norms specific to the memorialization of the Holocaust on each platform. We conceptualize these dynamics as ‘Mnemonic Markers’ and discuss them as potential pathways for memory researchers who wish to explore the unique memory dynamics afforded by social media.

This article investigates memory practices in connection with retrospective Facebook groups created for remembering specific aspects of the past. It focuses on how members of these groups experience and deal with how Facebook's interface and algorithms enable, shape, and interfere with memory practices. From this point of departure, the article discusses and nuances the idea that a ‘connective turn’ has brought with it an ontological shift in memory culture (Hoskins 2017a) and a ‘greying’ of memories (Hoskins and Halstead 2021). Theoretically, the article draws on Deborah Lupton's (2020) concept of ‘data selves’, which offers an account of how people interact with data and technology. This concept does not view data practices as immaterial but rather as material, corporeal, and affective, thus prompting an understanding of memory practices as hybrid processes where offline and online practices intersect (Gajjala 2019; Merrill forthcoming/2024). In this qualitative study, nine members of retrospective Facebook groups were chosen to participate in semi-structured interviews. The analysis explains the importance of viewing contemporary memory practices as hybrid, showing a greying effect within the affordances of Facebook that shapes both which memories are shared and how memories are shared. In addition, the analysis nuances the idea of an ontological shift in memory culture and the greying of memories by investigating how the interviewees’ deal and struggle with the affordances of the platform in their memory practices.

The authors’ primary goal in this paper is to enhance the study of $T_0$ topological spaces by using the order of specialization of a $T_0$-space to introduce the lower topology (with a subbasis of closed sets $\mathord{\uparrow } x$) and studying the interaction of the original topology and the lower topology. Using the lower topology, one can define and study new properties of the original space that provide deeper insight into its structure. One focus of study is the property R, which asserts that if the intersection of a family of finitely generated sets $\mathord{\uparrow } F$, $F$ finite, is contained in an open set $U$, then the same is true for finitely many of the family. We first show that property R is equivalent to several other interesting properties, for example, the property that all closed subsets of the original space are compact in the lower topology. We then find conditions under which these spaces are compact, well-filtered, and coherent, a weaker variant of stably compact spaces. We also investigate what have been called strong $d$-spaces, develop some of their basic properties, and make connections with the earlier considerations involving spaces satisfying property R. Two key results we obtain are that if a dcpo $P$ with the Scott topology is a strong $d$-space, then it is well-filtered, and if additionally the Scott topology of the product $P\times P$ is the product of the Scott topologies of the factors, then the Scott space of $P$ is sober. We also exhibit connections of this work with de Groot duality.

Autonomous underwater vehicles (AUVs) have played a pivotal role in advancing ocean exploration and exploitation. However, traditional AUVs face limitations when executing missions at minimal or near-zero forward velocities due to the ineffectiveness of their control surfaces, considerably constraining their potential applications. To address this challenge, this paper introduces an innovative vectored thruster system based on a 3RRUR parallel manipulator tailored for micro-sized AUVs. The incorporation of a vectored thruster enhances the performance of micro-sized AUVs when operating at minimal and low forward speeds. A comprehensive exploration of the kinematics of the thrust-vectoring mechanism has been undertaken through theoretical analysis and experimental validation. The findings from theoretical analysis and experimental confirmation unequivocally affirm the feasibility of the devised thrust-vectoring mechanism. The precise control of the vector device is studied using Physics-informed Neural Network and Model Predictive Control (PINN-MPC). Through the adoption of this pioneering thrust-vectoring mechanism rooted in the 3RRUR parallel manipulator, AUVs can efficiently and effectively generate the requisite motion for thrust-vectoring propulsion, overcoming the limitations of traditional AUVs and expanding their potential applications across various domains.

We present a new explicit formula for the determinant that contains superexponentially fewer terms than the usual Leibniz formula. As an immediate corollary of our formula, we show that the tensor rank of the $n \times n$ determinant tensor is no larger than the $n$-th Bell number, which is much smaller than the previously best-known upper bounds when $n \geq 4$. Over fields of non-zero characteristic we obtain even tighter upper bounds, and we also slightly improve the known lower bounds. In particular, we show that the $4 \times 4$ determinant over ${\mathbb{F}}_2$ has tensor rank exactly equal to $12$. Our results also improve upon the best-known upper bound for the Waring rank of the determinant when $n \geq 17$, and lead to a new family of axis-aligned polytopes that tile ${\mathbb{R}}^n$.

This work proposes a novel grasp detection method, the Efficient Grasp Aware Network (EGA-Net), for robotic visual grasp detection. Our method obtains semantic information for grasping through feature extraction. It efficiently obtains feature channel weights related to grasping tasks through the constructed ECA-ResNet module, which can smooth the network’s learning. Meanwhile, we use concatenation to obtain low-level features with rich spatial information. Our method inputs an RGB-D image and outputs the grasp poses and their quality score. The EGA-Net is trained and tested on the Cornell and Jacquard datasets, and we achieve 98.9% and 95.8% accuracy, respectively. The proposed method only takes 24 ms for real-time performance to process an RGB-D image. Moreover, our method achieved better results in the comparison experiment. In the real-world grasp experiments, we use a 6-degree of freedom (DOF) UR-5 robotic arm to demonstrate its robust grasping of unseen objects in various scenes. We also demonstrate that our model can successfully grasp different types of objects without any processing in advance. The experiment results validate our model’s exceptional robustness and generalization.

Visual odometry (VO) is a key technology for estimating camera motion from captured images. In this paper, we propose a novel RGB-D visual odometry by constructing and matching features at the superpixel level that represents better adaptability in different environments than state-of-the-art solutions. Superpixels are content-sensitive and perform well in information aggregation. They could thus characterize the complexity of the environment. Firstly, we designed the superpixel-based feature SegPatch and its corresponding 3D representation MapPatch. By using the neighboring information, SegPatch robustly represents its distinctiveness in various environments with different texture densities. Due to the inclusion of depth measurement, the MapPatch constructs the scene structurally. Then, the distance between SegPatches is defined to characterize the regional similarity. We use the graph search method in scale space for searching and matching. As a result, the accuracy and efficiency of matching process are improved. Additionally, we minimize the reprojection error between the matched SegPatches and estimate camera poses through all these correspondences. Our proposed VO is evaluated on the TUM dataset both quantitatively and qualitatively, showing good balance to adapt to the environment under different realistic conditions.

This paper presents an artificial neural network (ANN)-based nonlinear model predictive visual servoing method for mobile robots. The ANN model is developed for state predictions to mitigate the unknown dynamics and parameter uncertainty issues of the physics-based (PB) model. To enhance both the model generalization and accuracy for control, a two-stage ANN training process is proposed. In a pretraining stage, highly diversified data accommodating broad operating ranges is generated by a PB kinematics model and used to train an ANN model first. In the second stage, the test data collected from the actual system, which is limited in both the diversity and the volume, are employed to further finetune the ANN weights. Path-following experiments are conducted to compare the effects of various ANN models on nonlinear model predictive control and visual servoing performance. The results confirm that the pretraining stage is necessary for improving model generalization. Without pretraining (i.e., model trained only with the test data), the robot fails to follow the entire track. Weight finetuning with the captured data further improves the tracking accuracy by 0.07–0.15 cm on average.

In temporal extensions of answer set programming (ASP) based on linear time, the behavior of dynamic systems is captured by sequences of states. While this representation reflects their relative order, it abstracts away the specific times associated with each state. However, timing constraints are important in many applications like, for instance, when planning and scheduling go hand in hand. We address this by developing a metric extension of linear-time temporal equilibrium logic, in which temporal operators are constrained by intervals over natural numbers. The resulting Metric Equilibrium Logic (MEL) provides the foundation of an ASP-based approach for specifying qualitative and quantitative dynamic constraints. To this end, we define a translation of metric formulas into monadic first-order formulas and give a correspondence between their models in MEL and Monadic Quantified Equilibrium Logic, respectively. Interestingly, our translation provides a blue print for implementation in terms of ASP modulo difference constraints.

Generative adversarial networks (GANs) have recently been proposed as a potentially disruptive approach to generative design due to their remarkable ability to generate visually appealing and realistic samples. Yet, we show that the current generator-discriminator architecture inherently limits the ability of GANs as a design concept generation (DCG) tool. Specifically, we conduct a DCG study on a large-scale dataset based on a GAN architecture to advance the understanding of the performance of these generative models in generating novel and diverse samples. Our findings, derived from a series of comprehensive and objective assessments, reveal that while the traditional GAN architecture can generate realistic samples, the generated and style-mixed samples closely resemble the training dataset, exhibiting significantly low creativity. We propose a new generic architecture for DCG with GANs (DCG-GAN) that enables GAN-based generative processes to be guided by geometric conditions and criteria such as novelty, diversity and desirability. We validate the performance of the DCG-GAN model through a rigorous quantitative assessment procedure and an extensive qualitative assessment involving 89 participants. We conclude by providing several future research directions and insights for the engineering design community to realize the untapped potential of GANs for DCG.

Lower limb rehabilitation robots based on linkage-based mechanisms have recently drawn significant attention in the field due to their numerous advantages. The control of previously proposed linkage-based gait rehabilitation robotic orthoses has been achieved using constant speed control without consideration for the interaction forces. However, such an approach can be harmful to people with stroke since the level of disability varies among individuals, and it may cause potential injuries when excessive force is applied by the robot. To overcome this limitation and improve the rehabilitation process, it is necessary to recognize the force exerted by the person during walking and adjust the robot’s assistive torque accordingly, to provide synchronized motion. Thus, in this work, a human-cooperative approach based on a stiffness control strategy for the six-bar linkage-based gait rehabilitation robot is presented. The proposed methodology can serve as a solid foundation for developing a human-cooperative approach for linkage-based lower limb rehabilitation robotic orthoses. The control was validated and tested with eight healthy human subjects. As a result, customized robotic assistance with this mechanism can be provided during training to meet the individual needs of stroke patients, which can lead to increased engagement and contribution, thus improving treatment outcomes.

The widely used model predictive control of discrete-time control barrier functions (MPC-CBF) has difficulties in obstacle avoidance for unmanned ground vehicles (UGVs) in complex terrain. To address this problem, we propose adaptive dynamic control barrier functions (AD-CBF). AD-CBF is able to adaptively select an extended class of functions of CBF to optimize the feasibility and flexibility of obstacle avoidance behaviors based on the relative positions of the UGV and the obstacle, which in turn improves the obstacle avoidance speed and safety of the MPC algorithm when integrated with MPC. The algorithmic constraints of the CBF employ hierarchical density-based spatial clustering of applications with noise (HDBSCAN) for parameterization of dynamic obstacle information and unscaled Kalman filter (UKF) for trajectory prediction. Through simulations and practical experiments, we demonstrate the effectiveness of the AD-CBF-MPC algorithm in planning optimal obstacle avoidance paths in dynamic environments, overcoming the limitations of the point-by-point feasibility of MPC-CBF.

As a kind of lower-limb motor assistance device, the intelligent walking aid robot plays an essential role in helping people with lower-limb diseases to carry out rehabilitation walking training. In order to enhance the safety performance of the lower-limb walking aid robot, this study proposes a deep vision-based abnormal lower-limb gait prediction model construction method for the problem of abnormal gait prediction of patients’ lower limbs. The point cloud depth vision technique is used to acquire lower-limb motion data, and a multi-posture angular prediction model is trained using long and short-term memory networks to build a model of the user’s lower-limb posture characteristics during normal walking as well as a real-time lower-limb motion prediction model. The experimental results indicate that the proposed lower-limb abnormal behavior prediction model is able to achieve a 97.4% prediction rate of abnormal lower-limb movements within 150 ms. Additionally, the model demonstrates strong generalization ability in practical applications. This paper proposes further ideas to enhance the safety performance of lower-limb rehabilitation robot use for patients with lower-limb disabilities.

Traction of the head-neck is important in the treatment of patients suffering from neck pain due to degeneration of the intervertebral discs. Conventional neck traction is provided manually by experienced physical therapists who maintain a desired orientation of the head-neck relative to the trunk while applying the traction. It is postulated that innovative designs of neck exoskeletons can provide the same function both flexibly and accurately. This article presents a novel architecture of a parallel mechanism whose base sits on the human shoulders with 4 parallel chains, each chain having a revolute-revolute-universal-revolute (RRUR) structure, while the end-effector is connected rigidly to the human head. Each chain has five degrees-of-freedom (DOF) and applies a constraint on the motion of the end-effector. As a result, this parallel mechanism allows two DOFs to the end-effector. These are (i) forward flexion or lateral bending of the head and (ii) vertical translation. An important motivation for the current design with RRUR structure is to characterize the range of forward flexion/lateral bending of the head-neck with this structure and the vertical translation to the end-effector. A physical prototype was constructed and tested to evaluate the performance of this mechanism in hardware for the proposed application.

This study introduces a hybrid model that utilizes a model-based optimization method to generate training data and an artificial neural network (ANN)-based learning method to offer real-time exoskeleton support in lifting activities. For the model-based optimization method, the torque of the knee exoskeleton and the optimal lifting motion are predicted utilizing a two-dimensional (2D) human–exoskeleton model. The control points for exoskeleton motor current profiles and human joint angle profiles from cubic B-spline interpolation represent the design variables. Minimizing the square of the normalized human joint torque is considered as the cost function. Subsequently, the lifting optimization problem is tackled using a sequential quadratic programming (SQP) algorithm in sparse nonlinear optimizer (SNOPT). For the learning-based approach, the learning-based control model is trained using the general regression neural network (GRNN). The anthropometric parameters of the human subjects and lifting boundary postures are used as input parameters, while the control points for exoskeleton torque are treated as output parameters. Once trained, the learning-based control model can provide exoskeleton assistive torque in real time for lifting tasks. Two test subjects’ joint angles and ground reaction forces (GRFs) comparisons are presented between the experimental and simulation results. Furthermore, the utilization of exoskeletons significantly reduces activations of the four knee extensor and flexor muscles compared to lifting without the exoskeletons for both subjects. Overall, the learning-based control method can generate assistive torque profiles in real time and faster than the model-based optimal control approach.