In order to solve joint-angle drift problem of dual redundant manipulators at acceleration-level, an acceleration-level tri-criteria optimization motion planning (ALTC-OMP) scheme is proposed, which combines the minimum acceleration norm, repetitive motion planning, and infinity-norm acceleration minimization solutions via weighting factor. This scheme can resolve the joint-angle drift problem of dual redundant manipulators which will arise in single criteria or bi-criteria scheme. In addition, the proposed scheme considers joint-velocity joint-acceleration physical limits. The proposed scheme can not only guarantee joint-velocity and joint-acceleration within their physical limits, but also ensure that final joint-velocity and joint-acceleration are near to zero. This scheme is realized by dual redundant manipulators which consist of left and right manipulators. In order to ensure the coordinated operation of manipulators, two motion planning problems are reformulated as two general quadratic program (QP) problems and further unified into one standard QP problem, which is solved by a simplified linear-variational-inequalities-based primal-dual neural network at the acceleration-level. Computer-simulation results based on dual PUMA560 redundant manipulators further demonstrate the effectiveness and feasibility of the proposed ALTC-OMP scheme to resolve joint-angle drift problem arising in the dual redundant manipulators.

This article applies a synthetic approach ofphilological, religious, philosophical, and culturalstudies to explore the original meaning of the termsdao 道 and de 德,two primary concepts in traditional Chineseintellectual history. Through an etymologicalanalysis of the characters dao andde, and supported by bothreceived and discovered texts and materials, thisarticle demonstrates that daooriginally represented the spirit of the PoleStar/High God and the movement of Heaven, andde, in relation todao, originally represented theimpartial virtue and power of Heaven. In terms ofthis new interpretation, the article furtherdiscusses the signification of daoand de in the Laozi to uncover themystic aspects of the text.

Yi, a term denoting one of the primaryconcepts of Confucian ethics, has proven to be oneof the most difficult terms to interpret andtranslate. It has been rendered as ‘righteousness’,‘rightness’, ‘right conduct’, ‘propriety’,‘justice’, ‘morality’, ‘duty’, ‘sense of duty’,‘obligation’, and so forth. The aim of this articleis to open new avenues to discuss the original andextended meanings of yi by themeans of paleographic, archaeological, andsocio-cultural studies.