We address the optimal control problem of robotic systems with variable stiffness actuation (VSA) including switching dynamics and discontinuous state transitions. Our focus in this paper is to consider dynamic tasks that havemultiple phases ofmovement, contacts and impactswith the environment with a requirement of exploiting passive dynamics of the system. By modelling such tasks as a hybrid d...

one of the main concerns of teachers in modern learner-centered approaches is whether published teaching materials can meet the needs of students at a particular leaning situation or the teachers ought to prepare their own materials. this dilemma gets worse when the teaching situation includes a textbook prescribed by an authority such as the ministry of education. in such cases, the teacher ha...

It is widely recognised that compliant actuation is advantageous to robot control once dynamic tasks are considered. However, the benefit of intrinsic compliance comes with high control complexity. Specifically, coordinating the motion of a system through a compliant actuator and finding a task-specific impedance profile that leads to better performance is known to be non-trivial. Here, we prop...

This paper reports the findings of a Stage I meta-analysis exploring the achievement effects of computer-based technology use in higher education classrooms (non-distance education). An extensive literature search revealed more than 6,000 potentially relevant primary empirical studies. Analysis of a representative sample of 231 studies (k = 310) yielded a weighted average effect size of 0.28 su...

This article fundamentally aims at the proposition of new family estimators using auxiliary information to assist estimation finite population mean study variable. The objectives are achieved by devising dual use supplementary through straightforward manner. additional is injected in estimating procedure considering squared values utility proposed scheme substantiated providing rigorous compara...

Correspondence to: E Herrett [email protected] Extra material supplied by the author (see http://www.bmj.com/content/346/bmj.f2350?tab=related#webextra) Supplementary figures 1-4 Supplementary table 1 Supplementary table 2 Supplementary table 3 Supplementary table 4 Supplementary table 5 Supplementary table 6 Supplementary table 7 Supplementary table 8 Supplementary table 9 Supplementar...

Selenium has many roles on the functioning of humans and animals. Chicks as animal model can play an important role to distinguish the role/function of selenium. The objective of the present study was to test the effect of variable doses of nano-selenium supplement on the chicken gastrointestinal tract. A total of 180 male Ross chicks were divided into six groups, with three replicates for each...

European white stork (Ciconia ciconia) populations have been object to several conservation measures such as reintroduction programs, habitat improvement or supplementary feeding in the last decades. Although recent white stork censuses revealed an upward trend of most of the western populations, evaluations of the relative importance of certain conservation measures are still scarce or even la...

to investigate the effects of supplementary irrigation and application of different compost levels on morphological traits, yield and yield components of two chickpea cultivars under dry land conditions, a field experiment was conducted at the research field in khoramabad, iran in 2009-2010. the experiment was split split plot based on randomized complete block design with four levels of irriga...