Disturbance rejection control based on acceleration projection method for walking robots

This paper presents a disturbance rejection scheme for walking robots under unknown external forces and moments. The disturbance rejection strategy, which combines the inverse dynamics control with the acceleration projection onto the ZMP （zero moment point）-plane, can ensure the overall dynamic stability of the robot during tracking the pre-computed trajectories. Under normal conditions, i.e., the system is dynamically balanced, a primary inverse dynamics control is utilized. In the case that the system becomes unbalanced due to external disturbances, the acceleration projection control （APC） loop, will be activated to keep the dynamic stability of the walking robot through modifying the input torques. The preliminary experimental results on a robot leg demonstrate that the proposed method can actually make the robot keep a stable motion under unknown external perturbations.     

Cinematic Rendering in Anatomy: A Crossover Study Comparing a Novel 3D Reconstruction Technique to Conventional Computed Tomography

Integration of medical imaging into preclinical anatomy courses is already underway in many medical schools. However, interpretation of two-dimensional grayscale images is difficult and conventional volume rendering techniques provide only images of limited quality. In this regard, a more photorealistic visualization provided by Cinematic Rendering (CR) may be more suitable for anatomical education. A randomized, two-period crossover study was conducted from July to December 2018, at the University Hospital of Erlangen, Germany to compare CR and conventional computed tomography (CT) imaging for speed and comprehension of anatomy. Sixteen students were randomized into two assessment sequences. During each assessment period, participants had to answer 15 anatomy-related questions that were divided into three categories: parenchymal, musculoskeletal, and vascular anatomy. After a washout period of 14 days, assessments were crossed over to the respective second reconstruction technique. The mean interperiod differences for the time to answer differed significantly between the CR–CT sequence (−204.21 ± 156.0 seconds) and the CT–CR sequence (243.33 ± 113.83 seconds; P < 0.001). Overall time reduction by CR was 65.56%. Cinematic Rendering visualization of musculoskeletal and vascular anatomy was higher rated compared to CT visualization (P < 0.001 and P = 0.003), whereas CT visualization of parenchymal anatomy received a higher scoring than CR visualization (P < 0.001). No carryover effects were observed. A questionnaire revealed that students consider CR to be beneficial for medical education. These results suggest that CR has a potential to enhance knowledge acquisition and transfer from medical imaging data in medical education.     

Curriculating Powerful Knowledge for Public Managers and Administrators

Abstract

Public Management and Public Administration are important professions for an emerging democracy such as South Africa. They operate as the interface between state and public and are responsible for enacting many of the government's policies and social initiatives. Concerns about a lack of capacity in the sector suggest that those in these roles may be unable to meet the demands of the workplace. This article reports on a study that responded to calls for the curriculum to address such concerns by interrogating the knowledge structures of Public Management and Public Administration programmes in higher education. Interviews, textbooks and course guides were analysed to illuminate the forms of knowledge being legitimated in curricula. The study found that the focus on knowledge, skills and processes might be at the expense of a focus on the development of particular attributes or dispositions in the knowers. Furthermore, the knowledge level focus was limited in that it was highly contextualised and “light” on theory, raising questions about the acquisition of powerful knowledge needed for good governance and critical engagement in the public sector. The study recommends that both programmes include more conceptual knowledge; exposure to critical powerful forms of knowledge; and the development of particular attributes and dispositions.     

Motivation theory in the school context: differences in preservice and practicing teachers’ experience,opinion, and knowledge

European Journal of Psychology of Education - Preservice teachers should learn about motivation theory during their university studies in order to be able to motivate their students in their future...     

A Bandwidth expanding scheme for communication channels with noiseless feedback in the presence of unknown jamming noise

This paper treats the problem of transmitting a Gaussian discrete-time Markov process over a time-discrete additive white Gaussian channel with noiseless feedback which is subjected to statistically unknown jamming noise (satisfying a given power constraint). The channel is used more than once during the interval between the production of successive source letters, and the jamming noise is either allowed to be correlated with the encoder output, or forced to be totally independent of it. The complete solution obtained in the paper under a minimax criterion indicates that the optimum encoder-decoder structures are linear,and the least favorable jamming noise is a Gaussian process.     

Knowledge is more than information

Knowledge Management Research & Practice -     

试论周西成与贵州近代教育的发展

ZHOU Shanjü;YANG Ying(Department of Admissions and Under-Graduate Guidance,Zunyi Normal University,Zunyi,Guizhou,563000,China;No.3 Middle School of Zhijin County,Zunyi,Guizhou,552100, China)     

The Relative Efficiency of Departments at a Turkish Engineering College: A Data Envelopment Analysis

In this study, Data Envelopment Analysis is used to measure relative efficiencies of academic departments of an engineering college. Input and output criteria are determined and measured utilizing the academic personnel performance measurement scheme of the College. New measures are developed to compare departments of different disciplines. The discriminating power of the measurement models is improved by restricting criteria weights directly and by using a multiple criteria decision making approach. Sensitivity of the results to exclusion of a criterion and changes in relative importance of the criteria is analyzed. Evaluation of the results jointly by the college administration and the departments is explained for a successful efficiency improvement mechanism.