Currently,most teleoperation work is focusing on scenarios where slave robots interact with unknown environments.However,in some fields such as medical robots or rescue robots,the other typical teleoperation applicati...Currently,most teleoperation work is focusing on scenarios where slave robots interact with unknown environments.However,in some fields such as medical robots or rescue robots,the other typical teleoperation application is precise object transportation.Generally,the object’s weight is unknown yet essential for both accurate control of the slave robot and intuitive perception of the human operator.However,due to high cost and limited installation space,it is unreliable to employ a force sensor to directly measure the weight.Therefore,in this paper,a control scheme free of force sensor is proposed for teleoperation robots to transfer a weight-unknown object accurately.In this scheme,the workspace mapping between master and slave robot is firstly established,based on which,the operator can generate command trajectory on-line by operating the master robot.Then,a slave controller is designed to follow the master command closely and estimate the object’s weight rapidly,accurately and robust to unmodeled uncertainties.Finally,for the sake of telepresence,a master controller is designed to generate force feedback to reproduce the estimated weight of the object.In the end,comparative experiments show that the proposed scheme can achieve better control accuracy and telepresence,with accurate force feedback generated in only 500 ms.展开更多
Emotional disorders and mental illnesses constitute a significant part of diseases. In Chinese medicine, emotional disorders and mental illnesses are classified as emotion-will (Qing Zhi) disorders. Emotion-will, i.e....Emotional disorders and mental illnesses constitute a significant part of diseases. In Chinese medicine, emotional disorders and mental illnesses are classified as emotion-will (Qing Zhi) disorders. Emotion-will, i.e. seven emotions (Qi Qing: happiness, anger, anxiety, pensiveness, sorrow, fear, and fright) and five wills (Wu Zhi: happiness, anger, thinking, sorrow, and fear), play a basic role in the onset, progress and prognosis of almost all diseases, not only the mental illnesses. The emotion-will overcoming therapy (EWOT) is defined as a psychological approach that a therapist employs single or multiple emotions to overcome and eliminate patients’ abnormal morbid emotions and to heal mind-body disorders derived from the abnormality. EWOT lays a foundation for the philosophical foundation of Chinese medicine, i.e. Yin and Yang, and five elements, which is believed to be the most commonly utilized and effective modality in dealing with mental illnesses. This essay covers the origin and development, underlying mechanism, clinical application, basic researches of emotion-will system and EWOT and the comparison with conventional therapies. Thus, EWOT could draw more attention in the field of psychology and spread in clinical practice.展开更多
The use of learners’L1(first language)in the EFL classroom has been widely discussed in the literature.However,the use of local dialects has received less attention.Thus,this study investigates the use of Enshi diale...The use of learners’L1(first language)in the EFL classroom has been widely discussed in the literature.However,the use of local dialects has received less attention.Thus,this study investigates the use of Enshi dialect in EFL classroom in junior high schools in order to explore how teachers deploy the learners’own dialect in EFL classroom and its effect.The Enshi dialect which is a variant of Mandarin is frequently used in daily life in Enshi Tujia and Miao Autonomous Prefecture.Semi-structured interviews are conducted with 15 teachers who adopt Enshi dialect in EFL classroom teaching in junior high schools in 8 minority villages in Enshi.The results indicate that occasional dialect use does exist in EFL classroom teaching for junior high school students in ethnic minority areas.In addition,four main benefits are revealed when learners use dialects in EFL classes.Teaching English by using dialect helps students to improve the mastery of English grammar,distinguish pronunciation,understand the meaning of English words,phrases and sentences,and enliven the classroom atmosphere.The research also shows that the effective use of learners’dialects in the EFL classroom plays positive roles in English learning.展开更多
基金supported in part by the National Natural Science Foundation of China(52075476,92048302)Key R&D Program of Zhejiang Province(2021C03013)。
文摘Currently,most teleoperation work is focusing on scenarios where slave robots interact with unknown environments.However,in some fields such as medical robots or rescue robots,the other typical teleoperation application is precise object transportation.Generally,the object’s weight is unknown yet essential for both accurate control of the slave robot and intuitive perception of the human operator.However,due to high cost and limited installation space,it is unreliable to employ a force sensor to directly measure the weight.Therefore,in this paper,a control scheme free of force sensor is proposed for teleoperation robots to transfer a weight-unknown object accurately.In this scheme,the workspace mapping between master and slave robot is firstly established,based on which,the operator can generate command trajectory on-line by operating the master robot.Then,a slave controller is designed to follow the master command closely and estimate the object’s weight rapidly,accurately and robust to unmodeled uncertainties.Finally,for the sake of telepresence,a master controller is designed to generate force feedback to reproduce the estimated weight of the object.In the end,comparative experiments show that the proposed scheme can achieve better control accuracy and telepresence,with accurate force feedback generated in only 500 ms.
文摘Emotional disorders and mental illnesses constitute a significant part of diseases. In Chinese medicine, emotional disorders and mental illnesses are classified as emotion-will (Qing Zhi) disorders. Emotion-will, i.e. seven emotions (Qi Qing: happiness, anger, anxiety, pensiveness, sorrow, fear, and fright) and five wills (Wu Zhi: happiness, anger, thinking, sorrow, and fear), play a basic role in the onset, progress and prognosis of almost all diseases, not only the mental illnesses. The emotion-will overcoming therapy (EWOT) is defined as a psychological approach that a therapist employs single or multiple emotions to overcome and eliminate patients’ abnormal morbid emotions and to heal mind-body disorders derived from the abnormality. EWOT lays a foundation for the philosophical foundation of Chinese medicine, i.e. Yin and Yang, and five elements, which is believed to be the most commonly utilized and effective modality in dealing with mental illnesses. This essay covers the origin and development, underlying mechanism, clinical application, basic researches of emotion-will system and EWOT and the comparison with conventional therapies. Thus, EWOT could draw more attention in the field of psychology and spread in clinical practice.
文摘The use of learners’L1(first language)in the EFL classroom has been widely discussed in the literature.However,the use of local dialects has received less attention.Thus,this study investigates the use of Enshi dialect in EFL classroom in junior high schools in order to explore how teachers deploy the learners’own dialect in EFL classroom and its effect.The Enshi dialect which is a variant of Mandarin is frequently used in daily life in Enshi Tujia and Miao Autonomous Prefecture.Semi-structured interviews are conducted with 15 teachers who adopt Enshi dialect in EFL classroom teaching in junior high schools in 8 minority villages in Enshi.The results indicate that occasional dialect use does exist in EFL classroom teaching for junior high school students in ethnic minority areas.In addition,four main benefits are revealed when learners use dialects in EFL classes.Teaching English by using dialect helps students to improve the mastery of English grammar,distinguish pronunciation,understand the meaning of English words,phrases and sentences,and enliven the classroom atmosphere.The research also shows that the effective use of learners’dialects in the EFL classroom plays positive roles in English learning.
