Terminal approach navigation for autonomous robots in a sensory network

In this paper we present a technique based on precision guidance approach for the sensor delivery and reception problem between two mobile robots. A slave robot is employed to collect sensors and slack them on a tray carried by the mobile master robot. We define the terminal attitude of the slave robot with respect to the master and present a LQR control approach to solving the problem of achieving a desired terminal approach angle necessary for the appropriate sensor delivery. The approach criteria is defined in terms of both minimizing the miss distance and controlling the slave robot's body attitude with respect to the master robot at the terminal point.

Self-adaptive clock synchronisation based on clock precision difference

This paper presents an innovative strategy to synchronize all virtual clocks in asynchronous Internet environments. Our model is based on the architecture of one reference clock and many slave clocks communicating with each other over the Internet. The paper makes three major contributions to this research area. Firstly, one-way information transmission is applied to reduce traffic overhead on the Internet for the purpose of clock synchronization. Secondly, the slave nodes use local virtual time and the arrival timestamp, from the reference node, to create linear mathematical trend models and to retrieve the clock precision differences between reference clock and slave clocks. Finally, a fault-tolerant and self-adaptive model executed by each slave node based on the above linear trend model is created in order to ensure that the virtual clock is running normally, even when the link between the reference node and this slave node has crashed. We also present detailed simulations of this strategy and mathematical analysis on real Internet environments.

Time and Girmit

Chronicles the history of "girmit," an idiom of Indian workers transported to Fiji. History of indentured labor; Origin of the term; System of indenture adopted in 1838 by India's imperial rulers.

Sugar

An intercultural dance project in the port cities of Marseilles and Liverpool. Commissioned by the Liverpool Culture Company, Sugar is a ground-breaking collaboration between dance, rap and graffiti artists from Liverpool and Marseilles merging their talents to create an urban story of contemporary street life. Sugar's unique dance fusion uses break-dance, contemporary dance and hip hop where echoes of the slave trade reverberate with every beat.

Multipoint haptic mediator interface for robotic teleoperation

Despite recent advances in artificial intelligence and autonomous robotics, teleoperation can provide distinct benefits in applications requiring real-time human judgement and intuition. However, as robotic systems are increasingly becoming sophisticated and are performing more complex tasks, realizing these benefits requires new approaches to teleoperation. This paper introduces a novel haptic mediator interface for teleoperating mobile robotic platforms that have a variety of manipulators and functions. Identical master-slave bilateral teleoperation of the robotic manipulators is achieved by representing them in virtual reality and by allowing the operator to interact with them using a multipoint haptic device. The operator is also able to command motions to the mobile platform by using a novel haptic interaction metaphor rather than a separate dedicated input device. The presented interaction techniques enable the operator to perform a wide range of control functions and achieve functionality similar to that of conventional teleoperation schemes that use a single haptic interface. The mediator interface is presented, and important considerations such as workspace mapping and scaling are discussed. © 2015 IEEE.

The soviet occupation of Germany: hunger, mass violence and the struggle for peace, 1945-1947

This is a major new account of the Soviet occupation of postwar Germany and the beginning of the Cold War. Dr Filip Slaveski shows how in the immediate aftermath of war the Red Army command struggled to contain the violence of soldiers against German civilians and, at the same time, feed and rebuild the country. This task was then assumed by the Soviet Military Administration in Germany (SVAG) which was established to impose order on this chaos. Its attempt, however, intensified the battle for resources and power among competing occupation organs, especially SVAG and the army, which spilled over from threats and sabotage into fighting and shootouts in the streets. At times, such conflicts threatened to paralyse occupation governance, leaving armed troops, liberated POWs and slave labourers free to roam. SVAG's successes in reducing the violence and reconstructing eastern Germany were a remarkable achievement in the chaotic aftermath of war.

Chaotic synchronization of time-delay coupled Hindmarsh–Rose neurons via nonlinear control

Chaotic synchronization of two time-delay coupled Hindmarsh–Rose neurons via nonlinear control is investigated in this paper. Both the intrinsic slow current delay in a single Hindmarsh–Rose neuron and the coupling delay between the two neurons are considered. When there is no control, chaotic synchronization occurs for a limited range of the coupling strength and the time-delay values. To obtain complete chaotic synchronization irrespective of the time-delay or the coupling strength, we propose two nonlinear control schemes. The first uses adaptive control for chaotic synchronization of two electrically coupled delayed Hindmarsh–Rose neuron models. The second derives the sufficient conditions to ensure a complete synchronization between master and slave models through appropriate Lyapunov–Krasovskii functionals and the linear matrix inequality technique. Numerical simulations are carried out to show the effectiveness of the proposed methods.