In this paper, an online adaptive super twisting sliding mode controller is proposed for a non-linear system. The adaptive controller has been designed in order to deal with the unknown dynamic uncertainties and give the best trajectory tracking. The adaptation is based on an optimal Particle Swarm Optimization (PSO) algorithm whose goal is online tuning the parameters through focusing on decreasing the objective function. The novelty of this study is online handling parameters setting in the conventional super twisting algorithm, bypass heavy offline calculation, and also avoid the instability and abrupt changing of the controller’s parameters for better actuators lifetime. This novel approach has been applied on an upper limb exoskeleton robot for arm rehabilitation. Despite the changes of the dynamic model of the system which defers from one patient to another due to the direct interactions between the wearer and the exoskeleton, this control technique preserves its robustness with respect to bounded external disturbances. The effectiveness of the proposed adaptive controller has been proved in simulation and then in real-time experiment with two human subjects. A comparison between the proposed approach and classic super twisting algorithm has been conducted. The obtained results show the performance and efficiency of the proposed controller.

This paper explores how five key complementary features of variable systems—overall rates, variant conditioning, productivity, contextual dispersion, and diffusion in the community—must be marshaled to provide a more comprehensive characterization of change in progress. We illustrate by revisiting a robustly variable sector of Canadian French morphosyntax whose variants are known to be in flux: the polar interrogative domain. Analyses extend the timeline of Elsig (2009)/Elsig and Poplack’s (2006) diachronic analysis by an additional twenty-five years, bringing 2,000+ questions produced by 133 speakers to bear on developments occurring over a period of nearly a century and a half of spontaneous Québec French speech. Results underscore the need to consider more than rates and conditioning in the study of language change. Linguistic dispersion and diffusion in the community provide crucial insight into the mechanics of the transition period and contribute to identifying shifts in variant productivity at each point in time.

We consider a problem where robots are given a set of task locations to visit with coarsely known distances. The robots must find the task ordering that reduces the overall distance to visit the tasks. We propose an abstraction that models the uncertainty in the paths, and a Markov Decision Process-based algorithm that selects paths that reduces the expected distance to visit the tasks. We also describe a distributed coordination algorithm to resolve path conflicts. We have shown that our task selection is optimal, our coordination is deadlock-free, and have experimentally verified our approach in hardware and simulation.

Structured illumination fluorescence microscopy is a powerful super-resolution method that is capable of achieving a resolution below 100 nm. Each super-resolution image is computationally constructed from a set of differentially illuminated images. However, real-time application of structured illumination microscopy (SIM) has generally been limited due to the computational overhead needed to generate super-resolution images. Here, we have developed a real-time SIM system that incorporates graphic processing unit (GPU) based in-line parallel processing of raw/differentially illuminated images. By using GPU processing, the system has achieved a 90-fold increase in processing speed compared to performing equivalent operations on a multiprocessor computer—the total throughput of the system is limited by data acquisition speed, but not by image processing. Overall, more than 350 raw images (16-bit depth, 512 × 512 pixels) can be processed per second, resulting in a maximum frame rate of 39 super-resolution images per second. This ultrafast processing capability is used to provide immediate feedback of super-resolution images for real-time display. These developments are increasing the potential for sophisticated super-resolution imaging applications.

In this article, a new scanning electron microscopy (SEM) image composition technique is described, which can significantly reduce drift related image corruptions. Drift distortion commonly causes blur and distortions in the SEM images. Such corruption ordinarily appears when conventional image-acquisition methods, i.e., “slow scan” and “fast scan,” are applied. The damage is often very significant; it may render images unusable for metrology applications, especially where subnanometer accuracy is required. The described correction technique works with a large number of quickly taken frames, which are properly aligned and then composed into a single image. Such image contains much less noise than the individual frames, while the blur and deformation is minimized. This technique also provides useful information about changes of the sample position in time, which may be applied to investigate the drift properties of the instrument without a need of additional equipment.

The teamwork characterizes the early stages of the product development process. The teamwork in these early stages is characterized by simultaneous writing and sketching. Since the work is done on paper a later use of the generated ideas with computer programs is hindered. This represents a break in the logical concatenation of the product development process and thus results in a loss of information. This implies that it is necessary to provide the group with a tool that collects the information already during writing and sketching.A technical workplace is described that uses techniques from virtual reality to allow a real teamwork in these early stages. Using picture acquisition and color separation techniques different pencils can be detected simultaneously in real time on a horizontal surface. Since only active parts are detected by the picture acquisition no quantization errors can occur caused by other objects on the surface like paper, elbow or hands. The realized teamwork space offers an A1-size work area onto which a simultaneous input is possible with four pens of different color. For the construction of the device a material has to be evaluated that is suitable for a back-projection.

A technique has been developed to provide real-time imaging, with several nanometer resolution, of organometallic chemical vapor deposition (CVD) by scanning electron microscopy under conditions approaching those used in the microelectronics industry. The technique involves modifications to an environmental scanning electron microscope (ESEM) to facilitate organometallic precursor gas handling and sample heating. To demonstrate the usefulness of this technique for studying the microstructural evolution of CVD-grown metal films, results of Al/SiO2 CVD experiments are presented.

This paper reports a visual tracking system that can track moving objects in real-time with a modest workstation equipped with a pan-tilt device. The algorithm essentially has three parts: (1) feature detection, (2) tracking and (3) control of the robot head. Corners are viewpoint invariant, hence being utilised as the beacon for tracking. Tracking is performed in two stages of Kalman filtering and affine transformation. A technique of reducing greatly the computational time for the correlaton is also described. The Kalman filter predicts intelligently the fovea window and reduced computation dramatically. The affine transformation deals with the unexpected events when there is partial occlusion.