This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the pas...

In this paper, we propose an overlapping communication protocol using improved time-slot leasing in the Bluetooth WPANS. One or many slave–master–slave communications usually exist in a piconet of the Bluetooth network. A fatal communication bottleneck is incurred in the master node if many slave–master–slave communications are required at the same time. To alleviate the problem, an overlapping...

archetype is a jung's term for the contents of the collective unconscious; the instinctive thoughts which organize human's experiences according to predetermined innate patterns.  these ancient images appearance in various forms over time including myths and stories, as jung describes myths and fairy tales as the reflection of archetypes. the obvious examples of these archetypes in pe...

IMPACT OF ENDOGENOUS SLAVE FERTILITY The fertility of household slaves was not entirely outside the control of the slaveowner. Slaveowners influenced slave fertility using a variety of methods, and it is therefore inappropriate to view slave fertility as an entirely exogenous event. A valid instrument for slave fertility is not readily apparent. Under the assumption that slave fertility is corr...

Atom Egoyan’s Ararat (2002) has been misread and inappropriately critiqued as a failed cinematic representation of the Armenian genocide. The author of this article argues that the film is instead an ambitious meditation on the question of how to represent genocide in general, and the Armenian genocide specifically. He traces a number of themes in Ararat, including the political stakes involved...

1. MAMIKON’S THEOREM. Areas and volumes of many classical regions can be determined by an intuitive geometric method that does not require integral calculus or even equations for the boundaries. The method and its many applications was first announced by Mamikon A. Mnatsakanian in [1], but this paper seems to have escaped notice, probably because it appeared in Russian in an Armenian journal wi...

Master-slave active robot hands and endoscopes, which provide dexterous manipulations and wide views like human hands and eyes, are required to be constructed. We have previously developed a multi-DOF ultrasonic motor consisting of a spherical rotor and a bar-shaped stator. The rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a mult...

Bluetooth technology is a radio system that is used for wireless networking. It uses a master/slave design, where any of the units can function as either a master or a slave allowing greater functionality. This paper will provide some general information on Bluetooth technology as well as the architecture and protocols used within a Bluetooth system. The layers that some of these protocols resi...