Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...

This article proposes a method for single-leader–dual-follower teleoperation, where one robot (direct-follower robot, DFR) is directly teleoperated and the other (assisting-follower AFR) can autonomously cooperate with DFR to hold move deformable object, contact force regulated desired value. Since AFR does not know its partner’s movement, first, it achieves position alignment by using force. S...

I use a simple model of social dilemmas arising from environmental problems to study the effects of certain stylized solution strategies. It is often a central characteristic of these environmental dilemmas that action effects are spatially concentrated, i.e. the strength of side effects of individual actions declines with the distance to the source of pollution. I use computer simulations base...

in this study, it was intended to investigate the persian native speakers’ perception of gerunds by three different elicitation techniques i.e., written, audio, and pictorial through translation. eighty intermediate learners of english were asked to select persian translation of the gerund formsin these elicitation techniques. they were asked to choose one option from a pair of written first la...

Learners and tutors in cooperative learning environments need a shared tool for preparing material, taking notes and exchanging thoughts synchronously. To this aim, we developed a Java tool, the Shared Multimedia Notebook, which supports shared user operations on static and time-based media objects. Cooperative tasks are supported by enabling collaborative interaction among users and offering p...