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Differential game is an effective technique to describe the negotiation between the humans and robots, which is widely used to realize the trajectory tracking tasks in the human-robot interaction (HRI). However, most existing works consider the control-affine HRI systems and assume the desired trajectory is available to both the human and the robot, which limit the scope of applications. To overcome these difficulties, this work focuses on the nonaffine HRI system and supposes that the desired trajectory is not available to the robot. A novel differential game framework encoding the desired trajectory estimator is proposed, where the desired trajectory is estimated via the Gaussian process regression (GPR) technique. To address the challenge arising from the nonlinearity of the HRI system, we equivalently transform the original problem into the one in a differentially flat space, and seek the equilibrium strategies for the transformed problem substitutionally. We further prove that the trajectory tracking error satisfies a probabilistic bound, whose confidence interval tightens as the decrease of noise variance during the interaction. Comparative simulation results show that our method outperforms the learning-based method in terms of robustness, parameters setting, and time consumption. Experiment results further show that the tracking error under the proposed human-robot cooperative algorithm is reduced by 55% compared to the human direct control.

To explore a precise association between tumor location and lymph node (LN) biopsy algorithm in uterine confined endometrial cancer (EC).

ABSTRACTStudent satisfaction and the quality of education are of compelling interest to students, academic staff, policy-makers and higher education researchers internationally. There is a widespread belief in their ‘cause and effect’ relationship. This paper tests these beliefs and explores how the level of student satisfaction is linked with the perceived quality of PhD education. Using expectancy value theory as a framework and interview data from PhD students and their supervisors, this paper suggests that satisfaction is not necessarily perceived as an indicator of quality education. Levels of student satisfaction can be influenced by students’ expectations prior to their study and their preconceived beliefs regarding the value of a PhD education. Concern is raised that an overemphasis on student satisfaction may pose a threat to the quality of PhD programmes, making it increasingly difficult for universities to retain their integrity and reducing the intellectual challenges that PhD students need to experience.

Abstract: In this paper, K(2,2,1) equation: u t +(u 2) x −(u 2) xxx + u 5x =0 and K(3,3,1) equation: u t +(u 3) x −(u 3) xxx + u 5x =0, are investigated. New exact solitary solutions are developed by using the decomposition method and symbolic computation system, Maple. [Copyright &y& Elsevier]