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Barge-type offshore floating wind turbine (OFWT) commonly exhibits an under-actuated phenomenon in an offshore environment, which leads to a potential vibration-damping hazard. This article aims to provide a new robust output feedback anti-vibrational control scheme for the novel translational oscillator with rotational actuator (TORA) based five-degrees of freedom (5-DOF) barge-type OFWT in the presence of unwanted disturbances and modeling uncertainties.

In this paper, an active control technique called TORA has been used to design a 5-DOF barge-type OFWT model, where the mathematical model of the proposed system is derived by using Euler–Lagrange's equations. The robust hierarchical backstepping integral nonsingular terminal sliding mode control (HBINTSMC) with an adaptive gain is used in conjunction with extended order high gain observer (EHGO) to achieve system stabilization in the presence of unwanted disturbances and modeling uncertainties. The numerical simulations based on MATLAB/SIMULINK have been performed to demonstrate the feasibility and effectiveness of the proposed model and control law.

The numerical simulation results affirm the accuracy and efficiency of the proposed control law for the TORA based OFWT system. The results demonstrate that the proposed control law is robust against unwanted disturbances and uncertainties. The unknown states are accurately estimated by EHGO which enables the controller to exhibit improved stabilization performance.

A new mathematical model of the 5-DOF barge-type OFWT system based on TORA is the major contribution of this research paper. Furthermore, it provides a new adaptive anti-vibration control scheme by incorporating the EHGO for the proposed model.

Many work conditions require manipulators to open cabinet doors and then gain access to the desired workspace. However, after opening, the unlocked doors can easily close, interrupt a task and potentially break the operating end-effectors. This paper aims to address a manipulator's behavior planning problem for responding to a dynamic workspace released by door opening.

A dynamic model of the restricted workspace released by an unlocked door is established. As a whole system to treat, the interactions between the workspace and robot are analyzed by using a partially observable Markov decision process. A self-protective policy decision executed as a belief tree is proposed. To respond to the policy, this study has designed three types of actions: stay on guard in the workspace, using an elbow joint to defense the door and linear escape out of the workspace for self-protection by observing collision risk levels to trigger them. Finally, this study proposes self-protective motion controllers based on risk time optimization to act to the planned actions.

The elbow defense could balance robotic safety and work efficiency by interrupting the end-effector's work and using the elbow joint to prevent the door-closing in an active collision way. Compared with the stay and escape action, the advantage of the elbow defense is having a predictable performance to quick callback the interrupted work after the risk was relieved.

This work provides guidance for the safe operation of a class of robot operations and the upgrade of motion planning.

This paper examines China's historiography on foreign education since 1900, with an emphasis on the period since 1949. The understanding of “foreign education” in China during this period shifted rapidly from the Western-centered approach that had been introduced from Japanese during the late Qing dynasty and the Republic of China to the Soviet-centered approach that followed the founding of New China to a restoration of Western-centered approaches after the “opening” of the late 1970s and 1980s. The paper asks: how has the study of foreign educational history changed over time in the People's Republic of China, how has the broader discipline of history of education changed, and how have successive generations of historians of education conceived of their intellectual and political roles?

Grounded in archival documents and the published works of influential historians of education, this study notes the ways in which political regime change affected the construction and application of academic knowledge.

This study identifies four stages in the Chinese historiography on foreign education: a formative stage (from 1900 until the late 1940s); a difficult post-revolutionary recovery, followed by growth and then suppression (from 1949 until the mid-1970s); a period of achievement combined with an academic crisis (from 1978 until the early 2000s); and finally, a recent transition marked by theoretical innovation and global integration (from the 2000s until the present).

This study finds that a narrow focus on “practical utility” or service to politics and policy has perturbed historians of foreign education in China and stunted their field's development. A look back at early periods in the historiography offers a warning about the potential dangers of extreme ideological/political utilitarianism. These dangers existed not only in the history of foreign education but also in the history of education research more broadly. A close examination of these dangers can help twenty-first-century historians of education in China balance the practical, political and professional dimensions of their research. To grasp the meaning of foreign education, historical research needs to be politically independent.