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The purpose of this paper is to design a practical direct teaching method for the industrial robot with large friction resistance and gravity torque but without expensive force/torque sensor, where the gravity torque is just a function of joints position, whereas the friction is closely associated with joint velocity, temperature and load.

In the teaching method, the output torque of joint motor is controlled through current to compensate gravity torque completely and friction resistance incompletely. Three variables closely associated with friction are investigated separately by experiment and theoretical analysis, and then a comprehensive friction model which is used to calculate the required compensated friction torque is proposed. Finally, a SIASUN 7 degrees of freedom robot was used to verify the model and the method.

Experimental results demonstrated that the teaching method enables an operator to teach the robot in joint space by applying small force and torque on either end-effector or its body. The friction investigation suggests that the velocity and temperature have a strong nonlinear influence on viscous friction, whereas load torque significantly influences the Coulomb friction linearly and causes a slight Stribeck effect.

The main contribution includes the following: a practical joint space direct teaching method for a common industrial robot is developed, and a friction model capturing velocity, temperature and load for robot joints equipped with commercialized motors and harmonic drives is proposed.

The purpose of this paper is to generate grinding trajectory of unknown model parts simply and efficiently. In this paper, a method of grinding trajectory generation of hybrid robot based on Cartesian space direct teaching technology is proposed.

This method first realizes the direct teaching of hybrid robot based on 3Dconnexion SpaceMouse (3DMouse) sensor, and the full path points of the robot are recorded in the teaching process. To reduce the jitter and make the speed control more freely when dragging the robot, the sensor data is processed by Kalman filter, and a variable admittance control model is established. And the joint constraint processing is given during teaching. After that, the path points are modified and fitted into double B-splines, and the speed planning is performed to generate the final grinding trajectory.

Experiment verifies the feasibility of using direct teaching technology in Cartesian space to generate grinding trajectory of unknown model parts. By fitting all the teaching points into cubic B-spline, the smoothness of the grinding trajectory is improved.

The whole method is verified by the self-developed TriMule-600 hybrid robot, and it can also be applied to other industrial robots.

The main contribution of this paper is to realize the direct teaching and trajectory generation of the hybrid robot in Cartesian space, which provides an effective new method for the robot to generate grinding trajectory of unknown model parts.

More than ever before, globalization has linked the socioeconomic development of nations to the performance of their educational systems. One of the consequences of this new focus on improving the quality of teachers is the acknowledgment of the importance of engaging more directly with what is at the center of action, that is, pedagogy (Alexander, 2008). In this perspective, we conduct research aimed at describing, analyzing, and establishing a critical portrait of the scientific bases of the pedagogical choices made by three major international organizations (OECD, UNESCO, and World Bank) with respect to teacher education and development. In terms of methodology, we conducted a fine-grained analysis of the documents produced in the framework of TALIS and semi-structured individuals interviews with five staff members of OECD. The idea of pedagogical pluralism constitutes a rhetorical artefact through which constructivist teaching approaches are favored.

This study aims to examine the association between parental financial socialization and life satisfaction and the mediating roles of desirable financial behavior in the association between parental financial socialization and life satisfaction of college students in India. Furthermore, this research also explores the moderating effects of parents’ socioeconomic characteristics (education, income and professions) in the association between parental financial socialization and desirable financial behavior.

A sample of 1,161 college students was collected in India. Parental financial socialization is measured by direct parental teaching in this study. The first stage moderated mediation model is performed to examine the direct and indirect effects through financial behavior of parental financial on life satisfaction as well as the moderating role of parents’ socioeconomic characteristics.

The mediation analysis shows that parental direct teaching is positively associated with young adults’ financial behavior, which in turn contributes to their life satisfaction. Furthermore, this study also finds negative moderation effects of parental education on the association between parental direct teaching and children's financial behavior.

This study extends the knowledge of family financial socialization in the context of India. Moreover, it examines the mediation roles of desirable financial behavior in the association between parental direct teaching and children’s life satisfaction. Furthermore, this paper explores the potential influence of parents’ education, income and professions on children’s financial behavior and life satisfaction.

The impact of political change in England between 2010 and 2016, has been particularly evident in the way the neoliberal agenda has shaped legislation for Initial Teacher Education (ITE). This chapter will explore the way in which the teaching profession in England has seen tensions mounting between those who see teaching as merely a technical “craft,” something that requires a scant “training” program, and those who frame the education of teachers as a more holistic activity; one that should take account of the pedagogies of adult learning, being a journey of critical reflection and lifelong learning. Drawing on evidence from recently published research studies and a small scale research project with members of Association for Partnership in Teacher Education in England, six dimensions of the current school–university partnership culture are identified. How those involved in ITE are affected by these elements is then critiqued. The findings show how ITE providers now find themselves juggling involvement in a variety of routes into teaching – like the roman rider straddling various horses. Their ability to balance the “disturbances” that arise from the rapidly changing central government policies in England, potentially challenges the integrity of the teaching profession.

Variation Theory has been used as a source of guiding principles for pedagogical design, lesson analysis and improvement in Learning Study (LS). The purpose of this paper is to argue that the LS approach provides an important opportunity for teachers and researchers not only to improve the teaching strategies together but also refine the Variation Theory in action.

A case study of teaching writing in Chinese at Primary 4 level of a LS project is selected using analysis of covariance to identify lessons that had significant differences in student learning outcomes. Analysis focuses on examining one of the major claims in Variation Theory which is that “contrast should precede generalization” in order to explore if this argument is able to provide a possible answer to the difference in student performance in the two classes of students of similar ability learning the same topic. Teachers’ contribution to the discussion of the application of the theory is analysed to explain the different teaching strategies chosen.

The case study shows that in a LS platform, teachers’ teaching act and their interaction with theorists contributed to a dual process of developing the practice as well as the theory itself. The results of students’ learning serve as evidences for the claim that “contrast should precede generalization” as the theory suggested.

Most of the lesson study and LS projects emphasize teachers’ learning through the participation in the process. This paper illustrates that in conducting LS approach, when there is conscious effort to direct discussion toward how to handle the content in terms of Variation Theory explicitly, the result could contribute to the development of the theory itself. Hence, the LS provides an important opportunity for teachers and researchers to refine strategies as well as theories of teaching and learning together.

The operating activities section of the statement of cash flows presents a long-standing teaching challenge for accounting educators. The direct method is easy to understand yet difficult to prepare; the indirect method is harder to understand but easier to prepare. Many instructors address the two methods separately, requiring students to learn two different ways for preparing the operating section of a statement of cash flows. Because of this focus on the mechanics of preparation, the result is often an emphasis on how to prepare the cash flow statement rather than on the essential information the statement provides. In this paper, the authors note that both direct and indirect methods begin at the same point, that is, the income statement, and end at the same point, that is, cash flow from operations. Then, the authors describe one process by which the income statement and the balance sheet can be analyzed to provide the information required to present operating cash flow using either the direct or the indirect method. Using this approach allows students to apply one intuitive process for computing cash flow from operations rather than memorizing two different sets of rules for direct and indirect methods.

The purpose of this paper is to explore how online adjunct higher education faculty members perceive the role of using social media sites as instructional approaches. A purposeful sampling was used, and adjunct online higher education faculty members were invited to participate. An adjunct faculty member was defined as a person who taught part-time higher education courses; therefore, the faculty member was not hired as a full-time faculty member.

Qualitative researchers explore phenomena examining the lived experiences and participants behaviors; in this study, online adjunct instructors’ perceptions on classroom instructional social media online approaches were examined. Participants in this study were trained to teach higher education online courses and these teachers were the experts on the topic. The design for this study was an exploratory case study in which the participants were online adjunct instructors who taught at online higher education institutions in the Northeast. The case study approach was the most appropriate. The focus was the external events participants’ lives.

Three themes emerged from the analysis of the in-depth interview process. Based on the adjunct online higher education instructors’ perception on the use of social media teaching approaches in the classroom, the themes that emerged were uniformity of purpose vs personal beliefs need for justification importance student engagement and facilitation vs direct instruction. Themes reflected online teaching approaches higher education institutional missions and student learning and engagement outcomes.

In this study, adjuncts’ perceptions expressed and themes found may not be characteristic of other adjunct instructors’ views. In qualitative studies, participants are asked open-ended interview questions, which may have been a limitation for this study. Quantitative questions, such as the impact of using social media as an instructional approach, were not asked. In this study, adjunct online higher education instructors were invited to share their views on the study topic. Additionally, qualitative researchers are limited by the data collection method and the data analysis process. Therefore, researchers who would like to repeat this study on adjunct online higher education teachers’ perspectives may be unable to duplicate the research.

The significance of this study is the need for a renewed global initiative in higher education to promote the use of social media training for online adjunct faculty members. Online higher education faculty members’ reflections on using social media tend to be recorded from a personal rather than a professional point of view.

The implication for online higher education leaders is to review mission statements and reevaluate how the use of social media may impact student learning outcomes, student career readiness and student engagement opportunities.

The need for a renewed global initiative in higher education to promote the use of social media training for online adjunct faculty evolved as the significance of the study. Because inclusion requirements and workshop training for the use of social media in online higher education classrooms vary among higher education institutions, online adjunct faculty social media classroom practices and perceptions widely vary.

“Teaching the European Union” is a term as elusive as the notions of “EU Studies” or “European Studies,” both discussed and debated by generations of scholars and practitioners. The case of the EU, and of the art of teaching EU-related content, is one of the most striking examples, where the emphasis on values and principles cannot be passed by indifferently. What is being taught and how it is being taught have a direct impact on the trajectory of the European integration process today and in the years to come. The objective of this introductory chapter is to offer a brief insight into the book’s context and the book’s relevance. Against this backdrop this volume’s content is outlined. A few points for the readers to consider follow.

Beliefs about teaching influence practice and can play a powerful role in the day-to-day decision-making of teachers. Pre-service teachers commonly accrue their original set of beliefs on teaching from teacher preparation programs or personal experiences, but unlike teachers with more experience, new teachers are more susceptible to changing their beliefs on teaching once they become official teachers of record. If these beliefs change in a negative way, such as by adopting a set of beliefs that views students through a deficit lens, or capable of achieving less than their privileged counterparts, then schools will continue to foster tendencies for social reproduction instead of tendencies for social justice. In urban schools, this increase in negative perceptions of students is even more common as new teachers face challenges that are less likely to occur in non-urban schools. Findings suggest that new teachers do change their beliefs during their first year, and that these beliefs often reflect the beliefs of trusted and close colleagues within their social networks. While some teachers experienced positive changes in their beliefs and teaching practices, other teachers experienced negative changes in their beliefs that unfavorably affected students. Most teachers were unaware of their belief changes, but offered explanations for how and why their beliefs could have changed without their noticing over the course of the study. Implications and possible directions for future research are discussed.