Final Orientation Research Articles

Computational study of the supramolecular complexation of azocompounds with cucurbit[7]uril: effects on the production and release of free radicals.

An inclusion complex between 2,2'-azobis(2-methylpropionamidine) dihydrochloride (AAPH), a widely employed azocompound, and cucurbit[7]util (CB[7]), has shown an increased yield of radicals derived from the homolytic cleavage of the azo bond. Aimed to get insights about the formation of complexes and their effect on the yield of radicals production, complexes of CB[7] with seven azocompounds were studied by computational methods. Molecular electrostatic surfaces and structural analysis showed that the inclusion of symmetrical azocompounds inside of CB[7] depends mainly on the charge density and position of the functional groups at the main chain of the azoderivative. Analysis of non-covalent interactions and thermodynamic outcomes revealed that positively charged azocompounds with amidinium or imidazolium groups presented strong favorable interactions (multiple hydrogen bonds) with the oxygens of CB[7] portals. Additionally, carbon-centered radicals generated from the complexes (azocompounds@CB[7]) were corroborated using the electron localization function (ELF). Results evidenced that the strength of the interactions and the level of inclusion (partial or complete) between the azocompound and CB[7] determined the final orientation of the radicals (located out- or inside of the CB[7] cavity). Obtained results could be employed to design new supramolecular systems based on the properties of azocomplound@CB[7] complexes for new scientific or industrial applications. First-principles calculations at B3LYP-D3BJ/6-311g(d,p) level theory in the gas phase and in solvent (PCM, water) were performed in Gaussian 16 software package. The dispersion energy correction was included through the Grimme's dispersion with Becke-Johnson damping D3(BJ). Thermodynamical data and the minimum character of all structures were obtained from vibrational frequency calculations. NBO, Multiwfn, Chemcraft, and NCIPLOT software were used to perform population analysis, analyze outcomes, visualize data, and display non-covalent interactions respectively.

A Non-Smooth Numerical Optimization Approach to the Three-Point Dubins Problem (3PDP)

This paper introduces a novel non-smooth numerical optimization approach for solving the Three-Point Dubins Problem (3PDP). The 3PDP requires determining the shortest path of bounded curvature that connects given initial and final positions and orientations while traversing a specified waypoint. The inherent discontinuity of this problem precludes the use of conventional optimization algorithms. We propose two innovative methods specifically designed to address this challenge. These methods not only effectively solve the 3PDP but also offer significant computational efficiency improvements over existing state-of-the-art techniques. Our contributions include the formulation of these new algorithms, a detailed analysis of their theoretical foundations, and their implementation. Additionally, we provide a thorough comparison with current leading approaches, demonstrating the superior performance of our methods in terms of accuracy and computational speed. This work advances the field of path planning in robotics, providing practical solutions for applications requiring efficient and precise motion planning.

Liner orientation change of dual mobility cup determined via 3D ultrasound imaging and motion analysis: A cadaver study

BackgroundA mobile polyethylene liner enables the dual mobility cup (DMC) to contribute to restoring hip joint range-of-motion, decreasing wear and increasing implant stability. However, more data is required on how liner orientation changes with hip joint movement. As a first step towards better understanding liner orientation change in vivo, this cadaver study focuses on quantifying DMC liner orientation change after different hip passive movements, using ultrasound imaging and motion analysis. HypothesisThe liner does not always go back to its initial orientation and its final orientation depends mainly on hip movement amplitude. Methods3D ultrasound imaging and motion analysis were used to define liner and hip movements for four fresh post-mortem human subjects with six implanted DMC. Abduction and anteversion angles of the liner plane relative to the pelvis were measured before and after hip flexion, internal rotation, external rotation, abduction, adduction. ResultsLiner orientation changes were generally defined by angle variation smaller than 5°, with the liner nearly going back to its initial orientation. However, hip flexion caused liner abduction and anteversion angle variations greater than 15°. Except for hip adduction, only weak or no correlation was found between the final angle of the liner and the maximal hip joint movement amplitude. DiscussionThis study is the first attempt to quantify liner orientation change for implanted DMC via ultrasound imaging and constitutes a step forward in the understanding of liner orientation change and its relationship with hip joint movement. The hypothesis that the final liner abduction and anteversion angles depend mainly on hip movement amplitude was not confirmed, even if hip flexion was the movement generating the most liner orientation changes over 15°. This approach should be extended to in vivo clinical investigations, as measured liner angle variation could provide important support for the wear and stability claims made for DMC. Level of evidenceIV; cadaveric study.

Solvent-Dependent Dynamics of Cellulose Nanocrystals in Process-Relevant Flow Fields.

Flow-assisted alignment of anisotropic nanoparticles is a promising route for the bottom-up assembly of advanced materials with tunable properties. While aligning processes could be optimized by controlling factors such as solvent viscosity, flow deformation, and the structure of the particles themselves, it is necessary to understand the relationship between these factors and their effect on the final orientation. In this study, we investigated the flow of surface-charged cellulose nanocrystals (CNCs) with the shape of a rigid rod dispersed in water and propylene glycol (PG) in an isotropic tactoid state. In situ scanning small-angle X-ray scattering (SAXS) and rheo-optical flow-stop experiments were used to quantify the dynamics, orientation, and structure of the assigned system at the nanometer scale. The effects of both shear and extensional flow fields were revealed in a single experiment by using a flow-focusing channel geometry, which was used as a model flow for nanomaterial assembly. Due to the higher solvent viscosity, CNCs in PG showed much slower Brownian dynamics than CNCs in water and thus could be aligned at lower deformation rates. Moreover, CNCs in PG also formed a characteristic tactoid structure but with less ordering than CNCs in water owing to weaker electrostatic interactions. The results indicate that CNCs in water stay assembled in the mesoscale structure at moderate deformation rates but are broken up at higher flow rates, enhancing rotary diffusion and leading to lower overall alignment. Albeit being a study of cellulose nanoparticles, the fundamental interplay between imposed flow fields, Brownian motion, and electrostatic interactions likely apply to many other anisotropic colloidal systems.

Incipient Motion of Single Shells under Currents in Flume Experiments

Understanding the motion thresholds of shells is important, as shell motion allows the analysis of beach profiles, prevents excessive erosion of the coastline, and helps to resource the use of discarded shells, providing new ideas for the protection of beaches. In this study, the orientational motions and motion thresholds of two types of typical molluscan shells, bivalve and gastropod shells, were investigated by means of flume experiments. The final orientations with the statistically highest number of occurrences during the orientational motions of each shell were used as the initial orientations for the respective threshold flow velocity measurements. The critical Shields parameter and the incipient mean velocity of the flow were used to represent the critical threshold of the motion. The critical Shields parameters for bivalve shells in the convex upward position were overall higher on average than those for gastropod shells. The experimental data showed that the incipient mean flow velocities of bivalve shells in the convex upward position were about 1.4–2.8 times larger than those in the convex downward position. The incipient mean velocity data were regressed to obtain the motion threshold equations applicable to bivalve shells in the convex upward and convex downward positions as well as gastropod shells under different final orientations.

Experimental evaluation of accuracy and efficiency of two control strategies for a novel foot commanded robotic laparoscope holders with surgeons

The implementation of a laparoscope-holding robot in minimally invasive surgery enhances the efficiency and safety of the operation. However, the extra robot control task can increase the cognitive load on surgeons. A suitable interface may simplify the control task and reduce the surgeon load. Foot interfaces are commonly used for commanding laparoscope-holding robots, with two control strategies available: decoupled control permits only one Cartesian axis actuation, known as decoupled commands; hybrid control allows for both decoupled commands and multiple axes actuation, known as coupled commands. This paper aims to determine the optimal control strategy for foot interfaces by investigating two common assumptions in the literature: (1) Decoupled control is believed to result in better predictability of the final laparoscopic view orientation, and (2) Hybrid control has the efficiency advantage in laparoscope control. Our user study with 11 experienced and trainee surgeons shows that decoupled control has better predictability than hybrid control, while both approaches are equally efficient. In addition, using two surgery-like tasks in a simulator, users’ choice of decoupled and coupled commands is analysed based on their level of surgical experience and the nature of the movement. Results show that trainee surgeons tend to issue more commands than the more experienced participants. Single decoupled commands were frequently used in small view adjustments, while a mixture of coupled and decoupled commands was preferred in larger view adjustments. A guideline for foot interface control strategy selection is provided.

A novel approach for 3PDP and real-time via point path planning of Dubins’ vehicles in marine applications

This paper addresses the problem of finding the shortest Dubins path between three consecutive via-points with prescribed initial and final orientations and without a prescribed orientation at the intermediate via-point. The problem plays a crucial role for online path planning in many marine applications, as for example, it is instrumental to solve the Dubins Traveling Salesman Problem. A novel solution is proposed using simple tools borrowed from analytic geometry, and an efficient algorithm is presented as a basic routine for real-time path planning algorithms. Extensive simulations confirmed the efficiency of the proposed strategy in terms of both computational complexity and accuracy of the solution. Moreover, a comparative analysis with recent existing approaches is performed showing the effectiveness of the proposed solution.

Spatial navigation performance differentiates Alzheimer´s disease biomarker positive and biomarker negative cognitively impaired older adults

AbstractBackgroundSpatial navigation deficits including egocentric (body‐centered) and allocentric (world‐centered) navigation impairment are present early in Alzheimer´s disease (AD). We evaluated a potential of a realistic‐looking spatial navigation task to differentiate older adults with amnestic mild cognitive impairment (aMCI) who have positive AD biomarkers (AD aMCI) from those with negative AD biomarkers (non‐AD aMCI).MethodParticipants with AD aMCI (n = 24), non‐AD aMCI (n = 25), mild AD dementia (n = 14) and cognitively normal (CN) older adults (n = 35) underwent spatial navigation assessment in the virtual Supermarket task. Participants passively travelled through the supermarket and followed different routes to reach specific locations. In the final location, the participants had to indicate their starting location (egocentric heading) and their current location and final heading orientation on an aerial spatial map of the supermarket (distance from the correct location and allocentric heading, respectively, both measures of allocentric navigation).ResultIn the egocentric heading, the AD aMCI and mild AD dementia groups indicated their original starting location less accurately than the CN group (p<0.001) and with similar accuracy as the non‐AD aMCI group (p> = 0.219). The non‐AD aMCI group did not significantly differ from the CN group (p = 0.055). In the first allocentric task (distance from the correct location), the AD aMCI group and mild AD dementia groups indicated their positions on a paper aerial map of the supermarket with greater distance errors compared to the non‐AD aMCI group (p< = 0.013) and CN (p<0.001) groups. The non‐AD aMCI group had comparable performance to the CN group (p = 0.172). In the second allocentric task (allocentric heading), both the AD aMCI and mild AD dementia groups made more errors indicating final heading orientation than the non‐AD aMCI (p< = 0.040) and the CN (p<0.001) groups. The non‐AD aMCI group had worse performance than the CN group (p = 0.004). The sensitivity and specificity for discriminating AD aMCI and non‐AD aMCI was 72% and 71%, respectively.ConclusionBoth, egocentric and allocentric spatial navigation tasks detected spatial navigation impairment in older adults with AD aMCI. However, only the allocentric tasks differentiated AD aMCI from non‐AD aMCI. The virtual Supermarket task has a potential to become a screening tool for early AD‐related spatial navigation deficits.

Watching Molecular Nanotubes Self-Assemble in Real Time.

Molecular self-assembly is a fundamental process in nature that can be used to develop novel functional materials for medical and engineering applications. However, their complex mechanisms make the short-lived stages of self-assembly processes extremely hard to reveal. In this article, we track the self-assembly process of a benchmark system, double-walled molecular nanotubes, whose structure is similar to that found in biological and synthetic systems. We selectively dissolved the outer wall of the double-walled system and used the inner wall as a template for the self-reassembly of the outer wall. The reassembly kinetics were followed in real time using a combination of microfluidics, spectroscopy, cryogenic transmission electron microscopy, molecular dynamics simulations, and exciton modeling. We found that the outer wall self-assembles through a transient disordered patchwork structure: first, several patches of different orientations are formed, and only on a longer time scale will the patches interact with each other and assume their final preferred global orientation. The understanding of patch formation and patch reorientation marks a crucial step toward steering self-assembly processes and subsequent material engineering.

NEW PROCESS BASED EQUATION FOR A STATIC EQUILIBRIUM BEACH PLANFORM

Equilibrium planform formulations of beaches are engineering tools for providing solutions for beach erosion problems. They aim at defining the final orientation of the beach on a scale of years and thus they are used for evaluating the shoreline response due to human interference (ports, breakwaters, protection works…etc). These formulations create engineering solution to numerous coastal stability problems. The Parabolic Bay Shape Equation (PBSE) proposed by Hsu and Evans (1989) is the most used equation and allow to solve problems. However, these shape equations are valid under certain simplifications. Therefore, they are unable to determine the beach planform when the bathymetry is complex, with rocky areas or/and islands. The aim of this study is to present a new equilibrium beach planform equation (Gainza et al. 2018) that overcomes the problem previously mentioned. What is more, an extension of the model is presented in order to modeled the shape of a shoreline on a given day.

Grasping with a twist: Dissociating action goals from motor actions in human frontoparietal circuits.

In daily life, prehension is typically not the end goal of hand-object interactions but a precursor for manipulation. Nevertheless, functional MRI (fMRI) studies investigating manual manipulation have primarily relied on prehension as the end goal of an action. Here, we used slow event-related fMRI to investigate differences in neural activation patterns between prehension in isolation and prehension for object manipulation. Sixteen (7 males and 9 females) participants were instructed either to simply grasp the handle of a rotatable dial (isolated prehension) or to grasp and turn it (prehension for object manipulation). We used representational similarity analysis to investigate whether the experimental conditions could be discriminated from each other based on differences in task-related brain activation patterns. We also used temporal multivoxel pattern analysis to examine the evolution of regional activation patterns over time. Importantly, we were able to differentiate isolated prehension and prehension for manipulation from activation patterns in the early visual cortex, the caudal intraparietal sulcus, and the superior parietal lobule. Our findings indicate that object manipulation extends beyond the putative cortical grasping network (anterior intraparietal sulcus, premotor and motor cortices) to include the superior parietal lobule and early visual cortex.Significance statement:A simple act such as turning an oven dial requires not only that the central nervous system encode the initial state (starting dial orientation) of the object but also the appropriate posture to grasp it in order to achieve the desired end state (final dial orientation) and the motor commands to achieve that state. Using advanced temporal neuroimaging analysis techniques, we reveal how such actions unfold over time and how they differ between object manipulation (turning a dial) vs. grasping alone. We find that a combination of brain areas implicated in visual processing and sensorimotor integration can distinguish between the complex and simple tasks during planning, with neural patterns that approximate those during the actual execution of the action.

Unified numerical process modeling of forming and consolidation for thermoplastic composites with prepreg patches

The main idea behind “Quilted Stratum Process” (QSP®) is to create a flat blank made of unidirectional/woven thermoplastic prepreg patches instead of using uniformly shaped prepreg stack as is the case with standard thermostamping process. Thus, using QSP®; one can manufacture components with complex geometries by using nearly rectangular patches while still maintaining a short cycle time similar to the standard thermostamping process. The use of near-rectangular patches results in a significant material saving which is a necessity for a sustainable product development. During standard thermostamping and/or QSP®; the consolidation phase plays a key role in the strength and quality of the final product. This becomes even more important in the case of unidirectional thermoplastic prepregs where mechanisms such as transverse squeeze flow can impact not only the in-plane dimensions of the prepreg but also the fibre orientations within the prepreg. This work presents a unified modeling approach that combines a novel pinching shell element, a new elasto-plastic constitutive model for pinching shell in order to provide a unified solution to simulate both forming and consolidation-flow using a shell-based approach. This unique unified approach of simulating forming and consolidation provides a set of additional outputs such as the through-thickness stress, final deformed shape of the plies including the squeeze flow effect and the changes in the orientation of fibres within the plies during and after the process. This work finally demonstrates how this information can help the manufacturers to design better tooling based on the outcomes of the numerical process simulation in order to achieve a desired product quality. Additionally, one can also steer the final fibre orientation which results from the initial position of the patch, its forming and squeeze flow.

Modeling and analysis of post-processing conditions on 4D-bioprinting of deformable hydrogel-based biomaterial inks

Deformable structures have been actively developed for several biomedical applications including drug delivery and tissue engineering using 3D-bioprinting methods. However, structural shape-transformation usually consists of a series of bending behaviors in response to external stimuli, which require complex aggregation and multi-materials design. To overcome these complexities, this work explores an alternative approach using only a single hydrogel-based material to realize such bending mechanisms. Numerical simulations are first implemented to realize bending deformation by spatially assigning distinct material parameters to different sections of the structure. The bending phenomenon is also shown experimentally using hydrogel-based biomaterial inks. Specifically, a deformable structure is fabricated by finely controlling different post-processing conditions such as cooling time, crosslinking duration, and heating rate during swelling to mimic the effect of different material parameters. Moreover, the bending deformation can be further analyzed using computer vision methods to inversely determine the desired material coefficients in the simulation. Relationships among bending mechanisms, material parameters, and post-processing procedures are found and shown to affect the final bending orientation. These results yield insightful approaches to the inverse design of functional biomedical devices with desired deformation behavior.

Influence of printing conditions on the extrudate shape and fiber orientation in extrusion deposition additive manufacturing

A numerical framework was developed in this study to investigate the influence of relevant Extrusion Deposition Additive Manufacturing (EDAM) processing conditions on the final fiber orientation, inter-bead void and cross-sectional geometry of the bead laid down as the extrudate. Specifically, four key processes of the EDAM process are studied, namely: (i) flow of 90° angle turn as the extrudate exits the nozzle and is laid down on the previous layer or the substrate, (ii) flow of the bead during compaction, (iii) flow of an extrudate deposited adjacent to the previously compacted bead, and (iv) flow of the adjacent bead during compaction. The simulations utilize an anisotropic viscous flow model implemented using the smoothed particle hydrodynamics method in Abaqus and fiber orientation vectors are evolved under the assumption of affine motion. The simulation results are compared with experiments for printed bead geometries produced and this comparison was shown to validate the modeling approach as useful for predicting fiber orientation, bead geometry, and bead-to-bead contact interface geometry. The processing parameters considered are nozzle height from the substrate, the ratio of the print speed to the extrusion speed (Vb/Ve), and the bead-to-bead lateral overlap distance. A series of virtual experiments were conducted, and the following observations were noted: (i) the bead printed with a high nozzle height has significantly more fiber alignment in the printing direction than the lower nozzle height, (ii) the ratio of the print speed and extrudate speed, Vb/Ve, of greater than unity results in greater fiber alignment than for Vb/Ve <1. The developed model illuminates the roles of process parameters in determining the microstructure of the printed bead and bead geometry.

3D Textiles Based on Warp Knitted Fabrics: A Review.

Fibre-reinforced composites (FRCs) are already well established in several industrial sectors such as aerospace, automotive, plant engineering, shipbuilding and construction. The technical advantages of FRCs over metallic materials are well researched and proven. The key factors for an even wider industrial application of FRCs are the maximisation of resource and cost efficiency in the production and processing of the textile reinforcement materials. Due to its technology, warp knitting is the most productive and therefore cost-effective textile manufacturing process. In order to produce resource-efficient textile structures with these technologies, a high degree of prefabrication is required. This reduces costs by reducing the number of ply stacks, and by reducing the number of extra operations through final path and geometric yarn orientation of the preforms. It also reduces waste in post-processing. Furthermore, a high degree of prefabrication through functionalisation offers the potential to extend the application range of textile structures as purely mechanical reinforcements by integrating additional functions. So far, there is a gap in terms of an overview of the current state-of-the-art of relevant textile processes and products, which this work aims to fill. The focus of this work is therefore to provide an overview of warp knitted 3D structures.

Monotone Edge Flips to an Orientation of Maximum Edge-Connectivity à la Nash-Williams

We initiate the study of k -edge-connected orientations of undirected graphs through edge flips for k ≥ 2. We prove that in every orientation of an undirected 2k -edge-connected graph, there exists a sequence of edges such that flipping their directions one by one does not decrease the edge connectivity, and the final orientation is k -edge connected. This yields an “edge-flip based” new proof of Nash-Williams’ theorem: A undirected graph G has a k -edge-connected orientation if and only if G is 2k -edge connected. As another consequence of the theorem, we prove that the edge-flip graph of k -edge-connected orientations of an undirected graph G is connected if G is (2k+2) -edge connected. This has been known to be true only when k=1 .

Psychophysical evidence for the involvement of head/body-centered reference frames in egocentric visuospatial memory: A whole-body roll tilt paradigm.

Accurate memory regarding the location of an object with respect to one's own body, termed egocentric visuospatial memory, is essential for action directed toward the object. Although researchers have suggested that the brain stores information related to egocentric visuospatial memory not only in the eye-centered reference frame but also in the other egocentric (i.e., head- or body-centered or both) reference frames, experimental evidence is scarce. Here, we tested this possibility by exploiting the perceptual distortion of head/body-centered coordinates via whole-body tilt relative to gravity. We hypothesized that if the head/body-centered reference frames are involved in storing the egocentric representation of a target in memory, then reproduction would be affected by this perceptual distortion. In two experiments, we asked participants to reproduce the remembered location of a visual target relative to their head/body. Using intervening whole-body roll rotations, we manipulated the initial (target presentation) and final (reproduction of the remembered location) body orientations in space and evaluated the effect on the reproduced location. Our results showed significant biases of the reproduced target location and perceived head/body longitudinal axis in the direction of the intervening body rotation. Importantly, the amount of error was correlated across participants. These results provide experimental evidence for the neural encoding and storage of information related to egocentric visuospatial memory in the head/body-centered reference frames.

Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms

Odometry is a computation method that provides a periodic estimation of the relative displacements performed by a mobile robot based on its inverse kinematic matrix, its previous orientation and position, and the estimation of the angular rotational velocity of its driving wheels. Odometry is cumulatively updated from tens to hundreds of times per second, so any inaccuracy in the definition of the inverse kinematic matrix of a robot leads to systematic trajectory errors. This paper proposes a non-parametric calibration of the inverse kinematic (IK) matrix of a three-wheeled omnidirectional mobile robot based on the use of genetic algorithms (GA) to minimize the positioning error registered in a set of calibration trajectories. The application of this non-parametric procedure has provided an average improvement of 82% in the estimation of the final position and orientation of the mobile robot. This is similar to the improvement achieved with analogous parametric methods. The advantage of this non-parametric approach is that it covers a larger search space because it eliminates the need to define feasible physical limits to the search performed to calibrate the inverse kinematic matrix of the mobile robot.

CFD Comparison of the Influence of Casting of Samples on the Fiber Orientation Distribution

The main goal of this research is to show that even a small deviation from the prescribed casting method EN 14651 causes a difference in fiber orientation distribution in sample beams. A further goal is to investigate the difference in the fiber orientation between bottom and side layers, which would carry the tensile load in the in-situ situation (bottom layer) compared to testing according to EN 14651 (side layer). Nowadays, the development of the proper numerical simulations that aim to visualize the casting process of the fresh concrete flow is a promising challenge in the construction industry. To be able to predict the orientation and spatial distribution of the short fibers using numerical tools may significantly simplify the investigations of the fibered composite materials. This paper compares simulations of different casting methods of the fiber concrete mixture with various flowabilities. The casting of the testing specimen was simulated in different ways: the filling of the formwork according to EN 14651, from the center only and from one edge of the formwork using computational fluid dynamics. The influence of different casting methods in combination with four specific sets of the rheological parameters on the final fiber orientation distribution is discussed. The presented outcomes of the simulations demonstrate that even a minor change in the casting procedure can significantly alter the final characteristics of the material.

View Types and Visual Communication Cues for Remote Collaboration

Over the last several years, remote collaboration has been getting more attention in the research community because of the COVID-19 pandemic. In previous studies, researchers have investigated the effect of adding visual communication cues or shared views in collaboration, but there has not been any previous study exploring the influence between them. In this paper, we investigate the influence of view types on the use of visual communication cues. We compared the use of the three visual cues (hand gesture, a pointer with hand gesture, and sketches with hand gesture) across two view types (dependent and independent views), respectively. We conducted a user study, and the results showed that hand gesture and sketches with the hand gesture cues were well matched with the dependent view condition, and using a pointer with the hand gesture cue was suited to the independent view condition. With the dependent view, the hand gesture and sketch cues required less mental effort for collaborative communication, had better usability, provided better message understanding, and increased feeling of co-presence compared to the independent view. Since the dependent view supported the same viewpoint between the remote expert and a local worker, the local worker could easily understand the remote expert’s hand gestures. In contrast, in the independent view case, when they had different viewpoints, it was not easy for the local worker to understand the remote expert’s hand gestures. The sketch cue had a benefit of showing the final position and orientation of the manipulating objects with the dependent view, but this benefit was less obvious in the independent view case (which provided a further view compared to the dependent view) because precise drawing in the sketches was difficult from a distance. On the contrary, a pointer with the hand gesture cue required less mental effort to collaborate, had better usability, provided better message understanding, and an increased feeling of co-presence in the independent view condition than in the dependent view condition. The pointer cue could be used instead of a hand gesture in the independent view condition because the pointer could still show precise pointing information regardless of the view type.