bluuebunny/crossref_metadata_2025_split huggingface dataset:
Research on the forcefree control of cooperative robots based on dynamic parameters identification
Authors: Xiao Juliang , Zeng Fan , Zhang Qiulong , Liu Haitao 
Published: June 2019

Purpose
This paper aims to propose a forcefree control algorithm that is based on a dynamic model with full torque compensation is proposed to improve the compliance and flexibility of the direct teaching of cooperative robots.

Design/methodology/approach
Dynamic parameters identification is performed first to obtain an accurate dynamic model. The identification process is divided into two steps to reduce the complexity of trajectory simplification, and each step contains two excitation trajectories for higher identification precision. A nonlinear friction model that considers the angular displacement and angular velocity of joints is proposed as a secondary compensation for identification. A torque compensation algorithm that is based on the Hogan impedance model is proposed, and the torque obtained by an impedance equation is regarded as the command torque, which can be adjusted. The compensatory torque, including gravity torque, inertia torque, friction torque and Coriolis torque, is added to the compensation to improve the effect of forcefree control.

Findings
The model improves the total accuracy of the dynamic model by approximately 20% after compensation. Compared with the traditional method, the results prove that the forcefree control algorithm can effectively reduce the drag force approximately 50% for direct teaching and realize a flexible and smooth drag.

Practical implications
The entire algorithm is verified by the laboratory-developed six degrees-of-freedom cooperative robot, and it can be applied to other robots as well.

Originality/value
A full torque compensation is performed after parameters identification, and a more accurate forcefree control is guaranteed. This allows the cooperative robot to be dragged more smoothly without external sensors.
Learning and planning of stair ascent for lower-limb exoskeleton systems
Authors: Chen Qiming , Cheng Hong , Huang Rui , Qiu Jing , Chen Xinhua 
Published: June 2019

Purpose
Lower-limb exoskeleton systems enable people with spinal cord injury to regain some degree of locomotion ability, as the expected motion curve needs to adapt with changing scenarios, i.e. stair heights, distance to the stairs. The authors’ approach enables exoskeleton systems to adapt to different scenarios in stair ascent task safely.

Design/methodology/approach
In this paper, the authors learn the locomotion from predefined trajectories and walk upstairs by re-planning the trajectories according to external forces posed on exoskeleton systems. Moreover, instead of using complex sensors as inputs for re-planning in real-time, the approach can obtain forces acting on exoskeleton through dynamic model of human-exoskeleton system learned by an online machine learning approach without accurate parameters.

Findings
The proposed approach is validated in both simulation environment and a real walking assistance exoskeleton system. Experimental results prove that the proposed approach achieves better performance than the traditional predefined gait approach.

Originality/value
First, the approach obtain the external forces by a learned dynamic model of human-exoskeleton system, which reduces the cost of exoskeletons and avoids the heavy task of translating sensor input into actuator output. Second, the approach enables exoskeleton accomplish stair ascent task safely in different scenarios.
Complete relative pose error model for robot calibration
Authors: Wang Shiwei , Jia Qingxuan , Chen Gang , Liu Dan 
Published: June 2019

Purpose
This paper aims to present a complete relative pose error model for robot calibration, considering both the relative distance error and the relative rotation error of the robot end-effector, which can improve calibration accuracy.

Design/methodology/approach
In this paper, the relative distance error model and the relative rotation error model of robot calibration are derived by ignoring high-order nonlinear errors, and the two models form into a complete relative pose error model. Besides, mathematical expectation of the nonlinear errors is calculated, indicating that they have little influence on calibration accuracy.

Findings
Comparative experiments have indicated that the proposed complete relative pose error model does better in robot calibration than only the distance error model.

Originality/value
The main contribution of this paper lies in the derivation of the relative rotation error model, which helps to form a complete relative pose error model for calibration. The proposed method improves calibration accuracy, with avoiding identifying the transformation matrix between the measurement system frame and the robot base frame.
A method of creating personae for children with autism spectrum condition: application and revision
Authors: Zubair Misbahu S. , Brown David , Hughes-Roberts Thomas , Bates Matthew 
Published: June 2019

Purpose
Personae are simple tools for describing users, their characteristics and their goals. They are valuable tools when designing for a specific group of users, such as children with autism spectrum condition (ASC). The purpose of this paper is to propose, validate and revise a methodology for creating accurate, data grounded personae for children with ASC.

Design/methodology/approach
The proposed method is based mainly on Cooper et al.’s (2007) persona construction method. It proposes gathering and analysing qualitative data from users and experts to either create a new persona or extend an existing one. The method is then applied to create personae for the design of a visual programming tool for children with ASC. Based on the results of the application, observations and lessons learnt, a revised version of the method is proposed.

Findings
The method’s combined use of user data and expert knowledge produced a set of personae that have been well reviewed by experts so far. The method’s use of a questionnaire to validate personae also produced relevant qualitative feedback. On review, possible downsides of extending existing personae were identified. Therefore, a revised method was introduced, eliminating the need to extend existing personae, and stressing the importance of utilising user data, expert knowledge and feedback.

Originality/value
This paper addresses the need for a well-defined method for creating data grounded personae that accurately describe the characteristics and goals of children with ASC. Such personae can be used to design and develop more accessible and usable products.
The perception of crowding, quality and well-being: a study of Vietnamese public health services
Authors: Sawang Sukanlaya , Chou Cindy Yunhsin , Truong-Dinh Bao Quoc 
Published: June 2019

PurposeThe purpose of this paper is to examine the extent to which the perception of crowding by medical staff and patients impacts patients’ perceived service quality (SQ), overall satisfaction and emotional well-being.Design/methodology/approachData were collected from 258 matched pairs of medical staff members and their patients at six public hospitals.FindingsMedical staff-perceived crowding negatively influences patients’ perceived SQ. The perceived SQ then impacts patients’ overall satisfaction and emotional well-being. Patients’ perceived crowding does not significantly impact their perceived SQ but increases the positive emotional well-being of patients.Originality/valueScant research has investigated a matched pair of service providers and their customers. This study concentrates on how individuals’ perceived human crowding and medical staff SQ affect consumers’ emotional well-being. This research leads to the formulation of theoretical and public policy suggestions to improve the quality of interactive services with minimal cost and disruption.
The impact of spillover effects from operational risk events: a model from a portfolio perspective
Authors: Eckert Christian , Gatzert Nadine 
Published: June 2019

PurposeFinancial firms announcing large operational losses have empirically been shown to cause significant negative spillover effects in other non-announcing firms in case of the banking and insurance industry. The purpose of this paper is 1) to model such spillover effects in a network from a portfolio perspective and 2) to holistically assess operational risk, reputational risk and the risk of spillover effects, taking into account the dependencies between these risk types.Design/methodology/approachThe authors propose different approaches to model spillover effects with different complexity, including stochasticity and influencing factors within the industry network. They then calibrate the model based on information from previous empirical literature.FindingsThe results emphasize that spillover effects can represent a considerable (non-diversifiable) risk, especially in portfolios, and that neglecting them may lead to a severe underestimation of the actual impact of single operational loss events.Originality/valueThis study is relevant not only for a firm’s risk management strategy but also for investors holding a portfolio of firms potentially subject to spillover effects.
The influence of emitter resistance on the electrical parameters of mono- and multicrystalline silicon solar cells
Authors: Swatowska Barbara , Panek Piotr , Michoń Dagmara , Drygała Aleksandra 
Published: June 2019

Purpose
The purpose of this study was the comparison and analysis of the electrical parameters of two kinds of silicon solar cells (mono- and multicrystalline) of different emitter resistance.

Design/methodology/approach
By controlling of diffusion parameters, silicon mono- (Cz-Si) and multicrystalline (mc-Si) solar cells with different emitter resistance values were produced – 22 and 48 Ω/□. On the basis of current-voltage measurements of cells and contact resistance mapping, the properties of final solar cells based on two different materials were compared. Additionally, the influence of temperature on PV cells efficiency and open circuit voltage (Uoc) were investigated. The PC1D simulation was useful to determine spectral dependence of external quantum efficiency of solar cells with different emitter resistance. The silicon solar cells of 25 cm2 area and 240 µm thickness were investigated.

Findings
Considering the all stages of cell technology, the best structure is silicon solar cell with sheet resistance (Rsheet) of 45-48 Ω/□. Producing of an emitter with this resistance allowed to obtain cells with a fill factor between 0.725 and 0.758, Uoc between 585 and 612 mV, short circuit current (Isc) between 724 and 820 mA.

Originality/value
Measurements and analysis confirmed that mono- and multicrystalline silicon solar cells with 48 Ω/□ emitter resistance have better parameters than cells with Rsheet of 22 Ω/□. The contact resistance is the highest for mc-Si with Rsheet of 48 Ω/□ and reaches the value 3.8 Ωcm.
The emergence of carbon accounting
Authors: Le Breton Morgane , Aggeri Franck 
Published: June 2019

PurposeThis paper forms part of the social and environmental accounting literature. The purpose of this paper is to study how the strategy of development and dissemination of a carbon accounting tool by a public organisation affects the actions of companies.Design/methodology/approachIt is based on the Foucaldian concept of a strategicdispositifwhose components and evolution over time will be analysed. The methodology will be based on a case study of ADEME, the French Environment and Energy Management Agency, through the preparation and dissemination of Bilan Carbone® – the French greenhouse gas accounting tool – between 2000 and 2017.FindingsThe results highlight the specific features of thedispositifformed by carbon accounting in France, namely, the integration of small companies, use of the tool to directly support actions and financial independence.Practical implicationsThe theoretical contribution of this work consists in showing the benefits of the concept of a strategicdispositifto understand the action of companies in terms of the transition towards low-carbon strategies.Social implicationsIts empirical contribution lies in the emphasis placed on the specific role of public authorities in tackling climate change within the sphere of carbon accounting methodologies largely dominated by private organisations.Originality/valueThe theoretical contribution of this work consists in showing the benefits of the concept of a strategicdispositifto understand the action of companies in terms of the transition towards low-carbon strategies.
Norilsk Nickel: the longest corporate war in a leading Russian company
Authors: Kandinskaia Olga , Dementieva Alla , Khotyasheva Olga 
Published: June 2019

Theoretical basis
In any company, there are conflicts of interest and different opinions on the business strategy. However, a well-established system of corporate governance allows us to minimise those conflicts and enables most disagreements to be solved in a civilised way. The case provides an opportunity to examine the specifics of corporate conflicts in Russia and improves decision-making skills with a view to increase business efficiency.

Research methodology
This descriptive case was written using the secondary sources from the Russian and foreign media, as well as other publicly available information about Norilsk Nickel. No information was disguised in any way.

Case overview/synopsis
This case study is a story of a dramatic corporate conflict at the Russian company Norilsk Nickel, one of the world’s leading producers of precious metals. In 2008–2012, the company went through a painful conflict between the majority shareholders (oligarchs Mr Potanin and Mr Deripaska) for the control over the business. The case of Norilsk Nickel was indeed a crucial case for Russia which helped define the “rules of the game”. In 2019, however, the situation looked prone to the escalation of the old conflict. The fact that from 2018 both oligarchs were under the US sanctions added further tensions.

Complexity academic level
This case is most appropriate for courses in corporate governance, business ethics and doing business in Russia at the undergraduate or graduate level. There is a sufficient number of extenuating circumstances to make for a good discussion of strategic and tactical factors in this type of a corporate governance decision analysis. The complexity of the case is a perfect illustration of the Russian business environment: it is never easy in the Russian business environment to figure out what is important and what is not.
Million dollar gamblers: a case of embezzlement in South Whitehall Township
Authors: Alderman Jillian 
Published: June 2019

Theoretical basis
The fraud diamond theory, the COSO framework on internal control and theories of ethical leadership and ethical decision making are applied.

Research methodology
The details of this case were compiled using publicly available information, including court records and news reports. No modifications were made to the names of individuals or places mentioned in the case. All resources have been properly cited.

Case overview/synopsis
Employee embezzlement is a common issue in limited resource organizations when adequate controls are not in place to prevent or detect fraud. In such organizations, personal financial hardships can drive individuals to commit crimes that are out of character. This case is a story of a respectable small-town couple implicated in a near million dollar embezzlement scheme. Students are asked to consider what went wrong and propose solutions for the prevention of similar crimes. Lessons learned from this case emphasize the importance of ethical leadership, creating a strong ethical environment and how small unethical acts can escalate over time.

Complexity academic level
Instructors can utilize this case to teach the topics of ethical leadership and decision making, fraud prevention and detection and internal controls. The themes of this case fit well into any business ethics, accounting or auditing course at the undergraduate or graduate level. The case has been implemented in courses for full-time and part-time MBAs, and master’s programs in finance, human resources and accounting.
Structural modification of Escherichia coli lipid A by myristoyltransferase gene from Klebsiella pneumoniae
Authors: Taniguchi Chiho , Sugawara Takehiro , Onoue Sakura , Kawahara Kazuyoshi 
Published: June 2019

AbstractLipid A in lipopolysaccharide (LPS) of Escherichia coli mutant strains was modified by the introduction of myristoyltransferase gene cloned from Klebsiella pneumoniae. When the gene was introduced into the mutant having lipid A containing only 3‐hydroxymyristic acids, it produced lipid A with two additional myristic acids (C14:0). When the same gene was introduced into the mutant with pentaacylated lipid A containing one lauric acid (C12:0), C12:0 was replaced by C14:0. IL‐6‐inducing activity of LPS with modified lipid A structure suggested that C12:0 in lipid A could be replaced by C14:0 without changing the immunostimulating activity.
Hydrogeophysical modelling of Hisarcik (Kütahya) geothermal field, western Turkey
Authors: Üner Serkan , Ağaçgözgü Gülçin Özürlan , Doğan Doğa Düşünür 
Published: June 2019

ABSTRACTWestern Anatolia hosts many low‐to‐moderate and high‐temperature geothermal sources in which active faults play a dominant role to control the recharge and the discharge of geothermal fluid. In this study, we used the two‐dimensional geoelectric structure of Kütahya Hisarcık geothermal field, and created a conceptual hydrogeophysical model that includes faults, real topographical variations and geological units. The temperature distribution and fluid flow pattern are also investigated. The depth extension of Hisarcık Fault, electrical basement and low resistivity anomalies related to the presence of geothermal fluid are determined by using resistivity studies in the area. Numerical simulations suggest that Hisarcık fault functioning as a fluid conduit primarily enables hot fluid to be transported from depth to the surface. It is shown that the locations of predicted outflow vents coincide with those of hot springs in the area.
Long‐term (2005–2017) macromoth community monitoring at Mt. Jirisan National Park, South Korea
Authors: Choi Sei‐Woong , An Jeong‐Seop , Kim Nang‐Hee , Lee Sanghun , Ahn Nahyun 
Published: June 2019

AbstractMoths, which are one of the mega‐diversity insect groups, play important roles as herbivores in terrestrial ecosystems. Because most moths are nocturnal and easily attracted to lights, the utilization of consistent and uniform sampling methods based on a set of standardized protocols can lead to creation of comparable datasets on regional to global scales. These datasets can be used to address environmental issues such as the biological impacts resulting from climate change and land‐use policies. More than 60% of the Korean peninsula is mountainous, and the forests on most mountains are undergoing marked changes related to forest succession and recent climatic variability. Therefore, the present study was conducted to monitor macromoth communities in a mountain ecosystem of Korea. Our study site, Mt. Jirisan National Park is the first national park and the highest mountain on the mainland of South Korea. This mountain range runs 34 km east to west and 26 km north to south, harboring more than 1,400 vascular plant and more than 3,000 insect species. We monitored macromoth communities at six sites in Mt. Jirisan National Park, South Korea from 2005 to 2017, during which time moths were collected from May to October using an ultraviolet bucket trap. The generated dataset, which contains 1,089 species and 40,694 individuals in 20 families, can be used to establish a baseline for development of a network‐oriented database to assess the temporal and spatial changes of moths in temperate and tropical forests and the biotic impact of environmental change.
Impact of trade liberalisation on dairy market price co‐movements between the EU, Oceania, and the United States
Authors: Rezitis Anthony N. , Rokopanos Andreas 
Published: June 2019

This study investigates the impact of trade liberalisation on the spatial price co‐movements between the dairy markets of the EU, Oceania, and the United States. We consider two main dairy products, namely butter and whole milk powder (WMP), and employ R‐Vines to assess the development of the tail dependence between the price series. We split the time span (i.e. 2000‐2017) in December 2007 to capture the change in the tail dependence as well as in the potential of each region to act as the central market. Our findings indicate that the EU acts as the central market for butter in both sub‐periods, whereas the EU succeeds Oceania in acting as the central market for WMP from the first sub‐period to the next. Further findings highlight slightly increasing tail dependence in the butter market and in the WMP market for the EU‐OCE and EU‐US pairs. However, the tail dependence for the WMP prices between Oceania and the United States weakens, in which we attribute to the 2013 Chinese ban on milk powder imports from Oceania.
Universal Basic Services: A Theoretical and Moral Framework
Authors: Gough Ian 
Published: June 2019

AbstractThe case for Universal Basic Services (UBS) is a recent idea that is attracting much attention. This article provides a theoretical justification for extending the delivery of public services, as an alternative to the longer‐standing argument for Universal Basic Income (UBI). It rests on human need theory and the concept of provisioning systems. Both recognise the irreducible heterogeneity of consumption, the multi‐faceted nature of human needs and the variety of systems on which we all depend. Both recognise the importance of shared systems and mutual benefits. The final part restates the case for social rights or entitlements to the satisfaction of basic needs and for collective responsibilities to meet them to serve the values of equality, efficiency, solidarity and sustainability.
Individual market health plan affordability after cost‐sharing reduction subsidy cuts
Authors: Drake Coleman , Abraham Jean M. 
Published: June 2019

AbstractObjectiveTo investigate how changes in insurer participation and composition as well as state policies affect health plan affordability for individual market enrollees.Data Sources2014‐2019 Qualified Health Plan Landscape Files augmented with supplementary insurer‐level information.Study DesignWe measured plan affordability for subsidized enrollees using premium spreads, the difference between the benchmark plan and the lowest cost plan, and premium levels for unsubsidized enrollees. We estimated how premium spreads and levels varied with insurer participation, insurer composition, and state policies using log‐linear models for 15 222 county‐years.Principal FindingsIncreased insurer participation reduces premium levels, which is beneficial for unsubsidized enrollees. However, it also reduces premium spreads, leading to lower plan affordability for subsidized enrollees. States responding to cost‐sharing reduction subsidy payment cuts by increasing only silver plans' premiums increase premium spreads, particularly when premium increases are restricted to on‐Marketplace silver plans. The latter approach also protects unsubsidized, off‐Marketplace enrollees from experiencing premium shocks.ConclusionsInsurer participation and insurer composition affect subsidized and unsubsidized enrollees' health plan affordability in different ways. Decisions by state regulators regarding health plan pricing can significantly affect health plan affordability for each enrollee segment.