bluuebunny/crossref_metadata_2025_split huggingface dataset:
Experimental studies on magnetorheological brake containing plane, holed and slotted discs
Authors: Sarkar Chiranjit , Hirani Harish 
Published: May 2017

Purpose
This study aims to design an ideal magnetorheological (MR) brake that exerts negligible frictional torque in the off-state condition and controllable frictional torque in the on-state condition.

Design/methodology/approach
Silicone-based MR fluid, containing 9 per cent volume carbonyl iron particles, has been synthesized and used. The synthesized MR fluid is advantageous in maintaining low friction losses in off-state conditions. A magneto-rheometer has been utilized to characterize the off-state viscosity of the MR fluid at variable shear rates and shear stress of MR fluids at various magnetic fields. A mechanism to enhance the braking torque in the on-state condition has been designed and developed. An experimental test rig has been developed to capture the torque characteristics of the developed MR brakes. Three different designs of MR discs have been experimented under a magnetic field varying from 0 to 375 kA/m. Experimental results of braking torque under shear and compression modes have been presented.

Findings
Slotted disc MR brake gives much better torque performance.

Originality/value
The braking torque results motivate to use the slotted disc MR brake for high torque application.
Sliding wear behaviour of Al-Si alloy–fly ash composites produced by powder metallurgy technique
Authors: Siddhi Jailani H. , Rajadurai A. , Mohan B. , Sornakumar T. 
Published: May 2017

Purpose
Metal matrix composites (MMCs) are commonly used in many aerospace and industrial applications. MMCs possess significantly improved properties including high specific strength, specific modulus, damping capacity and good wear resistance compared to unreinforced alloys. The purpose of this paper is to describe the tribological studies of Al-Si alloy–fly ash composites manufactured using powder metallurgy technique.

Design/methodology/approach
Al-Si (12 Wt.%) alloy–fly ash composites were developed using powder metallurgy technique. Al-Si alloy powder was used as matrix material, and the fly ash was used as reinforcement. The particle size of Al-Si alloy powder was in the range of 75-300 μm, and the fly ash was in the range of 1-15 μm. The friction and wear characteristics of the composites were studied using a pin-on-disc set up. The test specimen was mated against cast iron disc, and the tests were conducted with the loads of 10, 20 and 30 N, sliding speeds of 0.5, 1 and 1.5 m/s for a sliding distance of 2,000 m.

Findings
The effects of load and sliding speed on tribological properties of the base alloy and Al-Si alloy–fly ash composites pins on sliding with cast iron disc are evaluated. The wear rate of Al-Si alloy–fly ash composites is lower than that of base alloy, and it increases with increasing load and sliding speed. The coefficient of friction of Al-Si alloy–fly ash composites is increased as compared with base alloy.

Practical implications
The development of Al-Si alloy–fly ash composites produced by powder metallurgy technique will modernize the automobile and other industries because near net shape at low cost and good mechanical properties are obtained.

Originality/value
There are few papers available on the development and tribological studies of Al-Si alloy–fly ash composites produced by powder metallurgy technique.
Start-ups initiating business relationships: process and asymmetry
Authors: Aaboen Lise , Aarikka-Stenroos Leena 
Published: May 2017

Purpose
The purpose of this paper is to develop an understanding of how start-ups initiate business relationships and to identify the subprocesses that characterise business-relationship initiations in a start-up context.

Design/methodology/approach
The paper builds on business-relationship initiation models, develops a theoretical framework of relationship initiation and its subprocesses and, in a multiple-case study, applies this framework to seven relationship initiations by start-ups.

Findings
The key findings of this study describe the process of business-relationship initiation by start-ups, which comprise six subprocesses. The authors’ detailed and structured initiation-process analyses show how the initiation process occurs in a start-up context and how start-ups develop their relationships. The authors’ analyses also reveal typical patterns and critical issues, such as asymmetry, that characterise start-ups’ business-relationship initiations, particularly with bigger players.

Research limitations/implications
This paper develops a model of the relationship-initiation process, uses it in a start-up context and identifies the critical characteristics, including asymmetry, of start-up initiations; these contributions address both the literature on start-ups and the literature on relationship initiation and development.

Originality/value
This paper is the first to focus on how start-ups initiate business relationships; previous studies of business-relationship initiation have focussed on mature firms. Using the industrial marketing and purchasing approach, the paper contributes to shifting the focus from interactions between resource entities to relationship-initiation processes in the context of start-ups.
Coping with friction during technology commercialisation
Authors: Mattila Malla 
Published: May 2017

Purpose
The purpose of this paper is to move forward the understanding of sociomaterial and processual aspects of innovation by describing and analysing actors’ disalignment processes regarding what resources to provide and strategies for resolution of disalignments during technology commercialisation.

Design/methodology/approach
The study is based on a longitudinal qualitative empirical case study depicting the commercialisation journey of a radical invention, intelligent paper, between the years of 1997 and 2009. The invention concerns cost-effective, high-volume and roll-to-roll production of printable optics and electronics enabling novel, intelligent functionalities on printed matter.

Findings
The study identifies three technology commercialisation phases which involve both destructive and constructive situations of disalignment, namely, actors’ multiplexity, punctualised actor roles and “not-programmatic” behaviours. Several strategies are utilised to resolve these, including seduction, pressuring, the introduction of new critical actors, organisational restructurings, selective silencing, career development opportunities, and joint technology development and commercialisation work.

Research limitations/implications
The chosen methodology excludes investigating actors’ micro-processes during technology commercialisation and the generalisability of the findings.

Originality/value
The study develops the understanding of the changing, multiplex and negotiated actors’ roles as well as their disalignment regarding what resources to provide during technology commercialisation. It complements perspectives of friction in innovation making and challenges the established industrial marketing and purchasing research of stable industrial networks by presenting a case in which a radical invention results in a new business network.
Non-singular terminal sliding mode control design for wheeled mobile manipulator
Authors: Habibnejad Korayem Moharam , Shiri Reza , Rafee Nekoo Saeed , Fazilati Zohair 
Published: May 2017

Purpose
The purpose of this paper is to propose an indirect design for sliding surface as a function of position and velocity of each joint (for mounted manipulator on base) and center of mass of mobile base which includes rotation of wheels. The aim is to control the mobile base and its mounted arms using a unified sliding surface.

Design/methodology/approach
A new implementation of sliding mode control has been proposed for wheeled mobile manipulators, regulation and tracking cases. In the conventional sliding mode design, the position and velocity of each coordinate are often considered as the states in the sliding surface, and consequently, the input control is found based on them. A mobile robot consisted of non-holonomic constraints, makes the definition of the sliding surface more complex and it cannot simply include the coordinates of the system.

Findings
Formulism of both sliding mode control and non-singular terminal sliding mode control were presented and implemented on Scout robot. The simulations were validated with experimental studies, which led to satisfactory analysis. The non-singular terminal sliding mode control actually had a better performance, as it was illustrated that at time 10 s, the error for that was only 8.4 mm, where the error for conventional sliding mode control was 11.2 mm.

Originality/value
This work proposes sliding mode and non-singular terminal sliding mode control structure for wheeled mobile robot with a sliding surface including state variables: center of mass of base, wheels’ rotation and arm coordinates.
Energy-efficiency hexapod walking robot for humanitarian demining
Authors: Montes Hector , Mena Lisbeth , Fernández Roemi , Armada Manuel 
Published: May 2017

Purpose
The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours. To this end, the paper presents an experimental study for the evaluation of its energy efficiency.

Design/methodology/approach
First, the interest of using a walking robot for detection and localization of anti-personnel landmines is described, followed by the description of the mechanical system and the control architecture of the hexapod robot. Second, the energy efficiency of the hexapod robot is assessed to demonstrate its autonomy for performing humanitarian demining tasks. To achieve this, the power consumed by the robot is measured and logged, with a number of different payloads placed on-board (always including the scanning manipulator arm assembled on the robot front end), during the execution of a discontinuous gait on flat terrain.

Findings
The hexapod walking robot has demonstrated low energy consumption when it is carrying out several locomotion cycles with different loads on it, which is fundamental to have a desired autonomy. It should be considered that the robot has a mass of about 250 kg and that it has been loaded with additional masses of up to 170 kg during the experiments, with a consumption of mean power of 72 W, approximately.

Originality/value
This work provides insight on the use of a walking robot for humanitarian demining tasks, which has high stability and an autonomy of about 3 hours for a robot with high mass and high payload. In addition, the robot can be supervised and controlled remotely, which is an added value when it is working in the field.
Application research on AGV case: automated electricity meter verification shop floor
Authors: Tu Jia Chen , Qian Xiao Ming , Lou Pei Huang 
Published: May 2017

Purpose
The paper aims to propose general design rules and route plan for automated guided vehicle system (AGVS). The AGVS is applied to automated meter verification areas through a case study of meter verification shop floor to verify the feasibility.

Design/methodology/approach
The paper gives an appropriate route design for AGVS and proposes an optimized strategy for designed routes and a control system to manage traffic conflict.

Findings
This case study indicates that the application of AGVS can highly improve the efficiency of manufacturing and production. Besides, a reasonable transportation plan is beneficial in making the system run smoothly and in cutting conveying time.

Practical implications
The application of AGVS integrates a variety of advanced technologies (i.e. information technology, artificial intelligence, etc.) into the electricity meter verification system, which brings great economic and social benefits via enhancing the verification efficiency and reducing the total labor costs.

Originality/value
The application proposed in the paper solves the problem that the verification almost relies on workers, labor intensity is high and work efficiency is hard to improve. Furthermore, the general rules and strategies of AGVS transportation can be applied not only to the automated electricity meter verification but also in other industrial areas.
Development of a Voronoi diagram based tree trunk detection system for mobile robots used in agricultural applications
Authors: Bayar Gokhan 
Published: May 2017

Purpose
The purpose of this paper is to develop a methodology for detecting tree trunks for autonomous agricultural applications performed using mobile robots.

Design/methodology/approach
The system is constructed by following the principles of Voronoi diagram method which is one of the machine learning algorithms used by the robotics, mechatronics and automation researchers.

Findings
To analyze the accuracy and performance and to make verification and evaluation, both simulation and experimental studies are conducted. The results indicate that the tree trunk detection system developed using Voronoi diagram method can be able to detect tree trunks with high precision.

Originality/value
A novel solution technique to detect tree trunks is proposed. The adaptation of Voronoi diagram method in an agricultural (orchard) task is presented.
Research on a mobile manipulator for biochemical sampling tasks
Authors: Wang Weidong , Gao Wenrui , Wu DongMei , Du Zhijiang 
Published: May 2017

Purpose
The paper aims to present a tracked robot comprised of several biochemical sampling instruments and a universal control architecture. In addition, a dynamic motion planning strategy and autonomous modules in sampling tasks are designed and illustrated at length.

Design/methodology/approach
Several sampling instruments with position tolerance and sealing property are specifically developed, and a robotic operation system (ROS)-based universal control architecture is established. Then, based on the system, two typical problems in sampling tasks, i.e. arm motion planning in unknown environment and autonomous modules, are discussed, implemented and tested. Inspired by the idea of Gaussian process classification (GPC) and Gaussian process (GP) information entropy, three-dimensional (3D) geometric modeling and arm obstacle avoidance strategy are implemented and proven successfully. Moreover, autonomous modules during sampling process are discussed and realized.

Findings
Smooth implementations of the two experiments justify the validity and extensibility of the robot control scheme. Furthermore, the former experiment proves the efficiency of arm obstacle avoidance strategy, while the later one demonstrates the time reduction and accuracy improvement in sampling tasks as the autonomous actions.

Practical implications
The proposed control architecture can be applied to more mobile and industrial robots for its feasible and extensible scheme, and the utility function in arm path planning strategy can also be utilized for other information-driven exploration tasks.

Originality/value
Several specific biochemical sampling instruments are presented in detail, while ROS and Moveit! are integrated into the system scheme, making the robot extensible, achievable and real-time. Based on the control scheme, an information-driven path planning algorithm and automation in sampling tasks are conceived and implemented.
Dual manipulator system of the field hot-line working robot in 110-kV substations
Authors: Tang Mingdong , Gu Youlin , Zhang Yunjian , Wang Shigang 
Published: May 2017

Purpose
The purpose of this paper is to present a dual manipulator system for aloft hot-line assembly tasks of connection fittings in 110-kv intelligent substation, which is significant to the research on hot-line working robots.

Design/methodology/approach
This paper addresses the challenges of the task and presents a dual manipulator system which can overcome these challenges to realize the robotic assembly of connection fittings in narrow space without impacting the safe distance of both phase to phase and phase to ground. Two manipulators share a same global reference coordinate. The mission of Manipulator 1 is to position the fixed part of connection fittings and screw the bolts on it. Visual computing provides the approximately position for the end-effector of Manipulator 2, after which The Manipulator 2 carries the removable part of connection fittings to this position. Then, the assembly task could be completed with the posture of the Manipulator 2 adjusted following the guidance by force-position control.

Findings
The dual manipulator system can position the target under different illumination conditions and complete fast assembly of connect fittings in 110-kV substation. No strong arc discharge or surface erosion phenomenon has been observed.

Practical implications
This dual manipulator system will be particularly useful for the hot-line assembly of connection fittings in 110-kv intelligent substation, as well as some assembly tasks where uncertain target position and complex contact surface such as cylindrical hole is involved.

Originality/value
This study presents a dual manipulator system used by a field robot working in 110-kv intelligent substation. The system is able to achieve the connection fittings assembly task under energized simulation experimental system. Unlike other peg-in-hole assembly strategy, it does not require high stability of manipulator or plane contact surface around the hole.
Nexus of knowledge-management enablers, trust and knowledge-sharing in research universities
Authors: Yasir Muhammad , Majid Abdul , Yasir Muhammad 
Published: May 2017

Purpose
The purpose of this paper is to analyze the knowledge sharing behavior of faculty members of research universities in emerging economies after considering the predicting role of knowledge management enablers and mediating role of trust.

Design/methodology/approach
The study was conducted through self-administered survey of faculty members of research universities in Pakistan. Correlation, causal steps approach and the normal test theory approach were used to find out the role of trust among knowledge management enablers and knowledge sharing.

Findings
The results showed that trust of faculty members at research universities was developed through knowledge management enablers which promote knowledge sharing. Therefore, the association between knowledge management enablers, trust and knowledge sharing is positive.

Research limitations/implications
The current study investigates the relationships of knowledge management enablers on knowledge sharing; future studies should be conducted as an extension of this work to find out the outcomes of this relationship such as performance of faculty members as well as effectiveness and competitive advantages of knowledge sharing.

Practical implications
Mediating role of trust on knowledge enablers and knowledge sharing provided that university administration and policy makers should create culture which support trust worthy relationships among faculty members where knowledge sharing could flourish.

Originality/value
The study confirmed the mediating effect of trust between the relationships of knowledge self-efficacy, reciprocal benefit, face to face interactive communication and knowledge sharing, while there is a partial mediating role of trust between knowledge management system infrastructure and knowledge sharing.
Intergenerational contact and hiring decisions about older workers
Authors: Fasbender Ulrike , Wang Mo 
Published: May 2017

Purpose
Although many older workers wish to work longer, they may not be hired due to negative attitudes against them. The purpose of this paper is to investigate the role of intergenerational contact in shaping hiring decisions. Drawing from the intergroup contact theory, the authors investigated affective and cognitive categorization reactions as predictors of decision-makers’ willingness to hire older people and whether these relationships are moderated by intergenerational contact frequency and quality.

Design/methodology/approach
The authors tested the hypotheses using data from 232 employees with hiring power.

Findings
Results indicate that intergroup anxiety was negatively related to decision-makers’ willingness to hire older people. Further, intergenerational contact frequency exacerbated the relationship between intergroup anxiety and willingness to hire older people; whereas intergenerational contact quality buffered the negative relationship. In addition, the authors found that intergenerational contact quality facilitated the positive relationship between perceived outgroup competence and willingness to hire older people.

Originality/value
These findings extend previous research on older worker employment. In particular, they demonstrate how intergenerational contact frequency and quality can be powerful means that influence age-related hiring decisions.
Auditor gender, experience and reporting in nonprofit organizations
Authors: Reheul Anne-Mie , Van Caneghem Tom , Van den Bogaerd Machteld , Verbruggen Sandra 
Published: May 2017

PurposeThe purpose of this study is to investigate the association between individual auditor characteristics (gender, experience and sector expertise) and audit opinions in Belgian non-profit organizations (NPOs). The purpose is to identify auditor characteristics that imply a better assurance of financial statement (FS) quality. FS quality is essential to enhance financial accountability toward the resource providers of NPOs and the public at large.Design/methodology/approachMultinomial regressions are conducted on a data set of Belgian NPOs. Propensity score matching is used to control for potential self-selection bias.FindingsAuditors with sector expertise are found to provide better assurance than their non-sector-expert counterparts. The former are more likely to disclose FS errors and uncertainties in their audit report.Originality/valueThis study contributes to the auditing literature by focusing on an understudied audit market, namely, the non-profit audit market. The number of non-profit studies that investigate determinant of audit quality is very scarce, and none of them explores the determinants of audit opinions. Moreover, these studies ignore individual auditor characteristics as determinants of audit quality. The findings of this study provide meaningful information for several actors in the NP field and for audit firms.