bluuebunny/crossref_metadata_2025_split huggingface dataset:
Fault tolerant motion planning of robotic manipulators based on a nested RRT algorithm
Authors: Xie Biyun , Zhao Jing , Liu Yu 
Published: January 2012

PurposeThe purpose of this paper is to present a new nested rapidly‐exploring random tree (RRT) algorithm for fault tolerant motion planning of robotic manipulators.Design/methodology/approachAnother RRT algorithm is nested within the general RRT algorithm. This second nested level is used to check whether the new sampled node in the first nested level is fault tolerant. If a solution can be found in the second nested RRT, the reduced manipulator after failures at the new sampled node can still fulfill the remaining task and this new sampled node is added into the nodes of RRT in the first level. Thus, the nodes in the first level RRT algorithm are all fault tolerant postures. The final trajectory joined by these nodes is also obviously fault tolerant. Besides fault tolerance, this new nested RRT algorithm also can fulfill some secondary tasks such as improvement of dexterity and obstacle avoidance. Sufficient simulations and experiments of this new algorithm on fault tolerant motion planning of robotic manipulators are implemented.FindingsIt is found that the new nested RRT algorithm can fulfill fault tolerance and some other secondary tasks at the same time. Compared to other existing fault tolerant algorithms, this new algorithm is more efficient.Originality/valueThe paper presents a new nested RRT algorithm for fault tolerant motion planning.
Improved model‐based control of a six‐degree‐of‐freedom Stewart platform driven by permanent magnet synchronous motors
Authors: Meng Qiang , Zhang Tao , He Jingfeng , Song Jingyan , Chen Xuedong 
Published: January 2012

PurposeThe precise control and dynamic analysis of the electrical Stewart platform have not been so well treated in the literature. This paper aims to design a novel model‐based controller to improve the tracing performance of the electrical Stewart platform. Moreover, the simulations under uncertain environments are used to verify the robustness of the controller.Design/methodology/approachIn the electrical Stewart platform, there exist two special movements of the motor systems: motor systems' movement with the actuators and meanwhile the rotors and snails' rotation around their axis. The Kane equation is used to compute the driven torque of the movements of motor systems, actuators and movable platform. The improved dynamic models of the electrical Stewart platform which consider the motor systems and actuators' influences are used to design the novel controller. The PID controller and the simple model‐based controller are also developed to compare with the novel one. Moreover, the robustness of the controller is verified by the platform friction and the parameters uncertainty.FindingsSimulation results show that the novel model‐based controller can gain a better tracing performance than the PID controller and even the simple model‐based controller. Under the environments of the platform with friction and 5% parameters variety, the tracing performance of the novel controller is also satisfactory, which verifies the robustness of the controller. Most importantly, the novel model‐based controller can be used in a higher precision control demand and a more complicated environment.Originality/valueThe main contribution of this paper is to derive a novel model‐based controller considering the motor systems' influence, which enhances the robustness of the controller. To the authors' best knowledge, such a framework for the improved model based controller has not been well treated in the past literature. The conventional PID controller and a simple model‐based controller are also built to verify the advantages of the improved model‐based controller.
Optimal time trajectories for industrial robots with torque, power, jerk and energy consumed constraints
Authors: Rubio Francisco , Valero Francisco , Sunyer Joseph , Cuadrado Juan 
Published: January 2012

PurposeThe purpose of this paper is to analyze the impact of the torque, power, jerk and energy consumed constraints on the generation of minimum time collision‐free trajectories for industrial robots in a complex environment.Design/methodology/approachAn algorithm is presented in which the trajectory is generated under real working constraints (specifically torque, power, jerk and energy consumed). It also takes into account the presence of obstacles (to avoid collisions) and the dynamics of the robotic system. The method solves an optimization problem to find the minimum time trajectory to perform the tasks the robot should do.FindingsImportant conclusions have been reached when solving the trajectory planning problem related to the value of the torque, power, jerk and energy consumed and the relationship between them, therefore enabling the user to choose the most efficient way of working depending on which parameter he is most interested in optimizing. From the examples solved the authors have found the relationship between the maximum and minimum values of the parameters studied.Research limitations/implicationsThis new approach tries to model the real behaviour of the actuators in order to be able to upgrade the trajectory quality, so a lot of work has to be done in this field.Practical implicationsThe algorithm solves the trajectory planning problem for any industrial robot and the real characteristics of the actuators are taken into account, which is essential to improve the performance of it.Originality/valueThis new tool enables the performance of the robot to be improved by combining adequately the values of the mentioned parameters (torque, power, jerk and consumed energy).
The strategic role evolution of foreign automotive parts subsidiaries in China
Authors: Kim Kyung‐Tae , Rhee Seung‐Kyu , Oh Joongsan 
Published: January 2012

PurposeThe purpose of this paper is to investigate the strategic role evolution of client‐following local subsidiaries of foreign automotive parts suppliers in China.Design/methodology/approachThe units of analysis are five local subsidiaries of foreign automotive parts suppliers dealing with Beijing Hyundai Motor Corporation in China; a case study methodology based on interviews with managers of the subsidiaries was employed.FindingsFirst, a modified version of Ferdows's model can be utilized to aptly analyze the strategic role changes of subsidiaries of foreign automotive parts suppliers which have followed their major client into the emerging market. Second, the development of a subsidiary's functional capabilities varies from subsidiary to subsidiary, depending on the headquarters' (HQ) global strategy and the nature of its interactions with external players. Third, the strategic role evolution of a subsidiary is critically influenced by the levels of its functional capabilities. Finally, the mechanism for a subsidiary's strategic role evolution can be explained by the interactions of three critical factors: the task assigned by HQ, the subsidiary's choice, and the local environment.Research limitations/implicationsThe external validity of this case study is yet to be verified and the possible gaps in perceptions between the subsidiary and the HQ have not yet been addressed. This is the first case study to address the strategic role evolution of client‐following subsidiaries of automotive parts suppliers.Practical implicationsThis study presents the HQ with a framework for role assignments and a checklist for planning the development of a subsidiary's capabilities.Originality/valueThis is the first paper to investigate the strategic role evolution of local subsidiaries of foreign automotive parts suppliers in the emerging market, and it finds critical factors affecting capability development, which in turn shape the subsidiary's process of role evolution.
Suppliers' affective trust and trust in competency in buyers
Authors: Ha Byoung‐Chun , Park Yang‐Kyu , Cho Sungbin 
Published: January 2012

PurposeThe purpose of this paper is to measure trust that logistics/supply chain management (SCM) managers of supplier firms perceive toward inbound SCM managers of buyer firms, and investigate the effect of trust on supply chain collaboration and logistics efficiency. In doing so, two trust forms are introduced: affective trust and trust in competency. Besides, supply chain collaboration includes the three dimensions: joint decision making, information sharing, and benefit/risk sharing.Design/methodology/approachA path analysis was used to test whether the two trust forms affect the three dimensions of supply chain collaboration, and then, the three dimensions of supply chain collaboration, in turn, affect the logistics efficiency of supplier firms. An empirical analysis was conducted with Korean firms.FindingsAffective trust has a significant influence on collaboration in information sharing and benefit/risk sharing, whereas trust in competency affects collaboration in joint decision making and benefit/risk sharing. Regarding supply chain collaboration, joint decision making and information sharing are found to affect logistics efficiency. Insignificant relationships are detected between affective trust and joint decision making, between trust in competency and information sharing, and between benefit/risk sharing and logistics efficiency.Originality/valueBy classifying trust into affective trust and trust in competency and by incorporating the three dimensions of collaboration, this paper analyzes the causal effect of suppliers' trust at the inter‐personal level on supply chain collaboration and logistics efficiency, and discusses the results compared to those focusing on buyers' trust.
Technology diffusion indexes across countries
Authors: Nissan Edward , Niroomand Farhang 
Published: January 2012

PurposeThe purpose of this paper is to investigate differences between 46 countries, 25 of which are EU members, in their technological communication standards and technological efforts.Design/methodology/approachTwo indexes were developed. The first, labeled Index 1, measures the communication standards of the 46 countries. The second index, labeled Index 2, measures their innovative efforts. Three different dimension variables were employed in each index. Analysis of variance and the coefficient of variation were used to find similarities and differences between and within the groups classified as EU and non‐EU.FindingsResults show overall that there were no statistically significant differences in means when countries were grouped into EU and non‐EU.Originality/valueThe paper uses two indexes composed of indication variables to rate and rank 46 countries for their technological diffusion, considering communication standards and innovative efforts.
Infrastructure and productivity in Latin America: is there a relationship in the long run?
Authors: Kühl Teles Vladimir , Cesar Mussolini Caio 
Published: January 2012

PurposeThe purpose of this paper is to analyse the relationship between infrastructure and total factor productivity (TFP) in the four major Latin American economies: Argentina, Brazil, Chile, and Mexico.Design/methodology/approachThe authors hypothesise that an increase in infrastructure has an indirect effect on output by raising productivity. To assess this theory, the traditional Johansen methodology was used for testing the cointegration between TFP and physical measures of infrastructure stock, such as energy, roads, and telephones. The Lütkepohl, Saikkonen and Trenkler Test, which considers a possible level shift in the series and has better small sample properties, was applied to the same data set and the two tests were compared.FindingsThe results do not support a robust long‐term relationship between the series; the authors do not find strong evidence that cuts in infrastructure investment in some Latin American countries were the main reason for the fall in TFP during the 1970s and 1980s.Originality/valueThe present paper addresses the empirical relationship between infrastructure and economic growth for Argentina, Brazil, Chile, and Mexico between 1950 and 2000, using new time series econometric methods finding new evidences on this relationship.
Constructing macroeconomic performance index of Indian states using DEA
Authors: Sahoo Biresh K. , Acharya Debashis 
Published: January 2012

PurposeThe purpose of this paper is to construct a robust macroeconomic performance (MEP) index of the State economies of an emerging market economy, i.e. India.Design/methodology/approachTwo variants of data envelopment analysis (DEA) models – radial and non‐radial – are proposed to construct the macroeconomic policy performance of 22 Indian State economies in the post‐economic reforms era covering the period: 1994‐1995 to 2001‐2002, using three macroeconomic indicators: growth in gross state domestic product, price stability, and fiscal deficit.FindingsThe authors' three broad empirical findings are: first, the radial and non‐radial DEA models yield significantly different rankings of State economies in terms of their MEP index scores; second, as against the use of only growth in gross state domestic product and price stability for MEP measure, the inclusion of fiscal deficit as an additional indicator yields a noticeable improvement not only in the State MEP index scores, but also in their rankings, thus providing the evidence of relatively successful attempt by the Indian States in reducing fiscal deficit, in general, and legislating FRBM bill, in particular; and third, a positive significant correlation between foreign direct investment (FDI) and MEP indicates that a State's overall macroeconomic policy performance does matter to attract FDI.Research limitations/implicationsSince the DEA models employed in this study ignore the possibility of asymmetric shocks, the MEP results might be questioned in this deterministic setting. However, the study period has been smooth and has not been subject to any major changes in the State economic policies. Therefore, the MEP results might not be susceptible such changes. However, further research is desired on examining the macroeconomic policy performance behavior of Indian States using bootstrapping DEA.Originality/valueNone of the past Indian studies were able to give a comprehensive picture concerning the MEP behavior of Indian State economies, since the methodologies adopted in those studies were not suitable to take into consideration all the macro indicators at a time. Therefore, this present study is considered the first of its kind in assessing the MEP index of the Indian State economies by simultaneously considering all the macro indicators.
Microenterprise financing preference
Authors: Osei‐Assibey Eric , Bokpin Godfred A. , Twerefou Daniel K. 
Published: January 2012

PurposeThe purpose of this paper is to investigate the determinants of financing preference of micro and small enterprises (MSEs) whilst distinguishing a broader range of financing sources beyond what is typically the case within the corporate finance literature.Design/methodology/approachUnder the framework of ordinal logistic regression, the paper also tests whether there is evidence of hierarchical preference ordering as predicted by pecking order theory (POH) using field survey data for 2009.FindingsThe authors relate that new enterprises are more likely to prefer low cost and less risky or less formal financing such as internal or bootstrap finances. However, as the enterprise gets established or matures, its capacity to seek formal financing increases, thereby becoming more likely to prefer or being in a higher category of formal financing. While the paper affirms the POH, it is argued that this order is a consequence of severe persistent constraints other than sheer preference. The findings further reveal that, microentrepreneur's and MSE's‐specific level socio‐economic characteristics such as owner's education or financial literacy status, households tangible assets, ownership structure, enterprise size, as well as sensitivity to high interest rates in the credit market, to be important determinants of either past (start‐up), present or future financing preference.Originality/valueThe main value of this paper is to analyse the determinants of financing preference of MSEs within the context of rural financial market (RFM) from a developing country perspective.
Interdisciplinarity on campus: how the publishing world is responding
Authors: Lawson Karen , King Christine , Matava Tobie 
Published: January 2012

PurposeThe purpose of this article is to explore how the publishing world is responding to library collection development challenges posed by the growth of interdisciplinary studies programs.Design/methodology/approachThe first step in this study was a survey of the websites of selected ARL and all Oberlin Group university and college websites to determine those institutions that have a clearly identified Interdisciplinary program or majors. The authors then investigated the status of interdisciplinary collection development practices at these institutions. Finally the websites of reviewers, publishers, and vendors were surveyed to explore what tools are available to help librarians identify new interdisciplinary monographs.FindingsRather than supplying formal interdisciplinary collection development support, most librarians rely on external resources to help identify interdisciplinary materials. As technology evolves publisher/vendor websites can provide librarians with the tools needed to conduct in‐depth searches of their catalogs, thus aiding in the identification of interdisciplinary monographs for purchase.Originality/valueBuilding on previous scholarship about the growth of interdisciplinary studies and libraries, this paper extends the research by examining the tools available to help librarians bridge the gap created by new disciplinary formations and offers suggestions for publishers to enhance interdisciplinary selection.
When patrons call the shots: patron‐driven acquisition at Brigham Young University
Authors: Schroeder Rebecca 
Published: January 2012

PurposeThis paper seeks to provide evidence that patron‐driven acquisition is a successful collection development tool.Design/methodology/approachThe study used cost, usage, and cost per use as measurements to compare patron‐driven acquired print and electronic books with traditionally acquired print and electronic books to determine the success of five different patron‐driven methods.FindingsThe study found that usage is much higher and the cost and cost per use is lower for patron‐driven acquisition methods than for traditional collection development methods.Originality/valueCollection development and acquisitions librarians can benefit from this research comparing traditional collection development methods with multiple patron‐driven acquisitions methods to better manage their resources.
Reference in transition: a case study in reference collection development
Authors: Detmering Robert , Sproles Claudene 
Published: January 2012

PurposeThe purpose of this article is to describe the ongoing process of weeding, streamlining, and transforming a very large, print‐based reference collection at the University of Louisville's William F. Ekstrom Library, focusing in particular on the various issues involved in developing a more timely, focused, and electronic‐oriented collection.Design/methodology/approachOver the years, the Ekstrom Library reference collection evolved into a large, neglected, print‐based collection that ignored current space needs and user preferences for digital sources. To address this, the reference department developed a new, cooperative approach to reference collection development and weeding to improve the user experience and address serious space issues.FindingsTo achieve a more usable reference collection, the reference department needed to rethink the philosophy behind the collection and completely rewrite the collection development policy. These changes have facilitated the creation of a smaller, more user‐friendly collection that embraces the digital environment.Originality/valueThe article highlights problems and approaches to refocusing a reference collection in a time of transition, as physical library spaces continue to evolve and the value of a traditional reference collection appears increasingly uncertain.
Interview with Professor Robert Kaplan, author of What to Ask the Person in the Mirror
Authors: by William Strange Interview 
Published: January 2012

PurposeThe purpose of this article is to provide an interview with Prof. Robert Kaplan, author of What to Ask the Person in the Mirror.Design/methodology/approachThe interview is conducted by an independent interviewer.FindingsRobert Steven Kaplan is a professor of management practice at Harvard Business School and former vice chairman of the Goldman Sachs Group. He is also co‐chairman of Draper Richards Kaplan, a global venture philanthropy firm. He advises numerous companies around the world.Practical implicationsProfessor Robert Kaplan examines the self‐development of leaders by giving practical insight on how a leader can ask the right questions.Originality/valueLeaders must learn how and what to question of themselves in order to become effective.
How to build corporate identity for strategic advantage … and how not to: lessons from a post‐communist country
Authors: Davis Paul J. , Yugay Yevgeniya 
Published: January 2012

PurposeThe aim of this viewpoint is to highlight the importance of corporate identity.Design/methodology/approachThe article lays out five key principles to shape a corporate image.FindingsCorporate identity is the sum of all things that tell stakeholder groups what a company thinks of itself and how it aims to be perceived by others. It is the practice of fashioning an image that clearly represents where the business strives to position itself in the market place, an image that is consistent with, and supportive of its brands, products, and services.Practical implicationsReference is drawn from post‐communist Kazakhstan serving to highlight how corporate image can be misjudged in smaller communities and the negative effects this can have on business.Originality/valueThe article provides sound practical advice on the need for organizations to develop a corporate image and how to achieve this.
Periodic performance prediction for real‐time business process monitoring
Authors: Kang Bokyoung , Kim Dongsoo , Kang Suk‐Ho 
Published: January 2012

PurposeThe purpose of this paper is to provide industrial managers with insight into the real‐time progress of running processes. The authors formulated a periodic performance prediction algorithm for use in a proposed novel approach to real‐time business process monitoring.Design/methodology/approachIn the course of process executions, the final performance is predicted probabilistically based on partial information. Imputation method is used to generate probable progresses of ongoing process and Support Vector Machine classifies the performances of them. These procedures are periodically iterated along with the real‐time progress in order to describe the ongoing status.FindingsThe proposed approach can describe the ongoing status as the probability that the process will be executed continually and terminated as the identical result. Furthermore, before the actual occurrence, a proactive warning can be provided for implicit notification of eventualities if the probability of occurrence of the given outcome exceeds the threshold.Research limitations/implicationsThe performance of the proactive warning strategy was evaluated only for accuracy and proactiveness. However, the process will be improved by additionally considering opportunity costs and benefits from actual termination types and their warning errors.Originality/valueWhereas the conventional monitoring approaches only classify the already occurred result of a terminated instance deterministically, the proposed approach predicts the possible results of an ongoing instance probabilistically over entire monitoring periods. As such, the proposed approach can provide the real‐time indicator describing the current capability of ongoing process.