bluuebunny/crossref_metadata_2025_split huggingface dataset:
A deterministic way of planning and controlling biped walking of LOCH humanoid robot
Authors: Xie M. , Zhong Z.W. , Zhang L. , Xian L.B. , Wang L. , Yang H.J. , Song C.S. , Li J. 
Published: June 2009

PurposePlanning and control of humanoid biped walking has been an active research topic for many years. But, there is no definite answer to the question of how to practicre‐examinedally achieve speedy and stable walking in real‐time and in a changing environment. The purpose of this paper is to re‐examine the issue of planning and controlling humanoid biped walking, then to propose two new ideas.Design/methodology/approachThe first idea is to treat the supporting foot of a biped to be part of the ground. In this way, there is a foot reaction force acting at a fixed virtual joint, which can be at, or below, the ankle joint. And, a new concept is come our that is named as in‐foot ZMP in contrast to the existing concept of on‐ground ZMP. The unique benefit with this new concept of in‐foot ZMP is that the ZMP control is no longer an issue because the in‐foot ZMP can be controlled so as to to be at a fixed virtual joint during a stable walking. Such a fixed virtual joint can be called a ZMP joint.FindingsThe second idea is to focus on hip's trajectory (instead of on‐ground ZMP's trajectory) and to split a hip's dynamic response into two independent parts: one is the steady‐state response contributing to the stability of walking (or standing), and the other is the transient response contributing to the speed of walking. This idea allows us to explicitly postulate the necessary and sufficient condition for achieving leg stability as well as the necessary and sufficient condition for achieving foot stability. The paper shows that the implementation of these two new ideas help realize a unified framework for task‐guided, intention‐guided, and sensor‐guided, planning and control of humanoid biped walking.Originality/valueThis paper first re‐examines the issue of planning and controlling humanoid biped walking, then proposes two new ideas. The first idea is to treat the supporting foot of a biped to be part of the ground. The second idea is to focus on hip's trajectory (instead of on‐ground ZMP's trajectory) and to split a hip's dynamic response into two independent parts: one is the steady‐state response contributing to the stability of walking (or standing), and the other is the transient response contributing to the speed of walking.
Robotic system for inspection of test objects with unknown geometry using NDT methods
Authors: Sattar Tariq P. , Brenner Alina‐Alexandra 
Published: June 2009

PurposeThe purpose of this paper is to develop a portable non‐destructive testing (NDT) robotic arm that can be carried by climbing and walking robots (CLAWAR). The arm is required to maintain, during a scanning trajectory, a desired NDT probe contact force and orientation to evaluate defects in geometrically complex industrial infrastructure and products such as turbine blades.Design/methodology/approachA seven‐axis arm transportable by CLAWAR was developed to deploy NDT probes with suitable dexterity. It was equipped with a force sensor to scan a complex shape by keeping the NDT probe normal to the surface while maintaining a constant contact force with it. Two approaches were used. One used permanent magnet adhesion to obtain secure contact while the other used position‐force‐moment (PFM) feedback to adapt the arm.FindingsTests were performed on turbine blades with eddy‐current inspection techniques to assess the quality of defect data using manual inspection and automated inspection. Significant improvements in the quality of inspection were observed when using robotic scanning as compared to manual inspection.Practical implicationsThe results have practical implications for the remote inspection of very large infrastructures such as petrochemical storage tanks, bridges, pressure vessels, etc. or where the inspection is performed in hazardous environments and the test surface is not known a priori with any accuracy.Originality/valueThe work is a novel application of the PFM control of a seven‐axis robot arm to scan unknown contoured surfaces to ensure reliable NDT data acquisition at scanning speeds of up to 0.5 mm s−1.
The DLR Crawler: evaluation of gaits and control of an actively compliant six‐legged walking robot
Authors: Görner M. , Wimböck T. , Hirzinger G. 
Published: June 2009

PurposeThe purpose of this paper is to present and evaluate methods of control and gait generation for the DLR Crawler – a six‐legged walking robot prototype based on the fingers of the DLR Hand II.Design/methodology/approachFollowing the institutes philosophy, the DLR Crawler is a highly integrated mechatronic device. As in all DLR robots, joint torque sensing plays an important role to allow actively compliant interaction with the environment. To control the Crawler a joint compliance controller is implemented and two different methods of gait generation are in use. The first method, intended for moderately uneven terrain, employs scalable patterns of fixed coordination combined with a leg extension reflex. For the second method, used in rougher terrain, a set of rules found by biologists in stick insect studies is applied. Based on these rules gaits emerge according to a velocity command. These gaits are combined with several reflexes to a reactive walking algorithm.FindingsThe compliance controller together with the reactive gaits allows the robot to autonomously master uneven terrain and obstacles with height differences within the nominal walking height. Further, the controller reduces internal forces compared to pure joint position control. The sensitive joint torque sensors allow fast collision detection and reactions thereafter.Originality/valueThis paper introduces a six‐legged walking robot test bed with comprehensive force‐torque sensing capability. Joint compliance controllers are implemented and successfully combined with reactive gait algorithms. For the second gait algorithm inspired by Cruse's rules, which were identified for forward walking stick insects, an implementation has been found for the DLR Crawler that gives the robot full omnidirectional mobility.
Climbing cleaning robot for vertical surfaces
Authors: Akinfiev Teodor , Armada Manuel , Nabulsi Samir 
Published: June 2009

PurposeThe purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces.Design/methodology/approachThe paper analyzes the reasons for the low productivities or unreliable work of cleaning robots for vertical surfaces. Based on this analysis, a design of a new robot is created. Pilot studies were performed of laboratory and industrial prototypes of a new robot.FindingsThe paper shows that the new design provides a reliable and high‐performance work of the cleaning robot for vertical surfaces. Thus, the new design provides increasing in productivities more than ten times compared with the known robot.Research limitations/implicationsIn this paper, it is assumed that the speed of the robot during the process of surface cleaning is constant. For future research the algorithm is proposed that automatically maintains such speed of the robot, which depends on the degree of dirtiness and is optimal for the surface to be cleaned.Practical implicationsThe results of the research have been used in the manufacture of the robot TITO 500 industrial prototype. Currently, the company RatioForem is implementing small‐lot production of the robots TITO 500.Originality/valueA new design has been developed for a high‐performance climbing robot for vertical surfaces cleaning, and algorithms for control of the robot.
An underground explorer robot based on peristaltic crawling of earthworms
Authors: Omori Hayato , Nakamura Taro , Yada Takayuki 
Published: June 2009

PurposeAn earthworm moves by peristaltic crawling which brings a large surface into contact during motions and requires less space than other mechanisms. A peristaltic crawling is suitable for moving in excavated space by an anterior (front) of a robot. Therefore, a peristaltic crawling robot is useful for an underground explorer. The purpose of this paper is to develop a peristaltic crawling robot with several parallel links and compare with motion of an actual earthworm. Then we had some experiments on a plane surface and in a tube, and in vertical perforated dirt.Design/methodology/approachThe proposed robot, which consists of several parallel mechanisms, has four units for being controlled in 3‐DOF. A unit expands in a radial direction when it contracts to increase the friction between the unit and surroundings. Dustproof covering is attached for preventing dirt from getting inside units. Locomotion mechanism is as the same as an actual earthworm's peristaltic crawling. The robot makes an anterior unit contract, and then the contraction propagates towards the posterior (rear). Therefore, it requires no more space than that of an excavation part on the front of the robot.FindingsIt was found that three units of robot consists of several parallel mechanisms had wide range of manipulation; four units of robot moves with peristaltic crawling compared with motion of an actual earthworm. It was confirmed that the robot could turn on a plane surface and move upward and downward in a vertical pipe. Finally, the robot could move in vertical perforated dirt faster than in a pipe.Originality/valueThe robot is designed with several parallel links and equipped with dustproof covering. The locomotion of an actual earthworm is videotaped and analysed for comparing with the analysed movements of the robot. It was confirmed the robot could move with peristaltic crawling and turn on a plane surface. In addition, it was confirmed that some experiments were done in a narrow pipe and in vertical perforated dirt.
Robust navigation system based on RFID transponder barriers for the interactive behavior‐operated shopping trolley (InBOT)
Authors: Göller Michael , Steinhardt Florian , Kerscher Thilo , Marius Zöllner J. , Dillmann Rüdiger 
Published: June 2009

PurposeThe purpose of this paper is to present a navigation system designed for highly dynamic environments which is independent from a metrically exact global map.Design/methodology/approachA navigation system is developed to cope with highly dynamic environments. Here, this refers especially to changes in the environment itself, like the daily deployment or removal of advertisements or special offers in a supermarket. The navigation system is split into a global part, relying on non‐concealable artificial landmarks and a local part containing a behavior‐based control using a dynamic potential field approach. The required information are the definitively static structures and the actual sensor information only.FindingsThe system proved to be useful in environments that change frequently and where the presence of many people complicates the perception of landmarks.Practical implicationsThe presented navigation system is robust against changes in the environment and provides reliable collision avoidance capabilities.Originality/valueIt is a useful navigation system for autonomous robots dedicated to frequently changing and populated environments.
Energy harvesting and wireless sensors: a review of recent developments
Authors: Bogue Robert 
Published: June 2009

PurposeThe purpose of this paper is to review the development of energy harvesting techniques and their use with wireless, self‐powered sensors.Design/methodology/approachThis paper first considers the need for wireless sensors and then discusses a number of products and recent development activities.FindingsEnergy harvesting devices based on electrodynamic, piezoelectric and thermoelectric effects, implemented through electromechanical, microelectromechanical systems and nanotechnological approaches, are attracting strong academic and commercial interest. A limited number of sensors and systems exploiting these effects are in production and many more are under development. Some actual and anticipated applications include industrial condition monitoring, structural monitoring and healthcare.Originality/valueThis provides a technical insight into energy harvesting techniques and their applications to wireless sensing.
Using the mouth as a computer keyboard
Authors: Connolly Christine 
Published: June 2009

PurposeThe purpose of this paper is to review work at the Georgia Institute of Technology that uses magnetic sensor arrays to construct assistive technology systems for disabled people.Design/methodology/approachThe innovative Tongue Drive system is described, along with its advantages over other mouth‐based control devices. The results of practical tests on able‐bodied volunteers are reported. Finally, there is a review of other related projects by the same researchers.FindingsMagnetic field sensors, wireless communications and feature extraction algorithms take advantage of the dexterity of the tongue to form an unobtrusive and non‐invasive control system with a large set of commands. Novice users achieved an information transfer rate of about 150 bits/min.Originality/valueThis paper displays the ingenuity and effectiveness of systems built on magnetic sensor arrays.
Sensing with electromagnetic radiation: a review. Part 2: long wavelengths
Authors: Bogue Robert 
Published: June 2009

PurposeThe purpose of this paper is to review the industrial sensing applications of electromagnetic radiation (EMR) and is in two parts. This, the second part, considers the infrared (IR) to radio‐frequency (RF) spectral regions.Design/methodology/approachThis paper discusses the sensing applications of EMR in the IR to RF region, through reference to the techniques employed, products and their applications.FindingsThis paper shows that this spectral region is used in a diversity of sensors for the measurement of physical variables, gases and chemical compounds. The most widely used phenomena are absorption and reflection. Applications are found in a wide range of industries.Originality/valueThis paper provides a detailed review of the sensing uses of EMR with wavelengths longer than visible light.
Measurements in harsh RF propagation environments to support performance evaluation of wireless sensor networks
Authors: Remley Kate A. , Koepke Galen , Holloway Chris , Camell Dennis , Grosvenor Chriss 
Published: June 2009

PurposeThe purpose of this paper is to describe common methods for evaluating the performance of wireless devices such as wireless sensors in harsh radio environments.Design/methodology/approachThe paper describes how measurements of real‐world propagation environments can be used to support the evaluation process, then presents representative measurement data from multipath environments where sensor networks are likely to be deployed: a fixed‐infrastructure, process‐control environment (here an oil refinery), and a heavy industrial environment (here an automotive assembly plant).FindingsResults on the characterization of multipath in the propagation channel are summarized and how these results may be used in the performance evaluation of sensor networks is discussed.Originality/valueThe paper describes measurement results from environments where little open‐literature data exists on point‐to‐point propagation, specifically high‐multipath environments. These highly reflective scenarios can present difficulties for deployment of sensor networks.
Modeling of pulsed GTAW based on multi‐sensor fusion
Authors: Chen Bo , Wang Jifeng , Chen Shanben 
Published: June 2009

PurposeWelding process is a complicated process influenced by many interference factors, a single sensor cannot get information describing welding process roundly. This paper simultaneously uses different sensors to get different information about the welding process, and uses multi‐sensor information fusion technology to fuse the different information. By using multi‐sensors, this paper aims to describe the welding process more precisely.Design/methodology/approachElectronic and welding pool image information are, respectively, obtained by arc sensor and image sensor, then electronic signal processing and image processing algorithms are used to extract the features of the signals, the features are then fused by neural network to predict the backside width of weld pool.FindingsComparative experiments show that the multi‐sensor fusion technology can predict the weld pool backside width more precisely.Originality/valueThe multi‐sensor fusion technology is used to fuse the different information obtained by different sensors in a gas tungsten arc welding process. This method gives a new approach to obtaining information and describing the welding process.
Combined active triangulation, morphology scheme for active shape retrieval
Authors: Omar Mohammed , Zhou Yi , Planting Eric , Parvataneni Rohit , Hung Stephen 
Published: June 2009

PurposeThe purpose of this paper is to present a combined scheme of active laser‐based triangulation and a morphological edge detection, to quantify features dimensions (width and depth) over smooth plastic surfaces. The inspected target is an automotive polyethylene, optically black fender, with average roughness of 1μm, while the sought features are mold sinks with depth variations of 0.3‐1.0 mm and a width of ∼3 mm.Design/methodology/approachSeveral non‐contact scanning and reconstruction optical modalities are discussed along with its associated noise for current application; such techniques include interferometry and triangulation. The proposed system projects a linear coherent illumination and scans its reflection profile to infer the reflected component position using trigonometry and its width using a Sobel morphological operator. The retrieved dimensions are then reconstructed into feature boundaries that enable a depth and width quantification.FindingsThe proposed setup and processing are validated through experimental scans of actual molded fenders with artificial deviations. The proposed system accuracy is then analyzed and its spatial resolution is found to be 0.14 mm using the current charge‐coupled device format of 640 × 480. Additionally the proposed system is benchmarked against a commercial 3D stereo‐based scanner; proposed system proved to be more accurate with faster scanning rates.Research limitations/implicationsThe post processor combines the predicted width and depth values in real‐time to synthesize a 3D surface profile for sought features, with a resolution of 0.14 mm, an accuracy of 0.09 mm, and a repeatability of 0.11 mm. The proposed scheme is customized to current laser illuminant and to the plastic surface profile, which further modifications for other illuminations and roughness values.Originality/valueNew image processing code is used to reduce the laser speckle effect and the moving mechanism vibration using a moving Gaussian illuminant and a double thresholding scheme coupled with sequential averaging, respectively.
Understanding the effect of discrimination in the workplace
Authors: Regmi Krishna , Naidoo Jennie , Regmi Sharada 
Published: June 2009

PurposeThe purpose of this paper is to examine the effects of discrimination in the workplace; and to draw general lessons, which might help to develop appropriate policies to reduce discrimination in the workplace setting.Design/methodology/approachA mixed‐methods approach was used in the research, which consisted of self‐administrated questionnaires (n = 115), in‐depth interviews (n = 10) and group consultations (n = 20).FindingsThe paper provides empirical evidence that workers continue to face subtle forms of discrimination despite the implementation of numerous Employment Acts, designed to protect employees from unequal treatment due to their gender or ethnic origin. Workers' perceptions of discrimination were found to be positively associated with increased stress, intentions to seek new employment positions, and decreased satisfaction, commitment and citizenship behaviours. More education and awareness, coupled with changing managers' and employees' attitudes, perceptions and behaviours in today's organizations, are important strategies in tackling discrimination and promoting a more diverse workforce.Originality/valueThis paper brings together a number of important themes, highlighting and synthesising the complex relationship between discrimination and its manifestations, and its impact on discriminated‐against individuals and groups in terms of access to, and progression within, the labour market. Research assistants from the target group were employed. This innovative research method not only enabled authors to get closer to the knowledge and experience of the target groups in relation to the barriers affecting these groups but also empowered them and enhanced the research.
Affirmative action decisions: when ignorance is bliss
Authors: McMillan‐Capehart Amy , Lee Grubb W. , Herdman Andrew 
Published: June 2009

PurposeThe purpose of this paper is to show how various organizational justifications for hiring decisions influence the beneficiary's perceptions of fairness. Specifically, the paper investigates the relative impacts of no justification, affirmative action justification and justifications based on attempts to improve organizational creativity.Design/methodology/approachParticipants were asked to read several vignettes in which the justification for the hiring decisions was manipulated. Fairness perceptions were then assessed for each scenario. Paired‐sample t tests were used to test hypotheses.FindingsThe paper finds that perceptions of both procedural and distributive justice appeared to follow a common theme across Hispanic and African American subgroups where the hiring decision was perceived to be fairer when no justification was provided. Hiring decisions based on affirmative action and diversity programs designed to promote creativity were perceived as less fair by both African Americans and Hispanics.Research limitations/implicationsThe study used a sample of minority students, thereby limiting the generalizability of these findings.Practical implicationsThe current study has practical implications in that it may help both academicians and practitioners better understand what applicants perceive regarding the fairness of affirmative action and diversity programs.Originality/valuePast research has investigated the preferential selection of women and minorities, however, there has been little systematic inquiry into the possible justifications that might reduce the negative reactions of beneficiaries.
Managerial and professional women in “extreme jobs”
Authors: Burke Ronald J. , Fiksenbaum Lisa 
Published: June 2009

PurposeInterest in the potential negative effects of long work hours has increased over the past ten years. The purpose of this paper is to compare personal demographics and work situation characteristics, stable individual difference factors, job behaviors, work and extra‐work satisfactions and psychological well‐being of female MBA graduates in managerial and professional jobs working 56 h a week or more with those working 55 h a week or less.Design/methodology/approachData were collected from 247 female MBA graduates of a single Canadian business school, using anonymously completed questionnaires, with about a 35 percent response rate.FindingsFemales working more hours reported both benefits and costs. The benefits included higher levels of job satisfaction, future career prospects and salary; the costs included higher levels of job stress and psychosomatic symptoms and lower levels of family satisfaction and emotional health.Research limitations/implicationsAll data were self‐reports and the sample of women managers and professionals working 56 or more hours a week was relatively small. The research needs to be replicated in other countries as well.Practical implicationsOrganizations need to consider the potential costs to both employees and themselves from long working hours.Originality/valueThis paper is one of few studies of the effects of long work hours on the experiences of managerial and professional women.