bluuebunny/crossref_metadata_2025_split huggingface dataset:
A CORBA‐based cooperative mobile robot system
Authors: Zhang Zhen , Cao Qixin , Zhang Lei , Lo Charles 
Published: January 2009

PurposeThe purpose of this paper is to present a distributed multiple mobile robot system that provides a collaborative control and simulation environment.Design/methodology/approachA CORBA‐based cooperative system is designed to implement a robotic layered cooperative mechanism. The mechanism has three layers: mission, transport and execution. In order to realize a flexible and effective communication in the cooperative mechanism, an extended robot event service (federated event service) is proposed to improve the cooperative system's real time performance.FindingsExperimentation has proved the validity and effectiveness of the system. The federated event service's latency is approximately 9 percent less than the standard event service latency when the CPU is determined.Practical implicationsThe robotic modularized system includes the map‐building, path‐planning, robot task‐planning, simulation and actual robot control function modules, and uses CORBA to integrate the whole system. It is easy to implement a layered cooperative mechanism for multiple mobile robots. Given the problem on multiple robots cooperation latency, a useful extended robot event service is proposed.Originality/valueThe paper focuses on the distributed functional modular architecture, and the multiple robots cooperative layered mechanism. In the mechanism, an extended robot event service (federated event service) is proposed to reduce the cooperative system's real time latency. The conducted experiment validates the proposed system with a good performance for multiple mobile robots' cooperation.
A review of CAD‐based robot path planning for spray painting
Authors: Chen Heping , Fuhlbrigge Thomas , Li Xiongzi 
Published: January 2009

PurposePaint path planning for industrial robots is critical for uniform paint distribution, process cycle time and material waste, etc. However, paint path planning is still a costly and time‐consuming process. Currently paint path planning has always caused a bottle‐neck for manufacturing automation because typical manual teaching methods are tedious, error‐prone and skill‐dependent. Hence, it is essential to develop automated tool path‐planning methods to replace manual paint path planning. The purpose of this paper is to review the existing automated tool path‐planning methods, and investigate their advantages and disadvantages.Design/methodology/approachThe approach takes the form of a review of automated tool path‐planning methods, to investigate the advantages and disadvantages of the current technologies.FindingsPaint path planning is a very complicated task considering complex parts, paint process requirements and complicated spraying tools. There are some research and development efforts in this area. Based on the review of the methods used for paint path planning and simulation, the paper concludes that: the tessellated CAD model formats have many advantages in paint path planning and paint deposition simulation. However, the tessellated CAD model formats lack edge and connection information. Hence, it may not be suitable for some applications requiring edge following, such as welding. For the spray gun model, more complicated models, such as 2D models, should be used for both path planning and paint distribution simulation. Paint path generation methods should be able to generate a paint path for complex automotive parts without assumptions, such as presupposing a part with a continuous surface.Practical implicationsThe paper makes possible automated path generation for spray‐painting process using industrial robots such that the path‐planning time can be reduced, the product quality improved, etc.Originality/valueThe paper provides a useful review of current paint path‐planning methodologies based on the CAD models of parts.
An application of mobile robotics for olfactory monitoring of hazardous industrial sites
Authors: Distante Cosimo , Indiveri Giovanni , Reina Giulio 
Published: January 2009

PurposeThe purpose of this paper is to present a mobile robot with an olfactory capability for hazardous site survey. Possible applications include detection of gas leaks and dangerous substances along predefined paths, inspection of pipes in factories, and mine sweeping.Design/methodology/approachThe mobile sentry is equipped with a transducer array of tin oxide chemical sensors, compliant with the standard interface IEEE 1451, which provides odour‐sensing capability, and uses differential drive and spring‐suspended odometric trackballs to move and localize in the environment. The monitoring strategy comprises two stages. First, a path learning operation is performed where the vehicle is remotely controlled through some potential critical locations of the environment, such as valves, pressure vessels, and pipelines. Then, the robot automatically tracks the prerecorded trajectory, while serving as an electronic watch by providing a real‐time olfactory map of the environment. Laboratory experiments are described to validate the approach and assess the performance of the proposed system.FindingsThe approach was shown to be effective in experimental trials where the robot was able to detect multiple odour sources and differentiate between sources very close to one another.Research limitations/implicationsOne limitation of the methodology is that it has been specifically designed for odour detection along a well‐defined path in a highly structured environment, such as that expected in the industrial field. The problem of detection of leakages outside the search path is not addressed here.Practical implicationsThis mobile robot can be of great value to detect hazardous fluid leakages in chemical warehouses and industrial sites, thus increasing the safety level for human operators.Originality/valueThe paper describes a mobile robotic system, which employs an odour‐sensing capability to perform automated monitoring of hazardous industrial sites. A dynamic model of the mobile nose is also discussed and it is shown that it well describes the behaviour of the system.
Cooperative robotic assistant with drill‐by‐wire end‐effector for spinal fusion surgery
Authors: Lee Jongwon , Hwang Inwook , Kim Keehoon , Choi Seungmoon , Kyun Chung Wan , Soo Kim Young 
Published: January 2009

PurposeThe purpose of this paper is to present a surgical robot for spinal fusion and its control framework that provides higher operation accuracy, greater flexibility of robot position control, and improved ergonomics.Design/methodology/approachA human‐guided robot for the spinal fusion surgery has been developed with a dexterous end‐effector that is capable of high‐speed drilling for cortical layer gimleting and tele‐operated insertion of screws into the vertebrae. The end‐effector is position‐controlled by a five degrees‐of‐freedom robot body that has a kinematically closed structure to withstand strong reaction force occurring in the surgery. The robot also allows the surgeon to control cooperatively the position and orientation of the end‐effector in order to provide maximum flexibility in exploiting his or her expertise. Also incorporated for improved safety is a “drill‐by‐wire” mechanism wherein a screw is tele‐drilled by the surgeon in a mechanically decoupled master/slave system. Finally, a torque‐rendering algorithm that adds synthetic open‐loop high‐frequency components on feedback torque increases the realism of tele‐drilling in the screw‐by‐wire mechanism.FindingsExperimental results indicated that this assistive robot for spinal fusion performs drilling tasks within the static regulation errors less than 0.1 μm for position control and less than 0.05° for orientation control. The users of the tele‐drilling reported subjectively that they experienced torque feedback similar to that of direct screw insertion.Research limitations/implicationsAlthough the robotic surgery system itself has been developed, integration with surgery planning and tracking systems is ongoing. Thus, the screw insertion accuracy of a whole surgery system with the assistive robot is to be investigated in the near future.Originality/valueThe paper arguably pioneers the dexterous end‐effector appropriately designed for spinal fusion, the cooperative robot position‐control algorithm, the screw‐by‐wire mechanism for indirect screw insertion, and the torque‐rendering algorithm for more realistic torque feedback. In particular, the system has the potential of circumventing the screw‐loosening problem, a common defect in the conventional surgeon‐operated or robot‐assisted spinal fusion surgery.
Programming‐by‐demonstration in the coworker scenario for SMEs
Authors: Norberto Pires J. , Veiga Germano , Araújo Ricardo 
Published: January 2009

PurposeThe purpose of this paper is to report a collection of developments that enable users to program industrial robots using speech, several device interfaces, force control and code generation techniques.Design/methodology/approachThe reported system is explained in detail and a few practical examples are given that demonstrate its usefulness for small to medium‐sized enterprises (SMEs), where robots and humans need to cooperate to achieve a common goal (coworker scenario). The paper also explores the user interface software adapted for use by non‐experts.FindingsThe programming‐by‐demonstration (PbD) system presented proved to be very efficient with the task of programming entirely new features to an industrial robotic system. The system uses a speech interface for user command, and a force‐controlled guiding system for teaching the robot the details about the task being programmed. With only a small set of implemented robot instructions it was fairly easy to teach the robot system a new task, generate the robot code and execute it immediately.Research limitations/implicationsAlthough a particular robot controller was used, the system is in many aspects general, since the options adopted are mainly based on standards. It can obviously be implemented with other robot controllers without significant changes. In fact, most of the features were ported to run with Motoman robots with success.Practical implicationsIt is important to stress that the robot program built in this section was obtained without writing a single line of code, but instead just by moving the robot to the desired positions and adding the required robot instructions using speech. Even the upload task of the obtained module to the robot controller is commanded by speech, along with its execution/termination. Consequently, teaching the robotic system a new feature is accessible for any type of user with only minor training.Originality/valueThis type of PbD systems will constitute a major advantage for SMEs, since most of those companies do not have the necessary engineering resources to make changes or add new functionalities to their robotic manufacturing systems. Even at the system integrator level these systems are very useful for avoiding the need for specific knowledge about all the controllers with which they work: complexity is hidden beyond the speech interfaces and portable interface devices, with specific and user‐friendly APIs making the connection between the programmer and the system.
Design and validation of a novel actuator with adaptable compliance for application in human‐like robotics
Authors: Gonzalez Rodriguez Antonio , Eduardo Nava Rodriguez Nestor , Gaspar Gonzalez Rodriguez Angel 
Published: January 2009

PurposeThe purpose of this paper is to propose a novel actuator with adaptable compliance for robotic applications.Design/methodology/approachIn order to achieve limb actuation similar to that of human muscles, a novel actuator with adaptable compliance is proposed. Three principal design paradigms currently exist in the development of artificial muscles that have been adopted at several research centres, universities and commercial organizations around the world. The first approach consists of using compliant actuator systems such as pneumatic actuators. The second approach undertakes the development of electroactive polymers that deform when a voltage is applied. The third approach involves electromechanical devices typically comprising an electrical actuator and an elastic element in combination. The proposed actuator extends on the third approach. It comprises an electrical DC motor in serial configuration and a novel elastic device exhibiting variable stiffness.FindingsThe novel elastic device complements the mechanical structure of the device, enabling adaptation to the dynamic effects of external forces.Practical implicationsSeveral applications for the actuator with adaptable compliance have been identified in the field of human‐like robotics.Originality/valuePrototypic experimentation has successfully demonstrated the variable stiffness of the device.
ERP implementation at SMEs: analysis of five Canadian cases
Authors: Snider Brent , da Silveira Giovani J.C. , Balakrishnan Jaydeep 
Published: January 2009

PurposeThe purpose of this paper is to explore the critical success factors (CSFs) of enterprise resource planning (ERP) system implementation in small and medium‐sized enterprises (SMEs).Design/methodology/approachFive case studies of Canadian SMEs were conducted. They included interviewing individuals from five roles at each organization and gathering project documents. Following an evaluation of each project's success (within‐case analysis), cross‐case analysis was conducted to elicit influential and distinctive factors.FindingsFactors were identified that appeared to explain variation between successful and unsuccessful implementations at SMEs, besides factors that appeared to be innovative or counter‐intuitive in light of the established literature.Research limitations/implicationsThe study reinforces the need for more research that is focused on SMEs. All cases were of Canadian SMEs with either a manufacturing or distribution focus, potentially limiting the generalizability of findings to other industries or countries.Practical implicationsBy identifying relevant CSFs for SMEs, managers can better prioritize implementation efforts and resources to maximize success of ERP implementations.Originality/valueThe paper appears to be one of the first studies to focus on the CSFs of ERP implementation at SMEs.
A theoretical review of flexibility, agility and responsiveness in the operations management literature
Authors: Santos Bernardes Ednilson , Hanna Mark D. 
Published: January 2009

PurposeThe purpose of this paper is to study the often overlapping use of the related terms flexibility, agility and responsiveness in the operations management literature to clarify differences between the terms.Design/methodology/approachDrawing on the notion of the ladder of abstraction, a conceptual differentiation between the three terms is proposed.FindingsBased on the most common associations of the terms in the literature, the paper proposes a hierarchical interrelationship between the terms in that: flexibility is most commonly associated with the inherent property of systems which allows them to change within pre‐established parameters; agility is predominantly used to describe an approach to organizing that provides for rapid system reconfiguration in the face of unforeseeable changes; and responsiveness commonly refers to a system behavior involving timely purposeful change in the presence of modulating stimuli.Practical implicationsAs managers of manufacturing firms strive to improve the performance of their organizations in a highly competitive environment, the paper provides a useful enhanced understanding of the relative roles that flexibility, agility and responsiveness play in their operations strategies. This in turn will enable them to better focus their competitive strategies and investments.Originality/valueWhile confusion between the meanings of these terms has been noted by others, the paper is believed to be the first to consider the three terms together and thereby propose a differentiation between them.
Lean transformation in the pure service environment: the case of the call service centre
Authors: Piercy Niall , Rich Nick 
Published: January 2009

PurposeService businesses are struggling with customer demands for better quality service and managerial demands for cost reduction. There is evidence to suggest that service businesses are in practice failing on both these counts, seeing increased costs and reductions in service quality. The application of lean production approaches to the service context has been suggested as a means to resolve these problems, reducing costs and improving quality. Despite the validation of lean approaches in the product‐service context, the application of lean approaches in the pure service environment remains largely untested. The purpose of this paper is to assess the suitability of lean production methodologies in the pure service context.Design/methodology/approachThree financial service companies in the UK were followed through a common programme of lean transformation. The improvements observed in each company were recorded. The change programme is evaluated to determine the “leanness” of the initiatives. The suitability of lean for the service context is discussed.FindingsThe paper's findings highlight significant improvements in quality and cost positions with minimal investment through adoption of lean tools in the pure service context. The paper proposes the suitability of basic lean methodologies such as value understanding, process mapping and problem solving for the pure service context.Originality/valueThe lean approach is well established in the manufacturing sector and certain product‐service contexts. Evidence on lean in pure service environments is very limited. The paper addresses this shortcoming.
Obstacles to supply chain integration of the performance management process in buyer‐supplier dyads
Authors: Forslund Helena , Jonsson Patrik 
Published: January 2009

PurposeThe purpose of this paper is to explain to what degree supplier relationship obstacles and operational tool obstacles hinder supply chain integration of the performance management (PM) process.Design/methodology/approachThis is a hypothetical‐deductive study, where the results are based on a survey of 257 purchasing managers in nine manufacturing industries in Sweden.FindingsSupplier relationship obstacles (lack of trust, different goals and priorities and lack of parallel communication structure) were found to significantly hinder PM process integration the most, which is in accordance with previous studies. The operational tool obstacles (manual performance data management and non‐standardized performance metrics) were seen on an overall level to hinder PM process integration. However, the hypothesis that non‐standardized performance metrics hinder PM process integration was not verified, which does not accord with previous studies.Research limitations/implicationsThe use of single informants in data collection presents a limitation of the study.Practical implicationsContrary to previous studies, the paper has applied a broader, quantitative survey methodology, and hence provides deeper knowledge about the impact of obstacles on PM process integration. It identifies critical obstacles which are important for industry to overcome.Originality/valueMost previous studies of supply chain PM are either case‐ or experience‐based. Here, hypotheses are tested on empirical data and general results presented regarding lack of supplier relationships and operational tools as obstacles for supply chain integration of PM.
Geographic and income anatomy of international exports
Authors: Nissan Edward , Niroomand Farhang 
Published: January 2009

PurposeThe purpose of this paper is to investigate the levels of extensive (wider set of goods) and intensive (larger quantities of each good) margins for 126 countries grouped by income and development hierarchies.Design/methodology/approachAnalysis of variance and the coefficient of variation were used to find similarities and differences between and within the groups of countries.FindingsResults show that the extensive margin accounts for a large share of exports of rich countries.Originality/valueThis paper highlights export margins (extensive and intensive) for groups of countries.
On the stability of endogenous growth models
Authors: Gomes Orlando 
Published: January 2009

PurposeThe purpose of this paper is to present three modified versions of the simple AK endogenous growth model.Design/methodology/approachSuch frameworks stress the role of consumers' sentiment, the impact of fiscal policy and the effect of non‐optimal investment decisions made by firms. In all the cases, today's decisions take into consideration the economic performance of the previous period; in the first case, households react pro‐cyclically to the output path; in the second case, a counter‐cyclical fiscal policy is considered; and in the third case, firms adopt a pro‐cyclical behavior concerning investment choices.FindingsThe author studies the stability properties of the three models and concludes that, on each one of them, a saddle‐path stable equilibrium exists.Originality/valueThe paper accentuates the relevance of the reaction of the economic agents relatively to the business cycle. By assuming that the behavior of consumers, government and firms is a behavior of reaction to economic fluctuations, we find interesting and relevant results in what concerns the conventional intertemporal optimization growth model.
China's exchange rate policy and the United States' trade deficits
Authors: Soofi Abdol S. 
Published: January 2009

PurposeThis paper aims to critically examine China's exchange rate policy debate and discuss Chinese financial and capital control reform of recent years. Furthermore, using the empirical results based on a regional general equilibrium model, alternative methods are suggested of addressing American concerns about China's role in contributing towards global financial stability and American trade deficits with China.Design/methodology/approachRegional general equilibrium input‐output model.FindingsSino‐American debate on exchange rate policy is a matter of difference of opinion in sequencing of policies China has adopted to reduce capital account control and make her exchange rate regime more flexible. Using the final demand elasticity of exports it is observed that Chinese expansionary fiscal stimuli do have powerful effects in inducing additional exports for the United States and other Chinese trading partners.Research limitations/implicationsThe model does not include rest‐of‐the‐world economies.Practical implications:The results imply viable alternatives to renminbi/dollar appreciation policy in dealing with US‐China persistent trade deficit.Originality/valueThe paper suggests a new, empirical‐based policy recommendation in dealing with the US trade deficit with China.
Output‐inflation and unemployment‐inflation trade‐offs under inflation targeting
Authors: Ferreira de Mendonça Helder 
Published: January 2009

PurposeThis article aims to analyze if the adoption of inflation targeting in Brazil contributed to an improvement in the conduction of monetary policy capable of increasing credibility and reducing inflation without an increase in the sacrifice rate.Design/methodology/approachConsidering the Brazilian experience, this article estimates, through GMM and VAR methods, the offsetting effects of a monetary policy change on the output‐inflation and unemployment‐inflation trade‐offs.FindingsThe findings denote that the disinflationary process implemented in Brazil, after the adoption of inflation targeting, is not associated with the emergence of the above‐mentioned trade‐offs. Furthermore, the development of credibility in the conduction of monetary policy is an important element responsible for the achievement of this result.Practical implicationsDevelopment of credibility is an important strategy for improving the conduction of the monetary policy.Originality/valueThe results of the paper give some new insights about the conduction of monetary policy for developing countries, which have adopted inflation targeting.