bluuebunny/crossref_metadata_2025_split huggingface dataset:
Effects of genetic algorithm parameters on trajectory planning for 6‐DOF industrial robots
Authors: Çakır Mustafa , Butun Erhan , Kayman Yekta 
Published: July 2006

PurposeSeeks to present a new method of trajectory planning, i.e. genetic algorithms (GA), for six‐degree‐of‐freedom (DOF) industrial robots.Design/methodology/approachDescribes the effects of the GA method with the advantage of quaternion algebra and by a process of elimination selects the optimal solution.FindingsFinds that the problem of optimization, caused by having two contrary response variables, i.e. time and distance, can only be solved by determining the importance of the variables and calculating the optimum levels of the parameters.Originality/valueThis study would appear to break new ground in the trajectory planning of six‐DOF industrial robots in proposing a superior alternative to conventional methods.
AirEOD
Authors: Molfino Rezia , Costo Sandro , Cepolina Francesco , Zoppi Matteo 
Published: July 2006

PurposeTo present a new special explosive ordnance disposal (EOD) robot designed to operate onboard airplanes.Design/methodology/approachThe design approach adopted is multidisciplinary: mechanical and control architectures are conceived simultaneously. Modularity and lifecycle are considered. Motion and EOD tasks are controlled in tele‐operation.FindingsA new EOD robot was designed in detail and it is ready to be built. A dynamic simulator has been written and set‐up, including a virtual reality module. The simulator is used to define the control logics. Simulation results are satisfactory. The simulator can be used as a training platform for the bomb squads.Research limitations/implicationsThe intent to keep the cost of the robot low conditioned the selection of the materials. Only aluminium and standard composites (like carbon fibers composites) have been used. A higher degree of freedom of the arm could increase the usability of the system; to limit the cost, the degree of freedom was limited to seven. A decision support system based on an expert system interfaced with the simulator could improve the performance of the system.Practical implicationsA new EOD robot will be built and commercialised soon by the industrial partner Ansaldo Ricerche.Originality/valueThe EOD robots available for use inside aircrafts are discussed. A new system named AirEOD is presented, including mobile platform, dexterous arm and all related design and control issues.
An environment for programming and control of multi‐robot manipulators
Authors: Moallem M. , Khoshbin R. 
Published: July 2006

PurposeDiscusses development of an open architecture multi‐robot system that can be used for training engineers in the area of networked‐based multi‐robot programming.Design/methodology/approachThe robots are operated under their original controllers connected together through a network of supervisory computers. A preemptive multi‐tasking real time operating system (RTOS) running on these computers is used to perform supervisory and cooperative tasks involving multiple robots. The software environment allows for controlling the motion of one or more robots and their interaction with other devices.FindingsRobots can be networked to perform more elaborate tasks.Originality/valueThe environment is used to train undergraduate and graduate students on how to develop software for various robotic applications, including scheduling techniques, cooperative manipulation, collision avoidance, and emerging robotic applications.
Lemur IIb: a robotic system for steep terrain access
Authors: Kennedy Brett , Okon Avi , Aghazarian Hrand , Badescu Mircea , Bao Xiaoqi , Bar‐Cohen Yoseph , Chang Zensheu , Dabiri Borna E. , Garrett Mike , Magnone Lee , Sherrit Stewart 
Published: July 2006

PurposeIntroduces the Lemur IIb robot which allows the investigation of the technical hurdles associated with free climbing in steep terrain. These include controlling the distribution of contact forces during motion to ensure holds remain intact and to enable mobility through over‐hangs. Efforts also can be applied to furtherin‐situcharacterization of the terrain, such as testing the strength of the holds and developing models of the individual holds and a terrain map.Design/methodology/approachA free climbing robot system was designed and integrated. Climbing end‐effector were investigated and operational algorithms were developed.FindingsA 4‐limbed robotic system used to investigate several aspects of climbing system design including the mechanical system (novel end‐effectors, kinematics, joint design), sensing (force, attitude, vision), low‐level control (force‐control for tactile sensing and stability management), and planning (joint trajectories for stability). A new class of Ultrasonic/Sonic Driller/Corer (USDC) end‐effectors capable of creating “holds” in rock and soil as well as sampling those substrates.Practical implicationsPlanetary exploration of cliff faces. Search and rescue in steep terrain. Robotic scouting and surveillance in natural environments.Originality/valueThe technologies developed on this platform will be used to build an advanced system that will climb slopes up to and including vertical faces and overhangs and be able to react forces to maintain stability and do useful work (e.g. sample acquisition/instrument placement).
3D control of a high‐speed quadruped trot
Authors: Palmer L.R. , Orin D.E. 
Published: July 2006

PurposeLegged vehicles offer several advantages over wheeled vehicles, particularly on broken terrain, but are presently too slow to be considered for many high‐speed tasks. This paper presents an effective 3D controller for a high‐speed quadruped trot.Design/methodology/approachTo successfully regulate forward velocity and heading, secondary motions such as body pitch and roll must be stabilised. The complicated coupling between pitch and roll motion causes the control effort on one axis to disturb the motion and control effort of the other. Unlike the modular methods in previous research, the algorithm presented here employs a cooperative approach where pitch stability effort is directly accounted for by the roll controller.FindingsWhen the secondary motions such as pitch and roll are well stabilized, forward velocity and heading can be regulated up to 3 m/s and 20°/s, respectively.Research limitations/implicationsFor many quadrupeds, trotting is usually employed as the precursor to galloping, which is ultimately used at top speeds. Because these two gaits are commonly used together, we expect their control algorithms to share a number of similar components. It is then expected that understanding the quadruped trot will serve as a valuable foundation to understanding the quadruped gallop.Originality/valueThis appears to be the first reported regulation of quadruped heading while running at significant speeds.
A portable light‐weight climbing robot for personal assistance applications
Authors: Jardon A. , Gimenez A. , Correal R. , Cabas R. , Martinez S. , Balaguer C. 
Published: July 2006

PurposeHuman care and service demands will need innovative robotic solutions to make the day‐to‐day life of elderly and disabled people in home and workplace environments easier. The main objective of this work is to develop a new concept of climbing robot for this type of service applications.Design/methodology/approachASIBOT is a 5 DOF self‐containing manipulator that includes the entire control system on‐board. The main advantage of this robot is its light weight, about 11 kg with 1.3 m reach. The robot is totally autonomous and only needs a power supply to be operated.FindingsThe robot is an arm able to move between different points (Docking stations (DS)) of the rooms and, if necessary, “jump” to (or from) the environment to the wheelchair. In this way the ASIBOT robot could become a home companion and assistance for numerous people.Originality/valueASIBOT is a 5 DOF self‐containing light weight manipulator that includes the entire control system on‐board.
Force‐feedback teleoperation of an industrial robot in a nuclear spent fuel reprocessing plant
Authors: Desbats Philippe , Geffard Franck , Piolain Gérard , Coudray Alain 
Published: July 2006

PurposeAims to describe how to make an industrial robot work as a telemanipulator with force feedback, in order to carry out various tasks for remote handling in nuclear fuel cycle plants.Design/methodology/approachThe robot Staübli RX170 (used as a slave arm) has been fitted with a force‐torque sensor and an electronic system for sensors' signals multiplexing. The overall system has been made tolerant to γ radiation up to a 10 kGy integrated dose. The industrial robot has been coupled to a master arm with force feedback capability and to the computer assisted teleoperation controller TAO2000 developed by CEA‐LIST.FindingsThe result of the maintenance operation reported in the paper, carried out with a Staübli RX170 robot at AREVA/COGEMA La Hague plant, illustrates the validity of this approach and demonstrates how remote handling can benefit from this new technology.Originality/valueIntroduces the teleoperation of industrial robots as a new solution for the maintenance of nuclear facilities. Wrist force/torque sensing and advanced master‐slave controller provide the operators with a high performance teleoperation system. Only limited modification of the existing design of the industrial robot has been carried out in order to transform it into a nuclear telemanipulator.
“Trust”, professional power and social theory
Authors: Owen Tim , Powell Jason L. 
Published: July 2006

PurposeThis paper sets out to examine the relationship between trust and professional power in the context of post‐Foucauldian social theory. Understood in its micro‐political terms and conceived as impacting on individual identity and agency at a number of levels: intrapersonal, interpersonal, organisational and macro levels.Design/methodology/approachThis is a conceptual and theoretical approach.FindingsThe findings illustrate that the concept of “trust” and relationship to health services can be understood through a post‐Foucauldian lens.Research limitations/implicationsThis is a very theoretical paper with implications for epistemological development grounded in understanding “trust” and ethics of self.Originality/valueThis is an original paper on post‐Foucauldian analysis of trust and relationship to health policy and professional autonomy.
Confronting the “corporate citizen”
Authors: Burchell Jon , Cook Joanne 
Published: July 2006

PurposeTo demonstrate, through the application of Fairclough's critical discourse analysis framework, that the discourse surrounding corporate social responsibility (CSR) has broader implications.Design/methodology/approachArgues that the evolution of CSR has become a two‐way process of interaction between business and civil society.FindingsAs companies place increasing emphasis on their ability to act responsibly as “corporate citizens”, CSR provides new opportunities for social actors to assimilate these strategies; enabling them to scrutinise, question and oppose the business practices of global corporations and challenging them to prove that there is more to CSR than merely corporate rhetoric.Originality/valueDemonstrates that the discourse surrounding CSR has broader implications.
Transnational influences in the social production of adoptable children
Authors: Fonseca Claudia 
Published: July 2006

PurposeTo consider transnational aspects linked to the social production of adoptable children in a Brazilian setting.Design/methodology/approachLooks at legislation and media reports, giving particular attention to how, during the 1990s, vigorous campaigns in favor of plenary adoption by Brazilian nationals implied the near‐total silencing of alternative forms of childcare such as foster care, and how recent circumstances are reversing this trend.FindingsArgues that an apparently straightforward conflict between poverty‐stricken families and the state authorities that strip them of parental rights is in fact a highly political issue involving innumerous overseas as well as national influences. National childcare policies that encourage certain childcare options and eliminate others emerge as much from scandals in the media, “consumer demands” by adoptive parents, and philanthropic support as from the more apparent global trends in child welfare legislation.Research limitations/implicationsThe findings challenge the view that childcare is a consensual issue with all fronts working for the “child's best interest”. Rather, in this paper, the issue is revealed as a political matter of conflicting interests between unequal categories of caretakers.Practical implicationsThis paper has direct relevance for international legislation on child adoption policy.Originality/valueThis paper furnishes a “view from below” on international adoption, putting in question principles that are normally accepted as obvious in international legislation on child rights.
The United Arab Emirates youths (UAEU) between modernity and traditionalism
Authors: Simadi Fayez A. 
Published: July 2006

PurposeThe purpose of this study is to assess the values held by United Arab Emirates University students and to assess the influence of socio‐demographic factors, such as gender, citizenship, income, education, occupation, family size, on their values.Design/methodology/approachThe study conducted a questionnaire with 242 men and 353 women students.FindingsThe results indicate that religious and cognitive values were prioritised by the respondents and that gender, income levels, family size and father's occupation were the most important factors influencing values.Originality/valueThis is one of the first studies of the values held by people living in the United Arab Emirates.
Research into regeneration: gaps in our knowledge base
Authors: Diamond John , Southern Alan 
Published: July 2006

PurposeThe purpose of this editorial is to provide an overview to four papers in this issue that deal with regeneration.Design/methodology/approachThis guest editorial summarizes four papers from a regeneration management conference held at the University of Liverpool.FindingsCity growth coalitions are, it seems, in abundance, and one should be aware of their unintended outcomes, likewise, such outcomes that occur during partnership processes.Originality/valueReaders gain a quick overview of regeneration which will be of interest to academics and practitioners alike.
Collaborative partnerships and urban change management
Authors: Williams Gwyndaf 
Published: July 2006

PurposeThis article aims to consider the benefits of collaboration in programming the delivery of complex regeneration strategies, focusing on the renewal of Manchester city centre following its terrorist bombing. Set within the wider discourse on the nature of partnerships, it situates the city centre renewal process within Manchester's locally‐grounded development agenda, focusing in particular on programme management achievements.Design/methodology/approachThe article uses a qualitative approach to look at the institutional basis for collaborative action, and the management structures put in place to deliver the renewal programme over a five‐year period of concentrated activity.FindingsIn the renewal of Manchester city centre a common purpose was found within the partnership approach. Such an approach appeared to be driven by inter‐urban competition for public and private investment.Research limitations/implicationsImplications for organizational capacity and for master plan delivery were noted, and with the approach taken to performance management and the accommodation of risk, and the delivery of a forward strategy to ensure the completion of the rebuilding programme.Practical implicationsThe findings have had practical implications with a number of other cities pursuing like‐minded strategies based on the Manchester experience.Originality/valueThe article adds further knowledge to our understanding of renewal and regeneration in major cities.
Abusive partnerships
Authors: Rowe Mike 
Published: July 2006

PurposeThe purpose of this article is to critically consider the role of partnerships in regeneration. There has been a proliferation of partnerships at local, sub‐regional and regional levels, that has brought new people together around a shared agenda, and has sought to challenge and change the ways in which mainstream public services are delivered.Design/methodology/approachThis article uses a qualitative approach drawing on previous research work and using narrative to construct a series of metaphors to provide greater levels of explanation and understanding of partnerships.FindingsThe current approach to partnership working arises principally from analysis of the weaknesses of fragmented services, it is also attractive to those who seek to open up the cosy, inefficient and, at times, corrupt worlds of local government. This is shown through an innovative typology of partnerships.Research limitations/implicationsWhile there are sound policy reasons for engaging in the game of partnerships, there are dangers in underestimating the capacity of public agencies to adopt and adapt the language of partnership, without genuinely engaging with the intent behind the policy.Practical implicationsThe implications from this article have practical relevance for those working in public policy and for those involved in partnerships.Originality/valueBy drawing upon examples of the abuse of partnership arrangements, this article provides an original perspective on those phenomena that might be an indication of trouble.
Consulting the community
Authors: Fuller Duncan , Mellor Mary , Dodds Lynn , Affleck Arthur 
Published: July 2006

PurposeThe purpose of this article is to highlight the multifaceted nature of financial exclusions, the range of potential needs that require addressing via financial inclusion policy and grounded initiatives, and emphasise that future “new models of affordable credit” must be framed by, and embedded in local communities.Design/methodology/approachDocumentation and analysis of an innovative participatory consultation that explored the perceptions and financial needs of a local population through use of participatory appraisal is used, one of a growing family of participatory approaches that is recognised as taking a “whole community approach” to conducting action research.FindingsProvides evidence of the range of services actually available to the “financially excluded” in a so‐called disadvantaged area, reasons for their use (or lack of), and the needs, wants, and/or desires to be fulfilled by any local “ideal” form of financial service provision.Research limitations/implicationsThe research suggests any financial inclusion solution must be sensitive and responsive to the varied circumstances and multifarious financial needs of local communities – one‐size‐fits‐all models of financial inclusion will have limited success due to the heterogeneous local manifestations of financial exclusions, the variety of perceived needs, and the variances of both of these over space and across social groups. More research is needed in other locations to explore geographical/social differences in such problems and needs.Originality/valueThis paper presents the findings of an innovative participatory consultation used to directly underpin and inform a local financial inclusion initiative.
An empirical study of lean production in the ceramic tile industry in Spain
Authors: Bonavia Tomas , Marin Juan Antonio 
Published: July 2006

PurposeTo determine the degree of use of some of the most representative lean production (LP) practices in the Spanish ceramic tile industry, their relationship with plant size and their effect on the operational performance of the companies in the sector.Design/methodology/approachA questionnaire was developed for data collection. Findings are presented from 76 companies (79.17 per cent of the total sample) that specialise in single firing ceramics.FindingsIn the sector under study, there is one set of practices that have as yet scarcely been implemented (group technology, kanban, reduction of set‐up time, development of multi‐function employees and visual factory) and another set whose use is fairly widespread (standardisation of operations, total productive maintenance and quality controls). The degree of their respective use depends on a firm's size. Very few correlations appear between the degree of use of any specific LP practice in isolation and the operational indicators.Research limitations/implicationsFor certain variables we found very little variation between the firms in our sample. Moreover, many firms did not have available the data needed for calculating capacity utilisation, and hence we have not been able to check its effects in our analysis.Practical implicationsThe paper presents data for reflecting on the application of different LP practices in isolation and on the impediments limiting the use of some of them in the sector.Originality/valueThe paper extends the work of other researchers by focusing on a sector and a country that have been very little studied until now. The sample consists of a set of firms that are fairly homogeneous; this facilitates analysing the relationships between the selected variables while keeping other variables controlled.
Modularity in supply chains: a multiple case study in the construction industry
Authors: Voordijk Hans , Meijboom Bert , de Haan Job 
Published: July 2006

PurposeThe objective of this study is to assess the applicability of Fine's three‐dimensional modularity concept as a tool to describe and to analyze the alignment of product, process, and supply chain architectures. Fine claims that the degree of modularity in the final output product has a one‐to‐one correspondence with the degree of modularity in transformation processes and supply chains.Design/methodology/approachAn exploratory three‐company case study is used to investigate Fine's three‐dimensional modularity concept.FindingsEmpirical research shows that Fine's three‐dimensional modularity concept works well for descriptive purposes. However, the concept needs refinement when it is used for analytical purposes. For process modularity, the spatial aspect can be related to the concept of the territorial economy of firms, while the time aspect can be elaborated using a product life‐cycle perspective and the concept of interface reversibility. With respect to supply chain modularity, the concept of modular production networks, which specifies combinations of different degrees of geographic, organizational, cultural, and electronic proximity, is appropriate. In the specific setting of the building industry, a methodology for developing product platform architectures would refine the dimension of product modularity.Research limitations/implicationsStarting from the above‐mentioned concepts, several strands of research are outlined for a further elaboration of product (developing a methodology for developing product platform architectures), process (taking a life‐cycle perspective on module development), and supply chain modularity (analyzing conditions for the application of modular networks).Originality/valueThe application of systematic engineering design methods, interface reversibility, and interorganizational ICT allows firms to align product, process, and supply chain modularity.