bluuebunny/crossref_metadata_2025_split huggingface dataset:
Rubik's cube as a benchmark validating MRROC++ as an implementation tool for service robot control systems
Authors: Zieliński C. , Szynkiewicz W. , Winiarski T. , Staniak M. , Czajewski W. , Kornuta T. 
Published: August 2007

PurposeThis paper seeks to develop universal software (a programming framework) enabling the implementation of service robot controllers. The software should distinguish the hardware‐oriented part of the system from the task‐oriented one. Moreover, force, vision as well as other sensors should be taken into account. Multi‐effector systems have to be considered.Design/methodology/approachThe robot programming framework MRROC++ has been implemented as a hierarchical structure composed of processes, potentially consisting of threads. All of the software is written in an object‐oriented manner using C++ and is supervised by a QNX real‐time operating system. The framework has been verified on several systems executing diverse tasks. Here, a Rubik's cube puzzle‐solving system, consisting of two arms and utilizing force control and visual servos, is presented.FindingsThe presented framework is well suited to tasks requiring two‐handed manipulation with force sensing, visual servoing and online construction of plans of actions. The Rubik's cube puzzle is a reasonable initial benchmark for validation of fundamental service robot capabilities. It requires force sensing and sight coupled with two‐handed manipulation and logical reasoning, as do the majority of service tasks. Owing to the use of force sensing during manipulation, jamming of the faces has always been avoided; however, visual servoing could only cope with slow handing over of the cube due to the volume of computations associated with vision processing.Research limitations/implicationsThe proposed software structure does not limit the implementation of service robot controllers. However, some of the specific algorithms used for the solution of the benchmark task (i.e. Rubik's cube puzzle) need to be less time‐consuming.Practical implicationsThe MRROC++ robot programming framework can be applied to the implementation of diverse robot controllers executing complex service tasks.Originality/valueA demanding benchmark task for service robots has been formulated. This task, as well as many others, has been used to validate the MRROC++ robot programming framework which significantly facilitates the implementation of diverse robot systems.
Acceleration‐based force‐impedance control of a six‐dof parallel manipulator
Authors: Lopes Antonio M. , Almeida Fernando G. 
Published: August 2007

PurposeThis paper seeks to present an acceleration‐based force‐impedance controller, applied to a six‐dof parallel mini‐manipulator: the robotic controlled impedance device (RCID).Design/methodology/approachThe proposed control strategy involves three cascade controllers: an inner acceleration controller, built as a set of six single input/single output acceleration controllers (one per manipulator axis), an impedance task‐space controller, and an outer force controller.FindingsThe control strategy enables two kinds of manipulator behaviour: force‐limited impedance control and position‐limited force control. The type of behaviour depends only on the chosen manipulator trajectories.Practical implicationsThe RCID may be used as a force‐impedance controlled auxiliary device, coupled in series with a position‐controlled commercial industrial robot. The two manipulators combined behave as a single manipulator, having the impedance and force control performance of the RCID, as well as the workspace and trajectory tracking performance of the industrial manipulator. The industrial manipulator should perform free space motion trajectory tracking, the RCID being kept in a “home” position, preserving its small workspace for impedance and force control.Originality/valueA robust control strategy that enables good performance, while the robot executes tasks that involve interaction with the environment, is being proposed. Experimental results on a force‐impedance controlled six‐dof parallel mini‐manipulator are presented.
A review of locomotion mechanisms of urban search and rescue robot
Authors: Wang Zhelong , Gu Hong 
Published: August 2007

PurposeThis study aims to investigate locomotion mechanisms of different urban search and rescue (USAR) robots currently being researched or commercially available on the market.Design/methodology/approachUSAR robots are categorized by the type of their mobility. Detailed illustration and analysis have been given for each USAR robot in the paper.FindingsThe paper finds that none of current USAR robots can practically and autonomously carry out rescue work in a complex and unstructured environment. Hence, responding to the practical requirements of highly challenging USAR tasks, a team of USAR robots based on different locomotion mechanisms may be a good solution to undertake rescue activities.Research limitations/implicationsThe paper provides guidance in the design of future USAR robots.Originality/valueThe paper investigates locomotion mechanisms of different USAR robots in detail.
Design and prototype of a six‐legged walking insect robot
Authors: Soyguder Servet , Alli Hasan 
Published: August 2007

PurposeThis paper seeks to develop a novel legged robot.Design/methodology/approachFirst, the paper models the legged robot using 3D computer model by intelligent inspiration of biological principles. Then, based on this model, it develops the prototype of the legged robot.FindingsA novel motion mechanism is used and only two actuators are used for driving the system.Originality/valueThe modelled legged robot is original in terms of the developed motion mechanism.
Teleteaching approach for sensor‐based arc welding telerobotic system
Authors: Chao Li Hai , Ming Gao Hong , Wu Lin 
Published: August 2007

PurposeThis paper aims to develop a performing approach for telerobotic arc welding in an unstructured environment.Design/methodology/approachA teleteaching approach is presented for an arc welding telerobotic system in an unstructured environment. Improved laser vision sensor enhances the precision of teleteaching welding seam. Stereoscopic vision display system is developed to provide the perception information of remote environment that increased the dexterity of the teleteaching process. Operator interacts with the system by welding multi‐modal human‐machine interface, which integrated the teleteaching operation window, status display window and space mouse.FindingsThe sensor‐based teleteaching approach, which integrated laser vision sensing and stereoscopic vision display, can perform arc welding of most welding seam trajectory in an unstructured environment. The approach releases the payload of human operator and improves adaptability of the arc welding system.Research limitations/implicationsThe paper provides the remote welding telerobotic approach that is gentle to most unstructured environments.Practical implicationsThe sensor‐based teleteaching approach provides the capability of a telerobotic system used in remote welding field, which can shorten the incident response time and maintenance period of nuclear plants, space and underwater.Originality/valueThis paper introduces the sensor‐based teleteaching concept and performing procedure to be used for remote telerobotic arc welding.
Effects of satisfaction with communication on the relationship between individual‐job congruence and job performance/satisfaction
Authors: Goris José R. 
Published: August 2007

PurposeThe purpose of this paper is to examine the moderating influence of communication satisfaction on the association between individual‐job congruence and both job performance and job satisfaction.Design/methodology/approachModerated regression analysis was used to assess data collected from 302 employees addressing the research variables of job scope, growth need strength, satisfaction with communication, job performance, and job satisfaction.FindingsSatisfaction with communication received weak support as a moderator of the individual‐job congruence model; nevertheless, it received strong support as a main predictor of both performance and satisfaction.Research limitations/implicationsLow statistical power frequently reflected by moderated regression analysis may explain the weak support communication satisfaction received as a moderator. Different approaches for solving the presence of low power are discussed. On the other hand, the elusive venture of promoting and experiencing satisfaction with communication has been detected and the need for exploring the possible curvilinear effects of specific communication dimensions and organizational constructs on communication satisfaction is introduced.Practical implicationsVariables associated with human interaction may be dysfunctional at both extremes. For example, upward communication might have favorable and unfavorable consequences on satisfaction with communication. Thus, dealing with communication satisfaction may necessitate the adoption of a contingency approach.Originality/valueThe uniqueness of this research lies in its effort of exploring the moderating impact of communication satisfaction on the job characteristics model. The results encourage future research endeavors and particular management practices.
Influence of prior acquaintance with the ratee on rater accuracy and halo
Authors: Van Scotter James R. , Moustafa Karen , Burnett Jennifer R. , Michael Paul G. 
Published: August 2007

PurposeThe purpose of this paper is to examine the effect of acquaintance on performance rating accuracy and halo.Design/methodology/approachAfter expert ratings were obtained, US Air Force Officers (n=104) with an average of six years experience rated the performance of four officers who delivered 6‐7 minute briefings on their research projects; 26 raters reported being acquainted with one or more of the briefers. Raters were randomly assigned to use a rating format designed to encourage between‐ratee comparisons on each dimension or a format in which each ratee was separately rated on all dimensions.FindingsRatings made by acquainted raters were more accurate than ratings by unacquainted raters. Accuracy was positively correlated with halo for both sets of ratings. Rating format had no discernible effect on accuracy or halo.Research limitations/implicationsOne limitation of this study is that the measure of acquaintance was not designed as a surrogate for familiarity. Development of a multi‐item, psychometrically‐valid measure of acquaintance should be the first step in pursuing this research. The use of a laboratory design where only a small percentage of the sample was acquainted with those being rated also limits the study's generalizability.Practical implicationsThe results show that prior acquaintance with the ratee results in more accurate ratings. Ratings were also more positive when raters had prior contact with the person they rated.Originality/valueThe hypothesis is that the cognitive processes used to produce ratings are different for raters who have had no prior contact with a ratee and raters who are in some manner acquainted with a ratee. In the past, a positive halo effect from acquaintance between raters and ratees has been a concern. However, this limited study indicates that acquaintance may actually result in more accurate ratings.
Improving curriculum theory and design for teaching law to non‐lawyers in built environment education
Authors: Morris Robert J. 
Published: August 2007

PurposeThe paper sets out to contribute to the ongoing debate on the deficiencies in the teaching of law to non‐law students, specifically, addressing the question of whether the pedagogical approach should differ from that traditionally used for the teaching of law to law students and, if so, to what degree.Design/methodology/approachThe existing literature is reviewed and the author draws on his practical experience of teaching law to non‐law university students in building and real estate. Reference is also made to experiments in curriculum design and pedagogy at the Hong Kong Polytechnic University, which included a survey of student and practitioner opinions.FindingsAlthough some progress is noted, serious defects are identified in both curriculum design and its underlying methodology in the areas studied. Demands in the twenty‐first century for the teaching of law in these contexts are shown to have outstripped the relevant pedagogical theory and practice. Nevertheless, possible ways to improve the situation are identified from the literature, and from recent examples of educational practice. Since professional knowledge is resistant to any substantial restructuring, it is proposed that departments must insist on the implementation of change, which is consistent with available research findings. The paper proposes (inter alia) that greater attention should be paid to preparing non‐law students for their legal studies in addition to the present focus on the study of substantive legal topics.Research limitations/implicationsAlthough the article makes reference to some quantitative questionnaire research, it is not presented as an empirical study. As stated in the text, the empirical investigations are used, together with the literature review, to inform the thesis presented by the author, which uses theory to addressing practical issues.Originality/valueThe paper fills an identified gap in the theoretical knowledge of the subject and provides some ideas and suggestions for ways forward.
Revamping the value chain in exhibition facilities: the case of the Dubai exhibition industry
Authors: Butler Colin , Bassiouni Yahia , El‐Adly Mohamed , Widjaja Achmad 
Published: August 2007

PurposeThe purpose of this article is to compare past and current experience of exhibition activities in the UAE in general and in Dubai in particular, to identify the major hurdles and obstacles which had arrested the advancement of this sector, and to benchmark this activity vis‐à‐vis Dubai's main competitors both nationally and internationally.Design/methodology/approachFor each of four selected exhibitions, a systematic random sample of 1,000 visitors was selected. The data were collected via structured face‐to‐face interviews using a standard questionnaire on the four sites. In addition, a random sample of 100 exhibitors was selected for each of the four exhibitions. The data were collected via structured face‐to‐face interviews using a standard questionnaire on the four sites. Several in‐depth interviews with the staff of the exhibition's organizers representing the different exhibitions under study were carried out before, during and/or after the events to help identify the challenges and opportunities.FindingsThe exhibition value chain can be improved in several key activities. Several important strengths and weaknesses have been identified for the Dubai exhibition industry. The best practice of facilities in Paris offers Dubai the best model for increasing sustainable competitiveness. The key for the Dubai exhibition industry is differentiating the city from the competition and value innovation in the exhibition value chain.Research limitations/implicationsDubai is a rapidly expanding city, making growth in attraction difficult to predict.Practical implicationsRecommendations are developed to improve Dubai exhibition facilities.Originality/valueThe paper provides analysis of a growing industry in a high growth diversifying economy.
Peel process simulation of sealed polymeric film computational modelling of experimental results
Authors: Geißler Gordon , Kaliske Michael , Nase Michael , Grellmann Wolfgang 
Published: August 2007

PurposeThe purpose of this paper is to evaluate current simulation capabilities for thin film delamination on the basis of real test data as well as a contribution to its extension in order to partly substitute experimental investigations.Design/methodology/approachThe proposed model consists of a formulation that describes the behaviour of the bulk material and an approach that introduces the film's delamination capability. An implicit finite element framework with a cohesive zone implementation is used and described in detail. The numerical results on the basis of the a priori identified material parameters are related to the experimental work. In order to capture the obvious peel speed dependency of these delamination processes, a viscoelastic cohesive formulation is introduced and compared with a pure separation rate dependent cohesive material in the second part of this contribution.FindingsThe performed numerical simulations show a good approximation of the experimental peel process. The extension in order to take time‐dependent effects into account is required for the simulation of such problems. In contrast with the pure rate‐dependent model, the presented consistent formulation of the cohesive part is able to cover the whole range of observed material phenomena.Research limitations/implicationsOwing to the absence of suitable experimental single mode investigations of the sealed layer, the used cohesive material parameters are identified in relation to the pre‐existing experimental results. Furthermore, the resultant peel force has a constant value due to the assumed homogeneous cohesive material and therefore gives only a mean approximation of the experimental values at this stage of the investigation.Originality/valueThe numerical representation of such a thin film delamination process in relation to real experimental results shows the additional capabilities and the usability of the implicit finite element method with a cohesive zone implementation in a clear and illustrative way. The first proposed cohesive extension based on a rheological model shows the capability to cover the full range of time‐dependent interface layer behaviour.
Characteristics of organizational culture, stressors and wellbeing
Authors: Chang Kirk , Lu Luo 
Published: August 2007

PurposeThis study aimed to explore prevalent characteristics of organizational culture (OC) and common sources of work stress in a Taiwanese work context. The authors also aimed to analyze how characteristics of OC may be linked to stressors.Design/methodology/approachA qualitative methodology of focus group discussions was adopted.FindingsFour characteristics of OC were identified, including: family‐kin, informal work obligations, organizational loyalty and subgroup involvement. Job characteristics, home‐work interface, interpersonal relationships and career development were identified as common sources of work stress. Content analysis revealed that characteristics of OC could either alleviate or aggravate stress, depending on employees' perception and attribution. Double‐coding analysis indicated that stressors related to job characteristics seem particularly linked to informal work obligation but not to organizational loyalty as characteristics of OC.Research limitations/implicationsThe exclusive reliance on qualitative methodology is a limitation of the present study. However, the results have both theoretical and practical implications. The authors note that Western findings regarding OC may not generalize completely to a different culture and the Taiwanese context supports distinctive features of OC and work stressors. Consequently, any effective corporate stress interventions should be formulated taking the core cultural values and practices into account.Originality/valueThe in‐depth and culture‐sensitive nature is a major thrust of the present study, and the focus on the link between OC and stress is a rare effort in the Pan‐Chinese cultural context.
Differential affective reactions to negative and positive feedback, and the role of self‐esteem
Authors: Ilies Remus , De Pater Irene E. , Judge Tim 
Published: August 2007

PurposeThe paper aims to examine, first, how performance feedback influences positive and negative affect within individuals across negative and positive feedback range, and secondly, whether self‐esteem moderates individuals' affective reactions to feedback.Design/methodology/approachA sample of 197 undergraduate students completed an 8‐trial experiment. For each trial, participants performed a task, received performance feedback, and were subsequently asked to report their affective state. Hierarchical linear modeling was used to test the hypothesized within‐ individual effects and the cross‐level moderating role of self‐esteem.FindingsPerformance feedback did influence both positive and negative affect within individuals and feedback indicating goal non‐attainment (i.e. negative feedback) increased negative affect more than it reduced positive affect. The data offered some support for the prediction with respect to the moderating role of self‐esteem derived from self‐enhancement theory.Research limitations / implicationsThe laboratory design and student sample are limitations with the study. However, the nature of our research question justifies an initial examination in a controlled, laboratory setting. Our findings may stimulate researchers to further investigate the role of affect and emotions in behavioral self‐regulation.Originality/valueThis study furthers research on reactions to feedback by examining the feedback‐affect process within individuals across time. Multiple dimensions of affect were considered and positive and negative feedback continua were examined separately.
Love®: a critical reading ofLovemarks
Authors: Sayers Janet , Monin Nanette 
Published: August 2007

PurposeThe purpose of the paper is to argue that an enriched understanding of texts would enable more informed and responsible management practice. The authors present an approach to the analysis of management texts that enjoys, rather than contests, multivocality with the aim of making our approach to defamiliarising texts an accessible change management tool.Design/methodology/approachWorking with a reader‐response methodology we provide comment on, and analysis of, a popular management book, Kevin Roberts'Lovemarks. The authors context a response to this text in a discussion of commodity fetishism and deconstructed management theory texts. The interpretation of the subject text highlights its rhetorical suasion and pulls buried meaning into view.FindingsThe authors demonstrate that rhetorical analysis and satirical play, a mode of defamiliarisation that is employed in their own reading and incorporated into their classroom praxis, enables managers to better understand and control their own sense‐making. The authors argue that where their enriched understandings challenge embedded assumptions, changed management practices are enabled.Originality/valueThe authors offer their own construction of aLovemarktext, a satirical echo of the Roberts original, as an example of the distancing effect of humorous textual play.