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Article
Publication date: 12 June 2017

Chen-Chien Hsu, Cheng-Kai Yang, Yi-Hsing Chien, Yin-Tien Wang, Wei-Yen Wang and Chiang-Heng Chien

FastSLAM is a popular method to solve the problem of simultaneous localization and mapping (SLAM). However, when the number of landmarks present in real environments…

Abstract

Purpose

FastSLAM is a popular method to solve the problem of simultaneous localization and mapping (SLAM). However, when the number of landmarks present in real environments increases, there are excessive comparisons of the measurement with all the existing landmarks in each particle. As a result, the execution speed will be too slow to achieve the objective of real-time navigation. Thus, this paper aims to improve the computational efficiency and estimation accuracy of conventional SLAM algorithms.

Design/methodology/approach

As an attempt to solve this problem, this paper presents a computationally efficient SLAM (CESLAM) algorithm, where odometer information is considered for updating the robot’s pose in particles. When a measurement has a maximum likelihood with the known landmark in the particle, the particle state is updated before updating the landmark estimates.

Findings

Simulation results show that the proposed CESLAM can overcome the problem of heavy computational burden while improving the accuracy of localization and mapping building. To practically evaluate the performance of the proposed method, a Pioneer 3-DX robot with a Kinect sensor is used to develop an RGB-D-based computationally efficient visual SLAM (CEVSLAM) based on Speeded-Up Robust Features (SURF). Experimental results confirm that the proposed CEVSLAM system is capable of successfully estimating the robot pose and building the map with satisfactory accuracy.

Originality/value

The proposed CESLAM algorithm overcomes the problem of the time-consuming process because of unnecessary comparisons in existing FastSLAM algorithms. Simulations show that accuracy of robot pose and landmark estimation is greatly improved by the CESLAM. Combining CESLAM and SURF, the authors establish a CEVSLAM to significantly improve the estimation accuracy and computational efficiency. Practical experiments by using a Kinect visual sensor show that the variance and average error by using the proposed CEVSLAM are smaller than those by using the other visual SLAM algorithms.

Details

Engineering Computations, vol. 34 no. 4
Type: Research Article
ISSN: 0264-4401

Keywords

Article
Publication date: 14 December 2018

I-hsum Li, Wei-Yen Wang, Chung-Ying Li, Jia-Zwei Kao and Chen-Chien Hsu

This paper aims to demonstrate a cloud-based version of the improved Monte Carlo localization algorithm with robust orientation estimation (IMCLROE). The purpose of this…

126

Abstract

Purpose

This paper aims to demonstrate a cloud-based version of the improved Monte Carlo localization algorithm with robust orientation estimation (IMCLROE). The purpose of this system is to increase the accuracy and efficiency of indoor robot localization.

Design/methodology/approach

The cloud-based IMCLROE is constructed with a cloud–client architecture that distributes computation between servers and a client robot. The system operates in two phases: in the offline phase, two maps are built under the MapReduce framework. This framework allows parallel and even distribution of map information to a cloud database in pre-described formats. In the online phase, an Apache HBase is adopted to calculate a pose in-memory and promptly send the result to the client robot. To demonstrate the efficiency of the cloud-based IMCLROE, a two-step experiment is conducted: first, a mobile robot implemented with a non-cloud IMCLROE and a UDOO single-board computer is tested for its efficiency on pose-estimation accuracy. Then, a cloud-based IMCLROE is implemented on a cloud–client architecture to demonstrate its efficiency on both pose-estimation accuracy and computation ability.

Findings

For indoor localization, the cloud-based IMCLROE is much more effective in acquiring pose-estimation accuracy and relieving computation burden than the non-cloud system.

Originality/value

The cloud-based IMCLROE achieves efficiency of indoor localization by using three innovative strategies: firstly, with the help of orientation estimation and weight calculation (OEWC), the system can sort out the best orientation. Secondly, the system reduces computation burden with map pre-caching. Thirdly, the cloud–client architecture distributes computation between the servers and client robot. Finally, the similar energy region (SER) technique provides a high-possibility region to the system, allowing the client robot to locate itself in a short time.

Details

Engineering Computations, vol. 36 no. 1
Type: Research Article
ISSN: 0264-4401

Keywords

Abstract

Details

Coping with Disaster Risk Management in Northeast Asia: Economic and Financial Preparedness in China, Taiwan, Japan and South Korea
Type: Book
ISBN: 978-1-78743-093-8

Article
Publication date: 31 August 2012

Tien‐Chen Chien

The purpose of this study is to investigate the influences of system and instructor factors on e‐learning effectiveness under the interactions of computer self‐efficacy…

3232

Abstract

Purpose

The purpose of this study is to investigate the influences of system and instructor factors on e‐learning effectiveness under the interactions of computer self‐efficacy. In this study, the factors of the e‐learning system are functionality, interaction, and response. The factors of the e‐learning instructor are attitude, technical skills, and instructional method. The moderating effects of learners' computer self‐efficacy are examined.

Design/methodology/approach

The study surveyed general employees in the financial services industry in Taiwan. A questionnaire was developed to measure participants' perceptions. Four hundred questionnaires were sent out, and 362 were returned. Of these, 314 were valid, leading to a return rate of 78.5 percent.

Findings

The results of data analysis indicate that both system and instructor factors have significant positive influences on e‐learning effectiveness. Learners' computer self‐efficacy has a moderating effect on the relationship between system functionality and training effectiveness. The higher the computer self‐efficacy, the stronger is the relationship between functionality and effectiveness, and vice versa. However, computer self‐efficacy does not have a significant moderating effect on the relationship between other independent variables and training effectiveness.

Originality/value

Since both system and instructor factors have positive influences on e‐learning effectiveness, HRD managers need to pay more attention to issues in both areas. High computer self‐efficacy can result in better training effectiveness; therefore, it is necessary to pay attention to enhancing employee computer skills and their confidence in using e‐learning.

Details

European Journal of Training and Development, vol. 36 no. 7
Type: Research Article
ISSN: 2046-9012

Keywords

Article
Publication date: 28 December 2020

Che-Jung Chang, Chien-Chih Chen, Wen-Li Dai and Guiping Li

The purpose of this paper is to develop a small data set forecasting method to improve the effectiveness when making managerial decisions.

Abstract

Purpose

The purpose of this paper is to develop a small data set forecasting method to improve the effectiveness when making managerial decisions.

Design/methodology/approach

In the grey modeling process, appropriate background values are one of the key factors in determining forecasting accuracy. In this paper, grey compensation terms are developed to make more appropriate background values to further improve the forecasting accuracy of grey models.

Findings

In the experiment, three real cases were used to validate the effectiveness of the proposed method. The experimental results show that the proposed method can improve the accuracy of grey predictions. The results further indicate that background values determined by the proposed compensation terms can improve the accuracy of grey model in the three cases.

Originality/value

Previous studies determine appropriate background values within the limitation of traditional grey modeling process, while this study makes new background values without the limitation. The experimental results would encourage researchers to develop more accuracy grey models without the limitation when determining background values.

Details

Grey Systems: Theory and Application, vol. 11 no. 4
Type: Research Article
ISSN: 2043-9377

Keywords

Article
Publication date: 31 December 2020

Sheng-Hung Chen, Feng-Jui Hsu and Ying-Chen Lai

There is little known globally on the association among the independent shareholder, board size and merger and acquisition (M&A) performance. This paper addresses the…

Abstract

Purpose

There is little known globally on the association among the independent shareholder, board size and merger and acquisition (M&A) performance. This paper addresses the global issue about cross-border M&A in banking sector, particularly exploring the role of difference in the independent shareholder and board size between acquirer and target banks on synergy gains based on the international study.

Design/methodology/approach

Based on cross-border bank M&As data on 59 deals from 1995 to 2009, we initially apply social network analysis techniques to explore the country connectedness of the acquirer-target banks in cross-border M&As. Ordinary least squares (OLS) with robust standard errors is further used to investigate synergy gains within the difference in the degree of bank independent shareholder and board sizes between the acquirer and target banks.

Findings

Our results indicate that the acquiring banks are generally interconnected with the targeted banks and that some of acquiring banks are clearly concentrated in Asian countries including China, Hong Kong, and Philippines. Moreover, we find that cross-border M&As with larger difference in independent shareholders between the bidder and target bank would result in higher synergy gains in all cases of takeover premiums on 1 day, 1 week and 4 weeks. In addition, financial differences between the bidder and target banks have a significant impact on synergetic gains, a topic not explored in previous studies. There is no evidence that institutional and governance differences between bidder and target bank have significant cross-border impacts on takeover premiums with respect to 1 day, 1 week and 4 weeks, respectively.

Originality/value

This paper contributes to the literature by exploring the international issue about the role of difference in the degree of bank independent shareholder and board sizes between acquirer and target banks on synergy gains. Based on bank cross-border M&As data on 59 deals from 1995 to 2009, we initially apply social network analysis to explore the country connectedness of acquirer-target bank in cross-border M&As, while ten ordinary least squares (OLS) with robust standard errors is used to investigate synergy gains within the difference in the degree of bank independent shareholder and board sizes between acquirer and target banks.

Article
Publication date: 27 April 2020

Yingying Zheng and Shuang Liu

In order to solve the current imbalance of academic resources within the discipline, this article builds a three-dimensional talent evaluation model based on the…

Abstract

Purpose

In order to solve the current imbalance of academic resources within the discipline, this article builds a three-dimensional talent evaluation model based on the topic–author–citation based on the z index and proposes the ZAS index to evaluate scholars on different research topics within the discipline.

Design/methodology/approach

Based on the sample data of the CSSCI journals in the discipline of physical education in the past five years, the keywords were classified into 13 categories of research topics including female sports. The ZAS index of scholars on topic of female sports and so on was calculated, and quantitative indexes such as h index p index and z index were calculated. Comparative analysis of the evaluation effect was performed.

Findings

It is found that compared with the h index and p index, the z index achieves a better balance between the quantity, quality and citation distribution of scholars' results and effectively recognizes that the citation quality is higher and the number of citations of each paper is more balanced. In addition, compared to the z index, this article is based on a ZAS index model with an improved three-dimensional topic–author–citation relationship in research fields such as female sports.

Originality/value

It can identify some outstanding scholars who are engaged in small-scale or emerging topic research such as female sports and are excellent in different research areas. Talents create an objective and fair evaluation environment. At the same time, the ranking ability of ZAS indicators in the evaluation of talents is the strongest, and it is expected to be used in practical evaluations.

Details

Library Hi Tech, vol. 40 no. 1
Type: Research Article
ISSN: 0737-8831

Keywords

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