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Taking into consideration the current human need for agricultural produce such as rice that requires water for growth, the optimal consumption of this valuable liquid is important. Unfortunately, the traditional use of water by humans for agricultural purposes contradicts the concept of optimal consumption. Therefore, designing and implementing a mechanized irrigation system is of the highest importance. This system includes hardware equipment such as liquid altimeter sensors, valves and pumps which have a failure phenomenon as an integral part, causing faults in the system. Naturally, these faults occur at probable time intervals, and the probability function with exponential distribution is used to simulate this interval. Thus, before the implementation of such high-cost systems, its evaluation is essential during the design phase.

The proposed approach included two main steps: offline and online. The offline phase included the simulation of the studied system (i.e. the irrigation system of paddy fields) and the acquisition of a data set for training machine learning algorithms such as decision trees to detect, locate (classification) and evaluate faults. In the online phase, C5.0 decision trees trained in the offline phase were used on a stream of data generated by the system.

The proposed approach is a comprehensive online component-oriented method, which is a combination of supervised machine learning methods to investigate system faults. Each of these methods is considered a component determined by the dimensions and complexity of the case study (to discover, classify and evaluate fault tolerance). These components are placed together in the form of a process framework so that the appropriate method for each component is obtained based on comparison with other machine learning methods. As a result, depending on the conditions under study, the most efficient method is selected in the components. Before the system implementation phase, its reliability is checked by evaluating the predicted faults (in the system design phase). Therefore, this approach avoids the construction of a high-risk system. Compared to existing methods, the proposed approach is more comprehensive and has greater flexibility.

By expanding the dimensions of the problem, the model verification space grows exponentially using automata.

Unlike the existing methods that only examine one or two aspects of fault analysis such as fault detection, classification and fault-tolerance evaluation, this paper proposes a comprehensive process-oriented approach that investigates all three aspects of fault analysis concurrently.

To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems.

The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs.

In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis.

Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task.

The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots.

The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent.

A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.

Soft robots are known for their excellent safe interaction ability and promising in surgical applications for their lower risks of damaging the surrounding organs when operating than their rigid counterparts. To explore the potential of soft robots in cardiac surgery, this paper aims to propose an adaptive iterative learning controller for tracking the irregular motion of the beating heart.

In continuous beating heart surgery, providing a relatively stable operating environment for the operator is crucial. It is highly necessary to use position-tracking technology to keep the target and the surgical manipulator as static as possible. To address the position tracking and control challenges associated with dynamic targets, with a focus on tracking the motion of the heart, control design work has been carried out. Considering the lag error introduced by the material properties of the soft surgical robotic arm and system delays, a controller design incorporating iterative learning control with parameter estimation was used for position control. The stability of the controller was analyzed and proven through the construction of a Lyapunov function, taking into account the unique characteristics of the soft robotic system.

The tracking performance of both the proportional-derivative (PD) position controller and the adaptive iterative learning controller are conducted on the simulated heart platform. The results of these two methods are compared and analyzed. The designed adaptive iterative learning control algorithm for position control at the end effector of the soft robotic system has demonstrated improved control precision and stability compared with traditional PD controllers. It exhibits effective compensation for periodic lag caused by system delays and material characteristics.

Tracking the beating heart, which undergoes quasi-periodic and complex motion with varying accelerations, poses a significant challenge even for rigid mechanical arms that can be precisely controlled and makes tracking targets located at the surface of the heart with the soft robot fraught with considerable difficulties. This paper originally proposes an adaptive interactive learning control algorithm to cope with the dynamic object tracking problem. The algorithm has theoretically proved its convergence and experimentally validated its performance at the cable-driven soft robot test bed.

With the advent of technology, a huge amount of data is being transmitted and received through the internet. Large bandwidth and storage are required for the exchange of data and storage, respectively. Hence, compression of the data which is to be transmitted over the channel is unavoidable. The main purpose of the proposed system is to use the bandwidth effectively. The videos are compressed at the transmitter’s end and reconstructed at the receiver’s end. Compression techniques even help for smaller storage requirements.

The paper proposes a novel compression technique for three-dimensional (3D) videos using a zig-zag 3D discrete cosine transform. The method operates a 3D discrete cosine transform on the videos, followed by a zig-zag scanning process. Finally, to convert the data into a single bit stream for transmission, a run-length encoding technique is used. The videos are reconstructed by using the inverse 3D discrete cosine transform, inverse zig-zag scanning (quantization) and inverse run length coding techniques. The proposed method is simple and reduces the complexity of the convolutional techniques.

Coding reduction, code word reduction, peak signal to noise ratio (PSNR), mean square error, compression percent and compression ratio values are calculated, and the dominance of the proposed method over the convolutional methods is seen.

With zig-zag quantization and run length encoding using 3D discrete cosine transform for 3D video compression, gives compression up to 90% with a PSNR of 41.98 dB. The proposed method can be used in multimedia applications where bandwidth, storage and data expenses are the major issues.

This study focuses on (re-)introducing computer simulation as a part of the research paradigm. Simulation is a widely applied research method in supply chain and operations management. However, leading journals, such as the International Journal of Operations and Production Management, have often been reluctant to accept simulation studies. This study provides guidelines on how to conduct simulation research that advances theory, is relevant, and matters.

This study pooled the viewpoints of the editorial team of the International Journal of Operations and Production Management and authors of simulation studies. The authors debated their views and outlined why simulation is important and what a compelling simulation should look like.

There is an increasing importance of considering uncertainty, an increasing interest in dynamic phenomena, such as the transient response(s) to disruptions, and an increasing need to consider complementary outcomes, such as sustainability, which many researchers believe can be tackled by big data and modern analytical tools. But building, elaborating, and testing theory by purposeful experimentation is the strength of computer simulation. The authors therefore argue that simulation should play an important role in supply chain and operations management research, but for this, it also has to evolve away from simply generating and analyzing data. Four types of simulation research with much promise are outlined: empirical grounded simulation, simulation that establishes causality, simulation that supplements machine learning, artificial intelligence and analytics and simulation for sensitive environments.

This study identifies reasons why simulation is important for understanding and responding to today's business and societal challenges, it provides some guidance on how to design good simulation studies in this context and it links simulation to empirical research and theory going beyond multimethod studies.

The unstable labor productivity and periodic planning method cause barriers to improving construction logistics management. This paper aims to explore a demand-driven mechanism for efficient construction logistics planning to record the material consumption, report the real-time demand and trigger material replenishment from off-site to on-site, which is aided by Building Information Modeling (BIM) and the Kanban technique.

This paper follows the design science research (DSR) principles to propose a system of designing and applying Kanban batch with 4D BIM for construction logistics planning and monitoring. Prototype development with comparative simulation experiments of a river remediation project is conducted to analyze the conventional and Kanban-triggered supply. Two-staged industrial interviews are conducted to guide and evaluate the system design.

The proposed BIM-enabled Kanban system enables construction managers and suppliers to better set integrated on- and off-site targets, report real-time demands and conduct collaborative planning and monitoring. The simulation results present significant site storage and schedule savings applying the BIM-enabled Kanban system. Feedback and constructive suggestions from practitioners are collected via interviews and analyzed for further development.

This paper brings to the limelight the benefits of implementing BIM-enabled demand-driven replenishment to remove waste from the material flow. This paper combines lean production theory with advanced information technology to solve construction logistics management problems.

The paper presents the initial groundwork for the development of a research agenda around the management control implications of employing workers with intellectual disability.

The point of departure of this foundational enquiry is primarily prior analyses and critiques of empirical research into the employment of workers with intellectual disabilities.

The authors extend the management control framework advanced by Tessier and Otley (2012) by offering insights relating to the benefits and costs of both compliance as well as performance roles of management control systems (MCS). As such, the authors advocate potential avenues for further empirical investigation and also offer four broad ways in which the use of MCS is implicated in the employment of individuals with an intellectual disability by recognising that achieving compliance outcomes or achieving performance outcomes both carry associated benefits and costs.

The extent to which management control research has engaged with the context of workers with intellectual disability is limited. However, this paper identifies some of the salient considerations underlying an agenda for further research in this area.

The employment of workers with intellectual disabilities is by no means unprecedented. In many Western economies, there have in recent times been significant disability policy shifts, recognising the key role of employment in the financial security and social participation of people with disabilities, including those with intellectual disabilities. A key performance indicator stated in these policy positions is an increase in workforce participation for this group of people. However, an increase in the employment of such individuals is likely to represent significant implications in terms of prevailing conditions as well as new management control configurations that may be required.

The paper overviews existing knowledge about the employment of workers living with an intellectual disability and identifies areas relating to the management control implications of such arrangements within which more research is required.

The purpose of the study is to propose a framework for fleet management and make suitable distribution solution choices in the food industry.

This study reviews the literature to examine food distribution criteria. These criteria are used in the analytic hierarchy process (AHP) assessment and combined with discrete events simulation in a structured framework, which is validated through an empirical study.

The empirical case results demonstrate that both the AHP and discrete events simulation converge toward the same solution in most cases.

This study contributes to the literature on distribution management and develops a framework that can both guide future research and aid logistics practitioners in analysing distribution decision-making systems in dynamic environments.

The purpose of this study is to establish a method for accurately extracting torch and seam features. This will improve the quality of narrow gap welding. An adaptive deflection correction system based on passive light vision sensors was designed using the Halcon software from MVtec Germany as a platform.

This paper proposes an adaptive correction system for welding guns and seams divided into image calibration and feature extraction. In the image calibration method, the field of view distortion because of the position of the camera is resolved using image calibration techniques. In the feature extraction method, clear features of the weld gun and weld seam are accurately extracted after processing using algorithms such as impact filtering, subpixel (XLD), Gaussian Laplacian and sense region for the weld gun and weld seam. The gun and weld seam centers are accurately fitted using least squares. After calculating the deviation values, the error values are monitored, and error correction is achieved by programmable logic controller (PLC) control. Finally, experimental verification and analysis of the tracking errors are carried out.

The results show that the system achieves great results in dealing with camera aberrations. Weld gun features can be effectively and accurately identified. The difference between a scratch and a weld is effectively distinguished. The system accurately detects the center features of the torch and weld and controls the correction error to within 0.3mm.

An adaptive correction system based on a passive light vision sensor is designed which corrects the field-of-view distortion caused by the camera’s position deviation. Differences in features between scratches and welds are distinguished, and image features are effectively extracted. The final system weld error is controlled to 0.3 mm.

Ready-mix concrete delivery problem (RMCDP), a specific version of the vehicle routing problem (VRP), is a relevant supply-chain engineering task for construction management with various formulations and solving methods. This problem can range from a simple scenario involving one source, one material and one destination to a more challenging and complex case involving multiple sources, multiple materials and multiple destinations. This paper presents an Internet of Things (IoT)-supported active building information modeling (BIM) system for optimized multi-project ready-mix concrete (RMC) delivery.

The presented system is BIM-based, IoT supported, dynamic and automatic input/output exchange to provide an optimal delivery program for multi-project ready-mix-concrete problem. The input parameters are extracted as real-time map-supported IoT data and transferred to the system via an application programming interface (API) into a mixed-integer linear programming (MILP) optimization model developed to perform the optimization. The obtained optimization results are further integrated into BIM by conventional project management tools. To demonstrate the features of the suggested system, an RMCDP example was applied to solve that included four building sites, seven eligible concrete plants and three necessary RMC mixtures.

The system provides the optimum delivery schedule for multiple RMCs to multiple construction sites, as well as the optimum RMC quantities to be delivered, the quantities from each concrete plant that must be supplied, the best delivery routes, the optimum execution times for each construction site, and the total minimal costs, while also assuring the dynamic transfer of the optimized results back into the portfolio of multiple BIM projects. The system can generate as many solutions as needed by updating the real-time input parameters in terms of change of the routes, unit prices and availability of concrete plants.

The suggested system allows dynamic adjustments during the optimization process, andis adaptable to changes in input data also considering the real-time input data. The system is based on spreadsheets, which are widely used and common tool that most stakeholders already utilize daily, while also providing the possibility to apply a more specialized tool. Based on this, the RMCDP can be solved using both conventional and advanced optimization software, enabling the system to handle even large-scale tasks as necessary.