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Article
Publication date: 20 March 2017

Jiadi Qu, Fuhai Zhang, Yili Fu, Guozhi Li and Shuxiang Guo

The purpose of this paper is to develop a vision-based dual-arm cyclic motion method, focusing on solving the problems of an uncertain grasp position of the object and the…

Abstract

Purpose

The purpose of this paper is to develop a vision-based dual-arm cyclic motion method, focusing on solving the problems of an uncertain grasp position of the object and the dual-arm joint-angle-drift phenomenon.

Design/methodology/approach

A novel cascade control structure is proposed which associates an adaptive neural network with kinematics redundancy optimization. A radial basis function (RBF) neural network in conjunction with a conventional proportional–integral (PI) controller is applied to compensate for the uncertainty of the image Jacobian matrix which includes the estimated grasp position. To avoid the joint-angle-drift phenomenon, a dual neural network (DNN) solver in conjunction with a PI controller and dual-arm-coordinated constraints is applied to optimize the closed-chain kinematics redundancy.

Findings

The proposed method was implemented on an industrial robotic MOTOMAN with two 7-degrees of freedom robotic arms. Two experiments of carrying a tray repeatedly and turning a steering wheel were carried out, and the results indicate that the closed-trajectories tracking is achieved successfully both in the image plane and the joint spaces with the uncertain grasp position, which validates the accuracy and realizability of the proposed PI-RBF-DNN control strategy.

Originality/value

The adaptive neural network visual servoing method is applied to the dual-arm cyclic motion with the uncertain grasp position of the object. The proposed method enhances the environmental adaptability of a dual-arm robot in a practical manipulation task.

Details

Industrial Robot: An International Journal, vol. 44 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 27 September 2011

Vincent Kotwicki and Meshan Al‐Otaibi

The purpose of this paper is to present a case study on how drinking water consumption could be potentially reduced by the introduction of dual water distribution networks

1096

Abstract

Purpose

The purpose of this paper is to present a case study on how drinking water consumption could be potentially reduced by the introduction of dual water distribution networks. Since water of this quality is required only for drinking, cooking, bathing, and washing, delivering such water for uses that require non‐drinking water quality represents a tremendous waste of water and energy, and contributes to environmental pollution.

Design/methodology/approach

An overview of dual distribution networks in several countries is presented. Kuwait, in which 86 percent of the freshwater network has a parallel brackish water network, is the leader in this field, with brackish water used for a range of outdoor activities. The residential sector is the major consumer of freshwater in Kuwait and the control of demand in this sector will be a key factor in curbing the overall demand, which without any demand management measures is expected to quadruple by 2025. Computer modeling based on existing water use statistics and the proposed phasing‐in of a dual distribution network for indoor use in households has been undertaken to determine how the large quantities of reclaimed can be used to reduce drinking water consumption.

Findings

The paper presents a modeling exercise that demonstrates that by using reverse osmosis (RO) treated wastewater for toilet flushing and watering the gardens, water consumption demand can be stabilized at present levels over a 20‐year period.

Originality/value

The paper concludes that with foresight and long‐term planning it is feasible to implement a dual water supply network in a major city, on a scale which may lead to saving up to 25 percent of drinking quality water on top of other traditional water conservation measures.

Details

Management of Environmental Quality: An International Journal, vol. 22 no. 6
Type: Research Article
ISSN: 1477-7835

Keywords

Article
Publication date: 16 November 2012

Mark Holland, Richard Bell and Liz Hughes

The aim of this paper is to describe the development and functions of local and regional networks for professionals working with dual diagnosis in the north of England.

201

Abstract

Purpose

The aim of this paper is to describe the development and functions of local and regional networks for professionals working with dual diagnosis in the north of England.

Design/methodology/approach

The paper is a descriptive account of local and regional networks in the north of England – their development, their function and future plans.

Findings

Local and regional networks are important in helping people share resources and ideas as well as gaining mutual support in what can be very stressful roles. However, there is a danger in a climate of financial constraints that network activities may be lost.

Originality/value

This paper focuses on the importance of collegiate networks of professionals and service user representatives and offers a perspective from the north of England.

Details

Advances in Dual Diagnosis, vol. 5 no. 4
Type: Research Article
ISSN: 1757-0972

Keywords

Article
Publication date: 12 August 2013

Sarah E. Anderson, Catherine Hennessy, Michelle Cornes and Jill Manthorpe

People with a dual diagnosis or other multiple and complex needs often require support from a range of services and agencies. Social policy has focused on achieving an…

Abstract

Purpose

People with a dual diagnosis or other multiple and complex needs often require support from a range of services and agencies. Social policy has focused on achieving an integrated response from practitioners; however, service responses to this group frequently remain fragmented. Practitioners supporting these clients are likely to need knowledge drawn from multiple disciplines and awareness of complex and changing services. Research suggests the value of professional networks for knowledge transfer. The purpose of this paper is to describe one's approach to supporting integration and facilitating knowledge exchange through the development of “communities of practice”.

Design/methodology/approach

The paper describes a “communities of practice” model, as implemented by researchers from King's College London and Revolving Doors Agency through their Communities of Practice Development Programme. It outlines potential benefits of the model – identified through focus groups and survey responses of members, facilitator interviews and the authors’ observations as community of practice members. Finally, it discusses challenges and limitations of this approach.

Findings

Communities of practice are able to provide a forum for peer support and supervision to mediate feelings of role or service isolation and to sustain practitioner motivation. They can also facilitate inter-disciplinary and inter-agency knowledge transfer. However, the limited resources available to these local networks act as a barrier to developing their capacity to improve responses to people with multiple and complex needs.

Originality/value

The paper uses a case study approach to outline the potential for a “communities of practice” approach to be used to improve responses to people with multiple and complex needs.

Details

Advances in Dual Diagnosis, vol. 6 no. 3
Type: Research Article
ISSN: 1757-0972

Keywords

Book part
Publication date: 2 September 2009

Yanjie Bian and Xianbi Huang

Information and influence are distinct network resources that are embedded in and mobilized from networks of personal contacts. A five-city survey shows that Chinese job…

Abstract

Information and influence are distinct network resources that are embedded in and mobilized from networks of personal contacts. A five-city survey shows that Chinese job changers obtain both kinds of network resources from social ties of varying strengths. During the first 20 years of China's market reforms, job changes were increasingly network facilitated; despite the growth of labor markets network allocation of labor had reached dominance by 1992. Job changers using information and influence networks to search for new employment were more likely to increase both job search time and job–worker matching; however, those using influence networks, not information networks, were likely to move into jobs of higher earning opportunity. These results are interpreted in a dynamic context of increasing market competition and growing allocative efficiency.

Details

Work and Organizationsin China Afterthirty Years of Transition
Type: Book
ISBN: 978-1-84855-730-7

Article
Publication date: 1 December 1996

D.M. Spink

Presents a direct solution method for the determination of the capacitance, conductance or inductance of static linear problems with the dual finite element method. The…

Abstract

Presents a direct solution method for the determination of the capacitance, conductance or inductance of static linear problems with the dual finite element method. The direct solution method provides an entirely energy‐based method for the calculation of these global parameters and differs from the conventional solution techniques in that no recourse is required to the intermediate determination of the potential distribution. The direct solution method can be seen as the reduction of a dual circuit parameter network for the finite element representation. Compares the dual‐circuit parameter description with another, well‐known variational method called “Tubes and Slices”. Shows that by aligning the finite element mesh with the approximate positions of the equipotentials and flux lines in the system, the dual finite element model can be simplified to the equivalent of Tubes and Slices model and that both methods can produce exactly the same results.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, vol. 15 no. 4
Type: Research Article
ISSN: 0332-1649

Keywords

Abstract

Details

Advanced Modeling for Transit Operations and Service Planning
Type: Book
ISBN: 978-0-585-47522-6

Article
Publication date: 1 August 2008

Liz Hughes

191

Abstract

Details

Advances in Dual Diagnosis, vol. 1 no. 1
Type: Research Article
ISSN: 1757-0972

Content available
Article
Publication date: 12 August 2014

Elizabeth Hughes

425

Abstract

Details

Advances in Dual Diagnosis, vol. 7 no. 3
Type: Research Article
ISSN: 1757-0972

Article
Publication date: 8 March 2021

Muhammad Yasir Faheem, Shun'an Zhong, Xinghua Wang and Muhammad Basit Azeem

There are many types of the ADCs implemented in the mobile and wireless devices. Most of these devices are battery operated and operational at low input voltage. SAR ADC…

Abstract

Purpose

There are many types of the ADCs implemented in the mobile and wireless devices. Most of these devices are battery operated and operational at low input voltage. SAR ADC is popular for its low power operations and simple architecture. Scientists are still working to make its working faster under the same low power area. There are many SAR-ADC implemented in the past two decades, but still, there is a big room for dual SAR-ADC.

Design/methodology/approach

The authors are presenting a dual SAR-ADC with a smaller number of components and blocks. The proposed ultra-low-power circuit of the SAR-ADC consists of four major blocks, which include Bee-bootstrap, Spider-Latch dual comparator, dual SAR-logic and dual digital to analog converter. The authors have used the 90-nm CMOS library for the construction of the design.

Findings

The power breaks down of the comparator are dramatically improved from 0.006 to 0.003 uW. The ultimate design has 5 MHz operating frequency with 25 KS/s sampling frequency. The supply voltage is 1.2 V with 35.724 uW power consumption. Signal-to-noise and distortion ratio and spurious-free dynamic range are 65 and 84 dB, respectively. The Walden's figure of merits calculated 7.08 fj/step.

Originality/value

The authors are proposing two-in-one circuit for SAR-ADC named as “dual SAR-ADC”, which obeys the basic equation of duality, derived and proved under the heading of proposed solution. It shows a clear difference between the performance of two circuit-based ADC and one dual circuit ADC. The number of components is reduced by sharing the work load of some key components.

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