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Article
Publication date: 28 June 2019

Wendong Zheng, Huaping Liu, Bowen Wang and Fuchun Sun

For robots to more actively interact with the surrounding environment in object manipulation tasks or walking, they must understand the physical attributes of objects and…

Abstract

Purpose

For robots to more actively interact with the surrounding environment in object manipulation tasks or walking, they must understand the physical attributes of objects and surface materials they encounter. Dynamic tactile sensing can effectively capture rich information about material properties. Hence, methods that convey and interpret this tactile information to the user can improve the quality of human–machine interaction. This paper aims to propose a visual-tactile cross-modal retrieval framework to convey tactile information of surface material for perceptual estimation.

Design/methodology/approach

The tactile information of a new unknown surface material can be used to retrieve perceptually similar surface from an available surface visual sample set by associating tactile information to visual information of material surfaces. For the proposed framework, the authors propose an online low-rank similarity learning method, which can effectively and efficiently capture the cross-modal relative similarity between visual and tactile modalities.

Findings

Experimental results conducted on the Technischen Universität München Haptic Texture Database demonstrate the effectiveness of the proposed framework and the method.

Originality/value

This paper provides a visual-tactile cross-modal perception method for recognizing material surface. By the method, a robot can communicate and interpret the conveyed information about the surface material properties to the user; it will further improve the quality of robot interaction.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 29 July 2019

Bin Fang, Hongxiang Xue, Fuchun Sun, Yiyong Yang and Renxiang Zhu

The purpose of the paper is to present a novel cross-modal sensor whose tactile is computed by the visual information. The proposed sensor can measure the forces of…

Abstract

Purpose

The purpose of the paper is to present a novel cross-modal sensor whose tactile is computed by the visual information. The proposed sensor can measure the forces of robotic grasping.

Design/methodology/approach

The proposed cross-modal tactile sensor consists of a transparent elastomer with markers, a camera, an LED circuit board and supporting structures. The model and performance of the elastomer are analyzed. Then marker recognition method is proposed to determine the movements of the marker on the surface, and the force calculation algorithm is presented to compute the three-dimension force.

Findings

Experimental results demonstrate that the proposed tactile sensor can accurately measure robotic grasping forces.

Originality/value

The proposed cross-modal tactile sensor determines the robotic grasping forces by the images of markers. It can give more information of the force than traditional tactile sensors. Meanwhile, the proposed algorithms for forces calculation determine the superior results.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 9 April 2021

Yang Chen and Fuchun Sun

The authors want to design an adaptive grasping control strategy without setting the expected contact force in advance to maintain grasping stable, so that the proposed…

Abstract

Purpose

The authors want to design an adaptive grasping control strategy without setting the expected contact force in advance to maintain grasping stable, so that the proposed control system can deal with unknown object grasping manipulation tasks.

Design/methodology/approach

The adaptive grasping control strategy is proposed based on bang-bang-like control principle and slippage detection module. The bang-bang-like control method is designed to find and set the expected contact force for the whole control system, and the slippage detection function is achieved by dynamic time warping algorithm.

Findings

The expected contact force can adaptively adjust in grasping tasks to avoid bad effects on the control system by the differences of prior test results or designers. Slippage detection can be recognized in time with variation of expected contact force manipulation environment in the control system. Based on if the slippage caused by an unexpected disturbance happens, the control system can automatically adjust the expected contact force back to the level of the previous stable state after a given time, and has the ability to identify an unnecessary increasing in the expected contact force.

Originality/value

Only contact force is used as feedback variable in control system, and the proposed strategy can save hardware components and electronic circuit components for sensing, reducing the cost and design difficulty of conducting real control system and making it easy to realize in engineering application field. The expected contact force can adaptively adjust due to unknown disturbance and slippage for various grasping manipulation tasks.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 18 October 2019

Shuhuan Wen, Xueheng Hu, Zhen Li, Hak Keung Lam, Fuchun Sun and Bin Fang

This paper aims to propose a novel active SLAM framework to realize avoid obstacles and finish the autonomous navigation in indoor environment.

Abstract

Purpose

This paper aims to propose a novel active SLAM framework to realize avoid obstacles and finish the autonomous navigation in indoor environment.

Design/methodology/approach

The improved fuzzy optimized Q-Learning (FOQL) algorithm is used to solve the avoidance obstacles problem of the robot in the environment. To reduce the motion deviation of the robot, fractional controller is designed. The localization of the robot is based on FastSLAM algorithm.

Findings

Simulation results of avoiding obstacles using traditional Q-learning algorithm, optimized Q-learning algorithm and FOQL algorithm are compared. The simulation results show that the improved FOQL algorithm has a faster learning speed than other two algorithms. To verify the simulation result, the FOQL algorithm is implemented on a NAO robot and the experimental results demonstrate that the improved fuzzy optimized Q-Learning obstacle avoidance algorithm is feasible and effective.

Originality/value

The improved fuzzy optimized Q-Learning (FOQL) algorithm is used to solve the avoidance obstacles problem of the robot in the environment. To reduce the motion deviation of the robot, fractional controller is designed. To verify the simulation result, the FOQL algorithm is implemented on a NAO robot and the experimental results demonstrate that the improved fuzzy optimized Q-Learning obstacle avoidance algorithm is feasible and effective.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 20 March 2017

Bin Fang, Fuchun Sun, Huaping Liu and Di Guo

The purpose of this paper is to present a novel data glove which can capture the motion of the arm and hand by inertial and magnetic sensors. The proposed data glove is…

Abstract

Purpose

The purpose of this paper is to present a novel data glove which can capture the motion of the arm and hand by inertial and magnetic sensors. The proposed data glove is used to provide the information of the gestures and teleoperate the robotic arm-hand.

Design/methodology/approach

The data glove comprises 18 low-cost inertial and magnetic measurement units (IMMUs) which not only make up the drawbacks of traditional data glove that only captures the incomplete gesture information but also provide a novel scheme of the robotic arm-hand teleoperation. The IMMUs are compact and small enough to wear on the upper arm, forearm, palm and fingers. The calibration method is proposed to improve the accuracy of measurements of units, and the orientations of each IMMU are estimated by a two-step optimal filter. The kinematic models of the arm, hand and fingers are integrated into the entire system to capture the motion gesture. A positon algorithm is also deduced to compute the positions of fingertips. With the proposed data glove, the robotic arm-hand can be teleoperated by the human arm, palm and fingers, thus establishing a novel robotic arm-hand teleoperation scheme.

Findings

Experimental results show that the proposed data glove can accurately and fully capture the fine gesture. Using the proposed data glove as the multiple input device has also proved to be a suitable teleoperating robotic arm-hand system.

Originality/value

Integrated with 18 low-cost and miniature IMMUs, the proposed data glove can give more information of the gesture than existing devices. Meanwhile, the proposed algorithms for motion capture determine the superior results. Furthermore, the accurately captured gestures can efficiently facilitate a novel teleoperation scheme to teleoperate the robotic arm-hand.

Details

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

Keywords

Content available
Article
Publication date: 4 June 2021

Pei Duan, Shengdong Chen, Heng Zhang and Fuchun Zhang

This study aims to focus on the analysis of the internal mechanism of farmers’ ecological cognition and the behaviour of Grain for Green Project (GGP), and the further…

Abstract

Purpose

This study aims to focus on the analysis of the internal mechanism of farmers’ ecological cognition and the behaviour of Grain for Green Project (GGP), and the further relationship between ecological cognition and ecological aspiration, proposing climate change strategies and management from the perspective of farmers.

Design/methodology/approach

Theory of planned behaviour and social exchange theory were used to construct a theoretical framework and an ecological cognition under the influence of external factors, the aspiration and the behaviour of GGP, using ecological fragile areas in Bazhou and Changji, Xinjiang of 618 peasant households’ survey data. The structural equation model and Heckman two-step model were applied to analyse the relationship between ecological cognition and ecological aspiration of farmers, the impact of peasant households’ ecological cognition and aspiration to the behaviour of GGP and the influence factors of GGP behaviour.

Findings

This research’s results show that the three characterizations of ecological cognitive variables, attitude towards the behaviour (AB), subjective norms (SN) and perceived behaviour control (PBC), have significant positive impact on farmers’ GGP ecological aspiration. The comprehensive impact path coefficients of ecological cognition are PBC (0.498) > SN (0.223) > AB (0.177). Also, income change is a moderating variable, which has a significant moderating effect on the influence of AB and SN on ecological aspiration. Further, farmers’ ecological cognition has an influence on the behaviour of GGP, and the change of farmers’ income has a significant positive effect on farmers’ choice of returning farmland to forests.

Practical implications

The ecological protection policy suggestions and countermeasures can be drawn from the research conclusions, adapted to China’s ecologically fragile regions and even similar regions in the world to response the climate change.

Originality/value

Combining the theory of planning behaviour and social exchange, this paper empirically analyses the path of farmers’ ecological cognition and ecological aspiration, as well as the influencing factors.

Details

International Journal of Climate Change Strategies and Management, vol. 13 no. 2
Type: Research Article
ISSN: 1756-8692

Keywords

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Abstract

Details

The Current Global Recession
Type: Book
ISBN: 978-1-78635-157-9

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Article
Publication date: 3 July 2013

Liang Guo, Clive Smallman and Jack Radford

This paper aims to offer a critique of corporate governance in China.

Abstract

Purpose

This paper aims to offer a critique of corporate governance in China.

Design/methodology/approach

The critique is based upon a literature review and secondary data sources.

Findings

The Chinese Government has made efforts to strengthen the effectiveness of corporate governance in state‐owned enterprises. However, existing research shows that some governance mechanisms that are effective in Western countries have no significant or negative impacts on firm performance in China. An apparent reason for this is the strong relationship between state‐owned enterprises and the government.

Originality/value

Policy implications are offered as a means to improve corporate governance in China.

Details

International Journal of Law and Management, vol. 55 no. 4
Type: Research Article
ISSN: 1754-243X

Keywords

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Article
Publication date: 5 September 2018

Linhao Ouyang, Zijian Zhang, Xiaoling Huang and Shi Xie

The purpose of this study is to restore the spatial distribution of overseas remittance businesses in Shantou during the 1940s. It explores various socioeconomic factors…

Abstract

Purpose

The purpose of this study is to restore the spatial distribution of overseas remittance businesses in Shantou during the 1940s. It explores various socioeconomic factors that influenced the concentration of local remittance business investment in real estate. By reconstructing the spatial distribution of remittance business activities in Shantou, this study hopes to lay a foundation for further analysis of the business strategies of Chaoshan merchants.

Design/methodology/approach

This research draws on information from the published Swatow Guide, archival sources and cadastral maps to identify the location of remittance enterprises and the native place and overseas networks of property owners.

Finding

This study reveals that the spatial distribution of the remittance enterprises was determined by the native place origins of local property owners, and that the inflow of overseas Chinese capital contributed to real estate development in Shantou.

Research limitations/implications

Despite the limited access to Chinese official archives, this paper manages to identify several building blocks and neighbors in Shantou for spatial analysis.

Practical implications

This study is the first attempt to use the geographical information system (GIS) method in Chinese urban history research and hopes to establish a larger historical database of Shantou as a sample for comparison.

Originality/value

This investigation advances the spatial study of urban history and overseas Chinese remittances in the maritime society of South China.

Details

Social Transformations in Chinese Societies, vol. 14 no. 2
Type: Research Article
ISSN: 1871-2673

Keywords

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Article
Publication date: 2 November 2015

Tao Wang, Yi Luo and Liang Rebecca Tang

– The purpose of this paper is to investigate consumer motivations to boutique hotels in Xiamen, China with the push-pull theory.

Abstract

Purpose

The purpose of this paper is to investigate consumer motivations to boutique hotels in Xiamen, China with the push-pull theory.

Design/methodology/approach

The survey for this study was conducted in boutique hotels in Xiamen, China.

Findings

The results indicated identified “uniqueness-seeking,” “interpersonal experience,” and “social networking” as the primary push motivations and “decoration & theme” and “site value” as the primary pull motivations.

Originality/value

The study is anticipated to provide the industry practitioners in boutique hotels marketing strategies such as positioning, packaging, and advertising.

Details

International Journal of Tourism Cities, vol. 1 no. 4
Type: Research Article
ISSN: 2056-5607

Keywords

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