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Article
Publication date: 19 June 2017

Hector Montes, Lisbeth Mena, Roemi Fernández and Manuel Armada

The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several…

Abstract

Purpose

The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours. To this end, the paper presents an experimental study for the evaluation of its energy efficiency.

Design/methodology/approach

First, the interest of using a walking robot for detection and localization of anti-personnel landmines is described, followed by the description of the mechanical system and the control architecture of the hexapod robot. Second, the energy efficiency of the hexapod robot is assessed to demonstrate its autonomy for performing humanitarian demining tasks. To achieve this, the power consumed by the robot is measured and logged, with a number of different payloads placed on-board (always including the scanning manipulator arm assembled on the robot front end), during the execution of a discontinuous gait on flat terrain.

Findings

The hexapod walking robot has demonstrated low energy consumption when it is carrying out several locomotion cycles with different loads on it, which is fundamental to have a desired autonomy. It should be considered that the robot has a mass of about 250 kg and that it has been loaded with additional masses of up to 170 kg during the experiments, with a consumption of mean power of 72 W, approximately.

Originality/value

This work provides insight on the use of a walking robot for humanitarian demining tasks, which has high stability and an autonomy of about 3 hours for a robot with high mass and high payload. In addition, the robot can be supervised and controlled remotely, which is an added value when it is working in the field.

Details

Industrial Robot: An International Journal, vol. 44 no. 4
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 17 August 2012

Roemi Fernández, Héctor Montes, Carlota Salinas, Pablo González de Santos and Manuel Armada

The purpose of this paper is to introduce the design of a training tool intended to improve deminers' technique during close‐in detection tasks.

Abstract

Purpose

The purpose of this paper is to introduce the design of a training tool intended to improve deminers' technique during close‐in detection tasks.

Design/methodology/approach

Following an introduction that highlights the impact of mines and improvised explosive devices (IEDs), and the importance of training for enhancing the safety and the efficiency of the deminers, this paper considers the utilization of a sensory tracking system to study the skill of the hand‐held detector expert operators. With the compiled information, some critical performance variables can be extracted, assessed, and quantified, so that they can be used afterwards as reference values for the training task. In a second stage, the sensory tracking system is used for analysing the trainee skills. The experimentation phase aims to test the effectiveness of the elements that compose the sensory system to track the hand‐held detector during the training sessions.

Findings

The proposed training tool will be able to evaluate the deminers' efficiency during the scanning tasks and will provide important information for improving their competences.

Originality/value

This paper highlights the need of introducing emerging technologies for enhancing the current training techniques for deminers and proposes a sensory tracking system that can be successfully utilised for evaluating trainees' performance with hand‐held detectors.

Details

Industrial Robot: An International Journal, vol. 39 no. 5
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 16 April 2018

Ravinder Singh and Kuldeep Singh Nagla

Accurate perception of the environment using range sensors such as laser scanner, SONAR, infrared, vision, etc., for the application, such as path planning, localization…

Abstract

Purpose

Accurate perception of the environment using range sensors such as laser scanner, SONAR, infrared, vision, etc., for the application, such as path planning, localization, autonomous navigation, simultaneously localization and mapping, is a highly challenging area. The reliability of the perception by range sensors relies on the sensor accuracy, precision, sensor model, sensor registration, resolution, etc. Laser scanner is even though accurate and precise but still the efficient and consistent mapping of the environment is yet to be attained because laser scanner gives error as the extrinsic and intrinsic parameters varied which cause specular reflection, refraction, absorption, etc., of the laser beam. The paper aims to discuss this issue.

Design/methodology/approach

This paper presents an error analysis in sensory information of laser scanner due to the effect of varying the scanning angle with respect to the optical axis and surface reflectivity or refractive index of the targets. Uncertainties caused by these parameters are reduced by proposing a new technique, tilt mounting system (TMS) with designed filters of tilting the angular position of a laser scanner with the best possible selection of range and scanning angle for the robust occupancy grid mapping. Various experiments are performed in different indoor environments, and the results are validated after the implementation of the TMS approach with designed filters.

Findings

After the implementation of the proposed TMS approach with filters, the errors in the laser grid map are reduced by 15.6 percent, which results in 62.5 percent reduction in the collision of a mobile robot during autonomous navigation in the laser grid map.

Originality/value

The TMS approach with designed filter reduces the effect of variation in intrinsic and extrinsic parameters to generate efficient laser occupancy grid map to achieve collision-free autonomous navigation.

Details

International Journal of Intelligent Unmanned Systems, vol. 6 no. 2
Type: Research Article
ISSN: 2049-6427

Keywords

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Article
Publication date: 1 October 2018

Ravinder Singh and Kuldeep Singh Nagla

Modern service robots are designed to work in a complex indoor environment, in which the robot has to interact with the objects in different ambient light intensities (day…

Abstract

Purpose

Modern service robots are designed to work in a complex indoor environment, in which the robot has to interact with the objects in different ambient light intensities (day light, tube light, halogen light and dark ambiance). The variations in sudden ambient light intensities often cause an error in the sensory information of optical sensors like laser scanner, which reduce the reliability of the sensor in applications such as mapping, path planning and object detection of a mobile robot. Laser scanner is an optical sensor, so sensory information depends upon parameters like surface reflectivity, ambient light condition, texture of the targets, etc. The purposes of this research are to investigate and remove the effect of variation in ambient light conditions on the laser scanner to achieve robust autonomous mobile robot navigation.

Design/methodology/approach

The objective of this study is to analyze the effect of ambient light condition (dark ambiance, tube light and halogen bulb) on the accuracy of the laser scanner for the robust autonomous navigation of mobile robot in diverse illumination environments. A proposed AIFA (Adaptive Intensity Filter Algorithm) approach is designed in robot operating system (ROS) and implemented on a mobile robot fitted with laser scanner to reduce the effect of high-intensity ambiance illumination of the environment.

Findings

It has been experimentally found that the variation in the measured distance in dark is more consistent and accurate as compared to the sensory information taken in high-intensity tube light/halogen bulbs and in sunlight. The proposed AIFA approach is implement on a laser scanner fitted on a mobile robot which navigates in the high-intensity ambiance-illuminating complex environment. During autonomous navigation of mobile robot, while implementing the AIFA filter, the proportion of cession with the obstacles is reduce to 23 per cent lesser as compared to conventional approaches.

Originality/value

The proposed AIFA approach reduced the effect of the varying ambient light conditions in the sensory information of laser scanner for the applications such as autonomous navigation, path planning, mapping, etc. in diverse ambiance environment.

Details

World Journal of Engineering, vol. 15 no. 5
Type: Research Article
ISSN: 1708-5284

Keywords

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Book part
Publication date: 16 December 2009

Hector O. Zapata and Krishna P. Paudel

This is a survey paper of the recent literature on the application of semiparametric–econometric advances to testing for functional form of the environmental Kuznets curve…

Abstract

This is a survey paper of the recent literature on the application of semiparametric–econometric advances to testing for functional form of the environmental Kuznets curve (EKC). The EKC postulates that there is an inverted U-shaped relationship between economic growth (typically measured by income) and pollution; that is, as economic growth expands, pollution increases up to a maximum and then starts declining after a threshold level of income. This hypothesized relationship is simple to visualize but has eluded many empirical investigations. A typical application of the EKC uses panel data models, which allows for heterogeneity, serial correlation, heteroskedasticity, data pooling, and smooth coefficients. This vast literature is reviewed in the context of semiparametric model specification tests. Additionally, recent developments in semiparametric econometrics, such as Bayesian methods, generalized time-varying coefficient models, and nonstationary panels are discussed as fruitful areas of future research. The cited literature is fairly complete and should prove useful to applied researchers at large.

Details

Nonparametric Econometric Methods
Type: Book
ISBN: 978-1-84950-624-3

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Article
Publication date: 17 January 2020

Hector Martin, Fey Mohammed, Kevin Lal and Shannon Ramoutar

There are limited studies addressing how choosing a maintenance strategy can contribute towards maximising outputs from given inputs, thereby minimising costs and…

Abstract

Purpose

There are limited studies addressing how choosing a maintenance strategy can contribute towards maximising outputs from given inputs, thereby minimising costs and improving a company’s competitiveness. The analytic hierarchy constant sum method (AHCSM) is used to access the appropriateness of maintenance strategies for improving the overall efficiency of a structural steel fabrication construction company.

Design/methodology/approach

A semi-structured interview was formulated with the stakeholders of the quality department to understand the company’s maintenance portfolio and its current functional capability. The information from this case study was then dissected to represent the factors that the company deemed appropriate for evaluating their maintenance strategy. The AHCSM approach provided a framework, which ranked the importance of factors that are sensitive to the construction industry and rank the suitability of maintenance strategies.

Findings

Factors affecting the selection of maintenance strategies to improve business efficiency are productivity, quality, reliability, cost, safety and work environment, morale, inventory and flexibility. Total productive maintenance strategy produces the most desirable outcome; however, the predictive or condition-based maintenance strategy provides an optimum solution for the case study company while considering the equipment usage, frequency of production and the current economic climate.

Originality/value

The approach presented allows practitioners to consider ways to increase the level of production and improve the efficiency of construction businesses without a high increase in investment. The findings can inform gaps in existing maintenance approaches in achieving business objectives.

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Article
Publication date: 1 December 2020

Rupeng Yuan, Fuhai Zhang, Yili Fu and Shuguo Wang

The purpose of this paper is to propose a robust iterative LIDAR-based pose tracking method assisted by modified visual odometer to resist initial value disturbance and…

Abstract

Purpose

The purpose of this paper is to propose a robust iterative LIDAR-based pose tracking method assisted by modified visual odometer to resist initial value disturbance and locate a robot in the environments with certain occlusion.

Design/methodology/approach

At first, an iterative LIDAR-based pose tracking method is proposed. The LIDAR information is filtered and occupancy grid map is pre-processed. The sample generation and scoring are iterated so that the result is converged to the stable value. To improve the efficiency of sample processing, the integer-valued map indices of rotational samples are preserved and translated. All generated samples are analyzed to determine the maximum error direction. Then, a modified visual odometer is introduced for error compensation. The oriented fast and rotated brief (ORB) features are uniformly sampled in the image. A local map which contains key frames for reference is maintained. These two measures ensure that the modified visual odometer is able to return robust result which compensates the error of LIDAR-based pose tracking method in the maximum error direction.

Findings

Three experiments are conducted to prove the advantages of the proposed method. The proposed method can resist initial value disturbance with high computational efficiency, give back credible real-time result in the environment with abundant features and locate a robot in the environment with certain occlusion.

Originality/value

The proposed method is able to give back real-time pose tracking results with robustness. The iterative sample generation enables the robot to resist initial value disturbance. In each iteration, rotational and translational samples are separately generated to enhance computational efficiency. The maximum error direction of LIDAR-based pose tracking method is determined by principle component analysis and compensated by the result of modified visual odometer to give back correct pose in the environment with certain occlusion.

Details

Sensor Review, vol. 41 no. 1
Type: Research Article
ISSN: 0260-2288

Keywords

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Book part
Publication date: 30 December 2004

Terry Austrin and Jackie West

The legalization of gambling is moving this once deviant sector into the mainstream of commercial entertainment, with the global hotel-casino increasingly adopted as a…

Abstract

The legalization of gambling is moving this once deviant sector into the mainstream of commercial entertainment, with the global hotel-casino increasingly adopted as a state initiative on economic redevelopment. But corporate capitalist interests do not result in universal trends since local regulatory frameworks are crucial. Although gambling is being normalized as mass consumption, it remains to some extent an exceptional business, subject both to global innovation in the technology of surveillance and variable local controls. The paper argues that the effects of glocalization on the organization of work are equally variable, drawing on fieldwork and case studies from the USA, Australasia and the U.K.

Details

Globalism/Localism at Work
Type: Book
ISBN: 978-1-84950-229-0

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Book part
Publication date: 23 July 2019

M. Anil Ramesh and Madhusudan Kumar Kota

COCO TANG India is an innovation-driven company. It takes inspiration from the humble coconut water that all of us are very familiar with and have drunk right from our…

Abstract

COCO TANG India is an innovation-driven company. It takes inspiration from the humble coconut water that all of us are very familiar with and have drunk right from our childhood. The founders of the company, Dr Neelima, a dentist by profession and her husband Chaitanya who is a pharmacist have hit upon the idea of a coconut-based drink quite by accident.

When Dr Neelima was pregnant with her first child, the doctor advised her to take fresh coconut water. It was then that Dr Neelima discovered that fresh coconut water was a paradox, the water from a tender coconut is supposed to be fresh but in many cases is not as fresh as it should be. Coconuts are harvested from remote farms in Andhra Pradesh and sent to Hyderabad. And to top it all, the nutrition value of the coconut past its ideal window of consumption leaves a lot to desire. The price factor too is a dampener. It costs Rs. 25 to have tender coconut water in a metropolis like Hyderabad.

Dr Neelima and her husband developed the product idea from their search for a nutritious, healthy drink. Fresh, tender coconut pulp-based shakes, packed with nutrition, taste, health and at the same time make an aspirational product for the young, bubbly and restless youth of India.

This case deals with the problems, the trials and tribulations that these young first-time entrepreneurs faced and details the marketing efforts the young company is putting into survive in the dog eat dog world of fruit drink industry.

The case details the specific marketing-related problems the company faces and examines what the promoters are doing to overcome these problems, specifically related to the four Ps, that is, product, price, place and promotion. It looks in depth at the innovative marketing practices that COCO TANG India is deploying, including the use of the social media that enabled the COCO TANG India’s founder to win Junior Chamber International – Business Excellence Award for the year 2017–2018.

COCO TANG India is also the recipient of the Telugu book of records ‘certificate of national record’ as being the first brand to introduce Tender Coconut-based Mocktails and Milkshakes (A1).

Details

Start-up Marketing Strategies in India
Type: Book
ISBN: 978-1-78756-755-9

Keywords

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Article
Publication date: 1 June 1999

Eileen Oliver

Cuba’s 1959 Revolution brought about dramatic changes not only in that island‐nation but also in the USA. Cubans, and later Cuban‐Americans, have changed the face of Miami…

Abstract

Cuba’s 1959 Revolution brought about dramatic changes not only in that island‐nation but also in the USA. Cubans, and later Cuban‐Americans, have changed the face of Miami and south Florida. The economic and social successes of Cuban‐Americans, the third largest Latino group in the USA, are prevalent in scholarly and popular literature. In this annotated bibliography, the author presents journal articles, chapters in books, books, and human rights reports, published between 1990 and 1998, as well as World Wide Web sites, that discuss the Cuban‐American experience. Articles from the popular literature are not included, nor are materials that deal primarily with Cuba or Cuba‐USA relations.

Details

Reference Services Review, vol. 27 no. 2
Type: Research Article
ISSN: 0090-7324

Keywords

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