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The hospital sector in Norway has been continuously reorganized since 2002 and the reforms have created organizations that are functionally/vertically controlled, whereas the production lines are coordinated on a process or a lateral basis. The purpose of this paper is to focus on both the perceived functional vertical control and horizontal controls within and between the local hospitals and the regional administrative levels.

A national survey study, complemented with interviews of some key informants and document studies.

The study shows that the functional and vertical lines of management control are perceived to be operating according to the traditional views of management control. The study indicates that the horizontal tasks are not very well implemented, and we did not find interactive and lateral uses of management control systems for managerial purposes.

New control problems arise when services are to be coordinated between autonomous units.

The paper focuses on the control problems found within the horizontal, flat relationship between production units in hospitals; new organizational structures have emerged where lateral relations are important, but traditional control practices follow functional, vertical lines.

The purpose of this paper is to present a control strategy which uses two independent PID controllers to realize the hovering control for unmanned aerial systems (UASs). In addition, the aim of using two PID controller is to achieve the position control and velocity control simultaneously.

The dynamic of the UASs is mathematically modeled. One PID controller is used for position tracking control, while the other is selected for the vertical component of velocity tracking control. Meanwhile, fuzzy logic algorithm is presented to use the actual horizontal component of velocity to compute the desired position.

Based on this fuzzy logic algorithm, the control error of the horizontal component of velocity tracking control is narrowed gradually to be zero. The results show that the fuzzy logic algorithm can make the UASs hover still in the air and vertical to the ground.

The acquired results are based on simulation not experiment.

This is the first study to use two independent PID controllers to realize stable hovering control for UAS. It is also the first to use the velocity of the UAS to calculate the desired position.

The chapter aims to bring out the dynamic nature or hierarchy in organizations and presents a conceptual framework for making sense of hierarchy in contemporary work. We describe hierarchy as the result of a contradictory dynamic that incorporates both vertical and horizontal practices of organizing. The vertical practice, verticalization, draws on and reproduces the formal organization, whereas the horizontal practice, horizontalization, orders people on the basis of their knowledge and initiatives. The dynamic between these two practices varies, we argue, depending on the social and epistemic distance of formal managers' from the operative work process. Three different dynamics between verticalization and horizontalization – loose coupling, translation, and integration – are identified and illustrated, drawing on three ethnographically inspired studies of knowledge work. Through these three dynamics, the chapter casts light on and provides nuances to the current discussion in the literature on postbureaucracy.

A novel fault-tolerant control (FTC) method is proposed to assure the stability of the remote-operated vehicle (ROV) by considering the thruster failure-induced model perturbations. The stability of the ROV with failures is guaranteed and optimized with the determined model perturbation set. The effectiveness of the double-boundary interval fault-tolerant control (DBIFTC) is verified through the experiments and proves that the stability is well maintained, which demonstrates a decent performance.

This paper studies a control problem for a multi-vector propulsion ROV by using the DBIFTC method in the presence of thruster failure and external disturbances. The ROV kinematics and dynamical models with multi-vector-arranged thruster failure are investigated and formulated for control system design.

In this paper, the authors address the FTC problem of ROV with multi-vector thrusters and propose a DBIFTC scheme. The advantage is that as the kinematic system model of ROV is preanalyzed and identified, the DBIFTC becomes more effective. The mathematical stability of the system under the proposed control scheme can be guaranteed.

The ROV model used in this paper is based on the system identification of experimental data. Although this model has real experimental value and physical significance, the accuracy can be further improved.

Cable-controlled underwater ROVs are widely used in military missions and scientific research because of their flexibility, sufficient load capacity and real-time information transmission characteristics. The DBIFTC method proposed in this paper can effectively reduce the problem of underwater vehicle under propeller failure or external disturbance and save unnecessary cost.

The DBIFTC method proposed in this paper can ensure the attitude stability of ROV or other underwater equipment operating in the event of propeller failure or external disturbance. In this way, the robot can better perform undersea work and tasks.

The kinematics and failure mechanisms of the ROV with multi-vector propulsion system are investigated and established. An optimized DBIFTC scheme is investigated to stabilize ROV yaw attitude under the thruster failure condition. The feasibility and effectiveness of the DBIFTC is experimentally validated.

The purpose of this paper is to investigate whether and how evolving ideas about management control (MC) emerge in research about public sector performance management (PSPM).

This is a literature review on PSPM research through using a set of key terms derived from a review of recent developments in MC.

MC research, originating in the management accounting discipline, is largely disconnected from PSPM research as part of public administration and public management disciplines. Overlaps between MC and PSPM research are visible in a cybernetic control approach, control variety and contingency-based reasoning. Both academic communities share an understanding of certain issues, although under diverging labels, especially enabling controls or, in a more general sense, usable performance controls, horizontal controls and control packaging. Specific MC concepts are valuable for future PSPM research, i.e. trust as a complement of performance-based controls in complex settings, and strategy as a variable in contingency-based studies.

Breaking the boundaries between two currently remote research disciplines, on the one hand, might dismantle “would-be” innovations in one of these disciplines, and, on the other hand, may provide a fertile soil for mutual transfer of knowledge. A limitation of the authors’ review of PSPM research is that it may insufficiently cover research published in the public sector accounting journals, which could be an outlet for MC-inspired PSPM research.

The paper unravels the “apparent” and “real” differences between MC and PSPM research, and, in doing so, takes the detected “real” differences as a starting point for discussing in what ways PSPM research can benefit from MC achievements.

Deployment of deep neural networks on embedded devices is becoming increasingly popular because it can reduce latency and energy consumption for data communication. This paper aims to give out a method for deployment the deep neural networks on a quad-rotor aircraft for further expanding its application scope.

In this paper, a design scheme is proposed to implement the flight mission of the quad-rotor aircraft based on multi-sensor fusion. It integrates attitude acquisition module, global positioning system position acquisition module, optical flow sensor, ultrasonic sensor and Bluetooth communication module, etc. A 32-bit microcontroller is adopted as the main controller for the quad-rotor aircraft. To make the quad-rotor aircraft be more intelligent, the study also proposes a method to deploy the pre-trained deep neural networks model on the microcontroller based on the software packages of the RT-Thread internet of things operating system.

This design provides a simple and efficient design scheme to further integrate artificial intelligence (AI) algorithm for the control system design of quad-rotor aircraft.

This method provides an application example and a design reference for the implementation of AI algorithms on unmanned aerial vehicle or terminal robots.

The purpose of this paper is to propose a method to identify sources of variation in horizontal stabilizer assembly using FEA (finite element analysis) and PCA (principal component analysis).

The horizontal stabilizer is assembled by long and thin‐walled deformable aluminum components. Part‐to‐part assembly of these compliant components regularly causes difficulties associated with dimensional variations. Finite element modeling and PCA are employed to predict the propagation of variation from edge to horizontal stabilizer.

The variation analysis combined with pattern fitting method is demonstrated in a case study of the horizontal stabilizer assembly system and good performance is obtained. The results have shown that the FEA and PCA method has the capability of predicting, to an acceptable degree of accuracy, the overall geometrical variations propagation of the edges and trailing edge.

The results of this research will enhance the understanding of the compliant components deformation in assembly, and help to systematically improve the precision control efficiency in civil aircraft assembly.

Despite of the numerous characteristics of the multirotor unmanned aircraft systems (UASs), they have been termed as less energy-efficient compared to fixed-wing and helicopter counterparts. The purpose of this paper is to explore a more efficient multirotor configuration and to provide the robust and stable control system for it.

A heterogeneous multirotor configuration is explored in this paper, which employs a large rotor at the centre to provide majority of lift and three small tilted booms rotors to provide the control. Design provides the combined characteristics of both quadcopters and helicopters in a single UAS configuration, providing endurance of helicopters keeping the manoeuvrability, simplicity and control of quadcopters. In this paper, rotational as well as translational dynamics of the multirotor are explored. Cascade control system is designed to provide an effective solution to control the attitude, altitude and position of the rotorcraft.

One of the challenging tasks towards successful flight of such a configuration is to design a stable and robust control system as it is an underactuated system possessing complex non-linearities and coupled dynamics. Cascaded proportional integral (PI) control approach has provided an efficient solution with stable control performance. A novel motor control loop is implemented to ensure enhanced disturbance rejection, which is also validated through Dryden turbulence model and 1-cosine gust model.

Robustness and stability of the proposed control structure for such a dynamically complex UAS configuration is demonstrated with stable attitude and position performance, reference tracking and enhanced disturbance rejection.

The purpose of this paper is to explore two hospital departments, one of which is laterally dependent on the other to function, but which are subject to distinct vertical managerial controls. This complexity in vertical–lateral relations generates tension amongst the hospital’s senior managers and a perception of coordination difficulties. However, this paper shows how the interplay between managerial and non-managerial controls, plus important employee “work”, moderates tension and facilitates day-to-day lateral coordination at the patient-facing level.

This is a case-study, relying mostly on the findings of semi-structured interviews. Theoretically, the paper draws from previous insights on inter-organisational relations (but informing the focus on intra-organisational coordination) and an “institutional work” perspective.

Consistent with much extant literature, this paper reveals how non-managerial controls help to moderate tensions that could emerge from the coercive use of managerial controls. However, the authors also show a maintained influence and flexibility in the managerial controls at patient-facing levels, as new circumstances unfold.

The findings of this paper could generalise neither all laterally dependent spaces in hospitals nor patterns across different hospitals. The authors recommend future research into the dynamics and interaction of managerial and non-managerial controls in other complex settings, plus focus on the purposeful work of influential agents.

The paper has two primary contributions: extending our knowledge of the interplay between managerial and non-managerial controls inside complex organisations, where non-managerial controls reinforce rather than displace managerial controls, and highlighting that it is seldom just controls per se which “matter”, but also agents’ purposeful actions that facilitate coordination in complex organisations.