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Article
Publication date: 11 June 2019

Ravinder Singh and Kuldeep Singh Nagla

An autonomous mobile robot requires efficient perception of the environment to perform various tasks in a challenging environment. The precise sensory information from the…

Abstract

Purpose

An autonomous mobile robot requires efficient perception of the environment to perform various tasks in a challenging environment. The precise sensory information from the range sensors is required to accomplish prerequisites, such as SLAM, path planning and localization. But the accuracy and precision of the sensors become unreliable in harsh environmental conditions because of the effect of rain, dust, humidity, fog and smoke. The purpose of this paper is to generate robust mapping of the environment in harsh environmental conditions.

Design/methodology/approach

This paper presents a novel technique, averaging data with short range selection (ADWSRS), to reduce the effect of harsh environmental (rain, wind, humidity, etc.) conditions on sensory information (range) to generate reliable grid mapping. The sensory information on laser and sonar sensors in terms of probability values (occupied/unoccupied cell) in generating grid maps are fused after passing through two newly designed pre-processing filters: laser averaging filter and short range selection filter. This proposed approach relies on various aspects such as averaging laser data analogous to current pose of the sensor, selection of short range with respect to threshold value to remove the effect of specular reflection/crosstalk of sonar and a newly designed apparatus in which dirt cover (glass cover) and air blower are coupled to remove the influence of dirt, rain and humidity.

Findings

This proposed approach is tested in different environmental conditions, and to verify the consistency of the proposed approach, qualitative and quantitative analyses are carried out, which shows 42.5 per cent improvement in the probability value of occupied cells in the generated grid map.

Originality/value

The proposed ADWSRS approach reduced the effect of harsh environmental conditions such as fog, rain and smoke to generate efficient mapping of the environment, which may be implemented in diverse applications such as autonomous navigation, localization, path planning and mapping.

Details

Sensor Review, vol. 39 no. 4
Type: Research Article
ISSN: 0260-2288

Keywords

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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

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Article
Publication date: 7 January 2019

Ravinder Singh and Kuldeep Singh Nagla

An efficient perception of the complex environment is the foremost requirement in mobile robotics. At present, the utilization of glass as a glass wall and automated…

Abstract

Purpose

An efficient perception of the complex environment is the foremost requirement in mobile robotics. At present, the utilization of glass as a glass wall and automated transparent door in the modern building has become a highlight feature for interior decoration, which has resulted in the wrong perception of the environment by various range sensors. The perception generated by multi-data sensor fusion (MDSF) of sonar and laser is fairly consistent to detect glass but is still affected by the issues such as sensor inaccuracies, sensor reliability, scan mismatching due to glass, sensor model, probabilistic approaches for sensor fusion, sensor registration, etc. The paper aims to discuss these issues.

Design/methodology/approach

This paper presents a modified framework – Advanced Laser and Sonar Framework (ALSF) – to fuse the sensory information of a laser scanner and sonar to reduce the uncertainty caused by glass in an environment by selecting the optimal range information corresponding to a selected threshold value. In the proposed approach, the conventional sonar sensor model is also modified to reduce the wrong perception in sonar as an outcome of the diverse range measurement. The laser scan matching algorithm is also modified by taking out the small cluster of laser point (w.r.t. range information) to get efficient perception.

Findings

The probability of the occupied cells w.r.t. the modified sonar sensor model becomes consistent corresponding to diverse sonar range measurement. The scan matching technique is also modified to reduce the uncertainty caused by glass and high computational load for the efficient and fast pose estimation of the laser sensor/mobile robot to generate robust mapping. These stated modifications are linked with the proposed ALSF technique to reduce the uncertainty caused by glass, inconsistent probabilities and high load computation during the generation of occupancy grid mapping with MDSF. Various real-world experiments are performed with the implementation of the proposed approach on a mobile robot fitted with laser and sonar, and the obtained results are qualitatively and quantitatively compared with conventional approaches.

Originality/value

The proposed ASIF approach generates efficient perception of the complex environment contains glass and can be implemented for various robotics applications.

Details

International Journal of Intelligent Unmanned Systems, vol. 7 no. 1
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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Article
Publication date: 29 October 2019

Ravinder Singh and Kuldeep Singh Nagla

The purpose of this research is to provide the necessarily and resourceful information regarding range sensors to select the best fit sensor for robust autonomous…

Abstract

Purpose

The purpose of this research is to provide the necessarily and resourceful information regarding range sensors to select the best fit sensor for robust autonomous navigation. Autonomous navigation is an emerging segment in the field of mobile robot in which the mobile robot navigates in the environment with high level of autonomy by lacking human interactions. Sensor-based perception is a prevailing aspect in the autonomous navigation of mobile robot along with localization and path planning. Various range sensors are used to get the efficient perception of the environment, but selecting the best-fit sensor to solve the navigation problem is still a vital assignment.

Design/methodology/approach

Autonomous navigation relies on the sensory information of various sensors, and each sensor relies on various operational parameters/characteristic for the reliable functioning. A simple strategy shown in this proposed study to select the best-fit sensor based on various parameters such as environment, 2 D/3D navigation, accuracy, speed, environmental conditions, etc. for the reliable autonomous navigation of a mobile robot.

Findings

This paper provides a comparative analysis for the diverse range sensors used in mobile robotics with respect to various aspects such as accuracy, computational load, 2D/3D navigation, environmental conditions, etc. to opt the best-fit sensors for achieving robust navigation of autonomous mobile robot.

Originality/value

This paper provides a straightforward platform for the researchers to select the best range sensor for the diverse robotics application.

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Article
Publication date: 12 February 2021

Kuldeep Singh and Madhvendra Misra

This paper takes a critical look at the meaning of corporate social responsibility (CSR) based on the available literature on the subject matter. As CSR is an evolving…

Abstract

Purpose

This paper takes a critical look at the meaning of corporate social responsibility (CSR) based on the available literature on the subject matter. As CSR is an evolving concept both in meaning and practice, this study aims to highlight CSR actions of the world's six largest organizations (Google, Twitter, Amazon, Apple, ExxonMobil and Walmart). The purpose of choosing these organizations and their CSR adoption was to examine the business-society relationship and the role of key stakeholders in establishing this association.

Design/methodology/approach

This study examined CSR through the case study approach and provides valuable insights by showing that CSR is a connecting link between business and society. Specifically, the authors took a crucial look at various contentious, often ambiguous definitions, theoretical framework, brief historical development, issues and controversies surrounding it, the role of CSR in community development and summing it up with the future direction and managerial implications.

Findings

This study observed that there are some developmental strategies taking place today which are relevant to the issue at stake, such as: contributing to the world economy, corporations donating or engaging in a wide range of philanthropic gestures now than ever and contributing to the beauty of the society by meeting rising community expectations.

Originality/value

By analyzing the worlds' 6 largest companies' CSR initiatives, this study provides valuable insights by showing that CSR is a connecting link between business and society and is based on win-win collaborations between civil society, business, investors and government. These companies' CSR initiatives have been mostly unexplored in past studies.

Details

Journal of Economic and Administrative Sciences, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1026-4116

Keywords

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Article
Publication date: 24 May 2013

Kuldeep Singh

Abstract

Details

Management Decision, vol. 51 no. 5
Type: Research Article
ISSN: 0025-1747

Keywords

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Book part
Publication date: 11 June 2021

Indu, Bindu and Kuldeep Singh

Purpose: The COVID-19 pandemic has disrupted the tourism industry globally. It is essential to explore the post-COVID-19 travel intentions of potential tourists. The…

Abstract

Purpose: The COVID-19 pandemic has disrupted the tourism industry globally. It is essential to explore the post-COVID-19 travel intentions of potential tourists. The exploratory study is aimed to investigate the potential Indian tourists' travel plans, tourism perceptions, and their behavioral intentions regarding the adoption of sustainable tourism practices post-COVID-19.

Methodology: The study was based on primary data. Through an online survey, 225 responses were collected using convenient sampling. Data were analyzed with SPSS 20.0 software. Simple percentage, frequency, and mean were calculated to examine the post-COVID-19 travel plans and tourism perception of Indians. Factor analysis was used to analyze the adoption of sustainable practices.

Findings: Since May 2020, with the unlocking process, travel has been resuming in India. People are obligating to their “right to travel” and foreseeing travel plans. The study found that potential tourists will prefer short-duration trips with family and friends and intend to avoid crowded destinations post the pandemic. Indian tourists are inclined to consider environment conservation and sustainability in future travels and are more willing to explore natural sites. Offbeat destinations are expected to gain popularity. People believed that tourists will adopt more sustainable and innovative practices post-COVID-19.

Originality/Value: This study enhances the understanding of tourism policymakers, practitioners, and services providers concerning tourism behavior post-COVID-19.

Implications: The study focused on potential tourists' planning; the perceptions of service providers can also be studied for future research to gain profound insights regarding the tourism sector.

Details

Tourism Destination Management in a Post-Pandemic Context
Type: Book
ISBN: 978-1-80071-511-0

Keywords

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Book part
Publication date: 11 June 2021

Abstract

Details

Tourism Destination Management in a Post-Pandemic Context
Type: Book
ISBN: 978-1-80071-511-0

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Article
Publication date: 1 May 2004

The transfer of human resource (HR) management practices across national boundaries has become a key strategy for multinational companies to achieve competitive advantage…

Abstract

The transfer of human resource (HR) management practices across national boundaries has become a key strategy for multinational companies to achieve competitive advantage in global markets. However, national differences are major factors complicating the process. The introduction of shared services for HR management departments offers not only costs savings and greater efficiency, but also provides the HR function with an opportunity to focus on more strategic issues.

Details

Human Resource Management International Digest, vol. 12 no. 3
Type: Research Article
ISSN: 0967-0734

Keywords

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