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Article
Publication date: 26 March 2024

Zhiqiang Wang

This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line…

Abstract

Purpose

This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations.

Design/methodology/approach

A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors.

Findings

The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention.

Originality/value

The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.

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

Article
Publication date: 21 February 2024

Amruta Rout, Golak Bihari Mahanta, Bibhuti Bhusan Biswal, Renin Francy T., Sri Vardhan Raj and Deepak B.B.V.L.

The purpose of this study is to plan and develop a cost-effective health-care robot for assisting and observing the patients in an accurate and effective way during pandemic…

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Abstract

Purpose

The purpose of this study is to plan and develop a cost-effective health-care robot for assisting and observing the patients in an accurate and effective way during pandemic situation like COVID-19. The purposed research work can help in better management of pandemic situations in rural areas as well as developing countries where medical facility is not easily available.

Design/methodology/approach

It becomes very difficult for the medical staff to have a continuous check on patient’s condition in terms of symptoms and critical parameters during pandemic situations. For dealing with these situations, a service mobile robot with multiple sensors for measuring patients bodily indicators has been proposed and the prototype for the same has been developed that can monitor and aid the patient using the robotic arm. The fuzzy controller has also been incorporated with the mobile robot through which decisions on patient monitoring can be taken automatically. Mamdani implication method has been utilized for formulating mathematical expression of M number of “if and then condition based rules” with defined input Xj (j = 1, 2, ………. s), and output yi. The inputs and output variables are formed by the membership functions µAij(xj) and µCi(yi) to execute the Fuzzy Inference System controller. Here, Aij and Ci are the developed fuzzy sets.

Findings

The fuzzy-based prediction model has been tested with the output of medicines for the initial 27 runs and was validated by the correlation of predicted and actual values. The correlation coefficient has been found to be 0.989 with a mean square error value of 0.000174, signifying a strong relationship between the predicted values and the actual values. The proposed research work can handle multiple tasks like online consulting, continuous patient condition monitoring in general wards and ICUs, telemedicine services, hospital waste disposal and providing service to patients at regular time intervals.

Originality/value

The novelty of the proposed research work lies in the integration of artificial intelligence techniques like fuzzy logic with the multi-sensor-based service robot for easy decision-making and continuous patient monitoring in hospitals in rural areas and to reduce the work stress on medical staff during pandemic situation.

Details

Robotic Intelligence and Automation, vol. 44 no. 1
Type: Research Article
ISSN: 2754-6969

Keywords

Open Access
Article
Publication date: 9 February 2024

Greg Richards

This study, a conceptual paper, analyses the growth of curation in tourism and hospitality and the curator role in selecting and framing products and experiences. It considers the…

Abstract

Purpose

This study, a conceptual paper, analyses the growth of curation in tourism and hospitality and the curator role in selecting and framing products and experiences. It considers the growth of expert, algorithmic, social and co-creative curation modes and their effects.

Design/methodology/approach

Narrative and integrative reviews of literature on curation and tourism and hospitality are used to develop a typology of curation and identify different curation modes.

Findings

Curational techniques are increasingly used to organise experience supply and distribution in mainstream fields, including media, retailing and fashion. In tourism and hospitality, curated tourism, curated hospitality brands and food offerings and place curation by destination marketing organisations are growing. Curation is undertaken by experts, algorithms and social groups and involves many of destination-related actors, producing a trend towards “hybrid curation” of places.

Research limitations/implications

Research is needed on different forms of curation, their differential effects and the power roles of different curational modes.

Practical implications

Curation is a widespread intermediary function in tourism and hospitality, supporting better consumer choice. New curators influence experience supply and the distribution of consumer attention, shaping markets and co-creative activities. Increased curatorial activity should stimulate aesthetic and stylistic innovation and provide the basis for storytelling and narrative in tourism and hospitality.

Originality/value

This is the first study of curational strategies in tourism and hospitality, providing a definition and typology of curation, and linking micro and macro levels of analysis. It suggests the growth of choice-based logic alongside service-dominant logic in tourism and hospitality.

Details

International Journal of Contemporary Hospitality Management, vol. 36 no. 13
Type: Research Article
ISSN: 0959-6119

Keywords

Article
Publication date: 9 January 2024

Kaizheng Zhang, Jian Di, Jiulong Wang, Xinghu Wang and Haibo Ji

Many existing trajectory optimization algorithms use parameters like maximum velocity or acceleration to formulate constraints. Due to the ignoring of the quadrotor actual…

Abstract

Purpose

Many existing trajectory optimization algorithms use parameters like maximum velocity or acceleration to formulate constraints. Due to the ignoring of the quadrotor actual tracking capability, the generated trajectories may not be suitable for tracking control. The purpose of this paper is to design an online adjustment algorithm to improve the overall quadrotor trajectory tracking performance.

Design/methodology/approach

The authors propose a reference trajectory resampling layer (RTRL) to dynamically adjust the reference signals according to the current tracking status and future tracking risks. First, the authors design a risk-aware tracking monitor that uses the Frenét tracking errors and the curvature and torsion of the reference trajectory to evaluate tracking risks. Then, the authors propose an online adjusting algorithm by using the time scaling method.

Findings

The proposed RTRL is shown to be effective in improving the quadrotor trajectory tracking accuracy by both simulation and experiment results.

Originality/value

Infeasible reference trajectories may cause serious accidents for autonomous quadrotors. The results of this paper can improve the safety of autonomous quadrotor in application.

Details

Robotic Intelligence and Automation, vol. 44 no. 1
Type: Research Article
ISSN: 2754-6969

Keywords

Article
Publication date: 22 March 2024

Yahao Wang, Zhen Li, Yanghong Li and Erbao Dong

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new…

Abstract

Purpose

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner.

Design/methodology/approach

In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm.

Findings

Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks.

Originality/value

This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.

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

Article
Publication date: 25 March 2024

Boyang Hu, Ling Weng, Kaile Liu, Yang Liu, Zhuolin Li and Yuxin Chen

Gesture recognition plays an important role in many fields such as human–computer interaction, medical rehabilitation, virtual and augmented reality. Gesture recognition using…

Abstract

Purpose

Gesture recognition plays an important role in many fields such as human–computer interaction, medical rehabilitation, virtual and augmented reality. Gesture recognition using wearable devices is a common and effective recognition method. This study aims to combine the inverse magnetostrictive effect and tunneling magnetoresistance effect and proposes a novel wearable sensing glove applied in the field of gesture recognition.

Design/methodology/approach

A magnetostrictive sensing glove with function of gesture recognition is proposed based on Fe-Ni alloy, tunneling magnetoresistive elements, Agilus30 base and square permanent magnets. The sensing glove consists of five sensing units to measure the bending angle of each finger joint. The optimal structure of the sensing units is determined through experimentation and simulation. The output voltage model of the sensing units is established, and the output characteristics of the sensing units are tested by the experimental platform. Fifteen gestures are selected for recognition, and the corresponding output voltages are collected to construct the data set and the data is processed using Back Propagation Neural Network.

Findings

The sensing units can detect the change in the bending angle of finger joints from 0 to 105 degrees and a maximum error of 4.69% between the experimental and theoretical values. The average recognition accuracy of Back Propagation Neural Network is 97.53% for 15 gestures.

Research limitations/implications

The sensing glove can only recognize static gestures at present, and further research is still needed to recognize dynamic gestures.

Practical implications

A new approach to gesture recognition using wearable devices.

Social implications

This study has a broad application prospect in the field of human–computer interaction.

Originality/value

The sensing glove can collect voltage signals under different gestures to realize the recognition of different gestures with good repeatability, which has a broad application prospect in the field of human–computer interaction.

Details

Sensor Review, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0260-2288

Keywords

Article
Publication date: 29 March 2024

Min Wan, Mou Chen and Mihai Lungu

This paper aims to study a neural network-based fault-tolerant controller to improve the tracking control performance of an unmanned autonomous helicopter with system uncertainty…

Abstract

Purpose

This paper aims to study a neural network-based fault-tolerant controller to improve the tracking control performance of an unmanned autonomous helicopter with system uncertainty, external disturbances and sensor faults, using the prescribed performance method.

Design/methodology/approach

To ensure that the tracking error satisfies the prescribed performance, the authors adopt an error transformation function method. A control scheme based on the neural network and high-order disturbance observer is designed to guarantee the boundedness of the closed-loop system. A simulation is performed to prove the validity of the control scheme.

Findings

The developed adaptive fault-tolerant control method makes the system with sensor fault realize tracking control. The error transformation function method can effectively handle the prescribed performance requirements. Sensor fault can be regarded as a type of system uncertainty. The uncertainty can be approximated accurately using neural networks. A high-order disturbance observer can effectively suppress compound disturbances.

Originality/value

The tracking performance requirements of unmanned autonomous helicopter system are considered in the design of sensor fault-tolerant control. The inequality constraint that the output tracking error must satisfy is transformed into an unconstrained problem by introducing an error transformation function. The fault state of the velocity sensor is considered as the system uncertainty, and a neural network is used to approach the total uncertainty. Neural network estimation errors and external disturbances are treated as compound disturbances, and a high-order disturbance observer is constructed to compensate for them.

Details

Aircraft Engineering and Aerospace Technology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 6 March 2024

Xiaohui Li, Dongfang Fan, Yi Deng, Yu Lei and Owen Omalley

This study aims to offer a comprehensive exploration of the potential and challenges associated with sensor fusion-based virtual reality (VR) applications in the context of…

Abstract

Purpose

This study aims to offer a comprehensive exploration of the potential and challenges associated with sensor fusion-based virtual reality (VR) applications in the context of enhanced physical training. The main objective is to identify key advancements in sensor fusion technology, evaluate its application in VR systems and understand its impact on physical training.

Design/methodology/approach

The research initiates by providing context to the physical training environment in today’s technology-driven world, followed by an in-depth overview of VR. This overview includes a concise discussion on the advancements in sensor fusion technology and its application in VR systems for physical training. A systematic review of literature then follows, examining VR’s application in various facets of physical training: from exercise, skill development and technique enhancement to injury prevention, rehabilitation and psychological preparation.

Findings

Sensor fusion-based VR presents tangible advantages in the sphere of physical training, offering immersive experiences that could redefine traditional training methodologies. While the advantages are evident in domains such as exercise optimization, skill acquisition and mental preparation, challenges persist. The current research suggests there is a need for further studies to address these limitations to fully harness VR’s potential in physical training.

Originality/value

The integration of sensor fusion technology with VR in the domain of physical training remains a rapidly evolving field. Highlighting the advancements and challenges, this review makes a significant contribution by addressing gaps in knowledge and offering directions for future research.

Details

Robotic Intelligence and Automation, vol. 44 no. 1
Type: Research Article
ISSN: 2754-6969

Keywords

Article
Publication date: 25 September 2023

Md. Harun Ur Rashid, Farhana Begum, Syed Zabid Hossain and Jamaliah Said

This study aims to investigate whether socially responsible businesses with corporate social expenditure are less prone to engaging in tax avoidance. The study also examines…

Abstract

Purpose

This study aims to investigate whether socially responsible businesses with corporate social expenditure are less prone to engaging in tax avoidance. The study also examines whether political connections moderate the association between corporate social responsibility (CSR) and tax avoidance.

Design/methodology/approach

The study uses ordinary least squares to analyse the panel data of all 30 listed banks on the Dhaka Stock Exchange covering 2012 to 2020. The study uses a set of alternative variables to check the robustness of the findings.

Findings

Confirming the corporate culture theory, the study findings indicate that the higher the firms’ CSR expenditure, the lower the tax avoidance. Contrarily, the moderating effect of political connection weakens the role of CSR in tax avoidance, implying that political relation makes the firms socially irresponsible. Besides, the findings document that firms with strong political connections are more likely to be tax aggressive by weakening the role of CSR. The findings imply that firms with weaker political connections are more socially responsible than firms with strong political ties.

Research limitations/implications

The study provides the bank management and regulatory bodies valuable insights to take necessary actions so that they can easily monitor whether the banks follow their instructions regarding CSR and tax payments. As the politicians make the firm socially irresponsible, the regulatory bodies and bank management should not keep them or their relatives on the board.

Originality/value

The study contributes to the CSR and tax avoidance literature considering the moderating role of political connections in Bangladesh banking sector.

Details

Social Responsibility Journal, vol. 20 no. 4
Type: Research Article
ISSN: 1747-1117

Keywords

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