Search results

Collaborative robots (cobots) are widely used in various manipulation tasks within complex industrial environments. However, the manipulation capabilities of cobot manipulation planning are reduced by task, environment and joint physical constraints, especially in terms of force performance. Existing motion planning methods need to be more effective in addressing these issues. To overcome these challenges, the authors propose a novel method named force manipulability-oriented manipulation planning (FMMP) for cobots.

This method integrates force manipulability into a bidirectional sampling algorithm, thus planning a series of paths with high force manipulability while satisfying constraints. In this paper, the authors use the geometric properties of the force manipulability ellipsoid (FME) to determine appropriate manipulation configurations. First, the authors match the principal axes of FME with the task constraints at the robot’s end effector to determine manipulation poses, ensuring enhanced force generation in the desired direction. Next, the authors use the volume of FME as the cost function for the sampling algorithm, increasing force manipulability and avoiding kinematic singularities.

Through experimental comparisons with existing algorithms, the authors validate the effectiveness and superiority of the proposed method. The results demonstrate that the FMMP significantly improves the force performance of cobots under task, environmental and joint physical constraints.

To improve the force performance of manipulation planning, the FMMP introduces the FME into sampling-based path planning and comprehensively considers task, environment and joint physical constraints. The proposed method performs satisfactorily in experiments, including assembly and in situ measurement.

This study aims to develop an interface management risk interaction modeling and analysis methodology applicable to complex systems in high-speed rail construction projects, reveal the interaction mechanism of interface management risk and provide theoretical support for project managers to develop appropriate interface management risk response strategies.

This paper introduces the association rule mining technique to improve the complex network modeling method. Taking China as an example, based on the stakeholder perspective, the risk factors and significant accident types of interface management of high-speed rail construction projects are systematically identified, and a database is established. Then, the Apriori algorithm is used to mine and analyze the strong association rules among the factors in the database, construct the complex network, and analyze its topological characteristics to reveal the interaction mechanism of the interface management risk of high-speed rail construction projects.

The results show that the network is both scale-free and small-world, implying that construction accidents are not random events but rather the result of strong interactions between numerous interface management risks. Contractors, technical interfaces, mechanical equipment, and environmental factors are the primary direct causal factors of accidents, while owners and designers are essential indirect causal factors. The global importance of stakeholders such as owners, designers, and supervisors rises significantly after considering the indirect correlations between factors. This theoretically explains the need to consider the interactions between interface management risks.

The interaction mechanism between interface management risks is unclear, which is an essential factor influencing the decision of risk response measures. This study proposes a new methodology for analyzing interface management risk response strategies that incorporate quantitative analysis methods and considers the interaction of interface management risks.

This paper aims to develop a specific type of mobile nonrigid support friction stir welding (FSW) robot, which can adapt to aluminum alloy trucks for rapid online repair.

The friction stir welding robot is designed to complete online repair according to the surface damage of large aluminum alloy trucks. A rotatable telescopic arm unit and a structure for a cutting board in the shape of a petal that was optimized by finite element analysis are designed to give enough top forging force for welding to address the issues of inadequate support and significant deformation in the repair process.

The experimental results indicate that the welding robot is capable of performing online surface repairs for large aluminum alloy trucks without rigid support on the backside, and the welding joint exhibits satisfactory performance.

Compared with other heavy-duty robotic arms and gantry-type friction stir welding robots, this robot can achieve online welding without disassembling the vehicle body, and it requires less axial force. This lays the foundation for the future promotion of lightweight equipment.

The designed friction stir welding robot is capable of performing online repairs without dismantling the aluminum alloy truck body, even in situations where sufficient upset force is unavailable. It ensures welding quality and exhibits high efficiency. This approach is considered novel in the field of lightweight online welding repairs, both domestically and internationally.

Organisational strategy becomes reality by connecting organisation’s resources and capabilities in daily operations, and physical workspace is one of the environments in which this takes place. This study aims to explore to what extent factors required for successful strategy implementation are considered when designing, using and managing workspaces of knowledge-intensive organisations.

For the study, managers in 25 large and medium-sized knowledge-intensive organisations were interviewed. The semi-structured interviews focused on organisation’s strategy, strategy implementation practices and workspace design and management. To form a comprehensive framework of strategy implementation success factors for the study, the factors of 11 frameworks were analysed, grouped and renamed.

Current workspace design, usage and management mainly support human-related strategy implementation factors. However, both organisation- and human-related factors are needed for the strategy implementation to be successful. Therefore, the organisations studied may have unused potential in their workspaces to ensure strategy-aligned operations and behaviour.

Due to the potential imbalance between organisation- and human-related strategy implementation factors, a more holistic, organisational-level approach to workspace design, usage and management is recommended to ensure the success of strategy implementation.

Workspaces have extensively been studied from individual strategy implementation factors’ as well as employees’ perspectives. Prior to this work, there are only few studies exploring workspace in the holistic, strategy implementation context.

This paper aims to propose and provide an overview of a model analysis that considers the main spatial design attributes that influence and produce the most relevant salutogenic outcomes. These results are essential for a healthy work experience, especially in shared workspaces.

This study departs from the theoretical contributions of the salutogenic approach, principles from supportive design theory, psychosocial supportive design and the environmental demands and resources model. After a scoping literature review covering different fields of workspace design, environmental psychology and evidence-based design of health-care facilities, a conceptual analysis is done on a proposed understanding of work, health and environmental relations to overview spatial attributes that enhance specific salutogenic and well-being-promoting outcomes needed for a healthy work experience.

The model of analysis, as a theoretical element that helps create methodological tools, combined with the application of a post occupancy evaluation, is thought to assist architects, designers, workspace owners and stakeholders in their new designs or to evaluate existing ones.

Studies on defining spatial attributes and their intended salutogenic outcomes have been formally done in health-care facilities. However, applying this idea to shared workspaces is something new and is expected to contribute to their design and evaluation, especially if the notion of environmental demands and resources is complemented.

In today’s rapidly evolving work landscape, the design of office spaces is a crucial concern for organizations. Companies are redefining offices as collaboration hubs to entice employees back to in-person work. However, the understanding of how employees choose their workspaces, especially for collaborative activities, and how this should inform office design is lacking. Workers’ collaborative activity patterns can help better understand workspace choice behavior (WCB). In two studies, this paper aims to explore which characteristics of collaborative activities to consider when reshaping offices.

Data collected in a cross-sectional study design at a research institution (n = 285) and a university (n = 352) were used for confirmatory factor analyses and regression analysis.

The first study shows that collaborative activities can be classified into three distinct types: coordinative activities (planned and formal), deep collaboration (planned and complex) and spontaneous communication (informal and short encounters). The second study revalidates this classification and reveals patterns impacting WCB. Frequency and location preference of spontaneous communication and work environment satisfaction are strong predictors of on-site work. Personal characteristics like gender, age, managerial position or commute time are less consequential than assumed.

The results pinpoint guidelines for office designers and leaders in shaping effective workspaces and policies.

This paper provides new insights into classifying collaborative activities and personal characteristics, activity characteristics and environmental factors influencing WCB.

This paper aims to strengthen the connection between therapeutic built environments and tourism research and practice. While there is evidence in the importance of the Built Environment (BE) of cities, workspaces and health-care facilities to health, the BE of facilities for tourism in relation to health remains relatively unexplored.

The paper conducts an exploratory search on architecture and tourism BE and narrowed it down to a scoping review on wellness tourism and architectural health impacts from 2010 to 2024. This would highlight lessons learned from the field of medical architecture, i.e. a cross-disciplinary field combining BE research, public health and health-care services research, to explore potential synergies of cross-pollination with the field of hospitality and medical architecture.

Principles and theories of medical architecture can be incorporated into the BE of wellness hospitality, tourism for ageing and pandemic preparedness.

The paper sets the basis of a novel cross-disciplinary collaboration between therapeutic architecture and hospitality for increasing the societal impact of the latter. This is particularly important in a post-Covid and an ageing society.

本文旨在加强治疗性建筑环境与旅游研究和实践之间的联系。虽然有证据表明城市、工作场所和医疗设施的建筑环境(BE)对健康很重要, 但与健康相关的旅游设施的建筑环境仍相对未被探索。

作者对建筑和旅游建筑环境进行了探索性搜索, 并将其缩小到2010年至2024年期间的健康旅游和建筑健康影响的范围审查。这将突出医疗建筑领域的经验教训, 即结合建筑环境研究、公共卫生和医疗服务研究的跨学科领域, 以探索与酒店业和医疗建筑领域交叉授粉的潜在协同效应。

医疗建筑的原则和理论可以纳入健康酒店业、老龄化旅游和大流行病准备的建筑环境中。

我们为治疗性建筑和酒店业之间的新型跨学科合作奠定了基础, 以增加后者的社会影响。这在后疫情时代和老龄化社会中尤为重要。

Este documento pretende reforzar la conexión entre los entornos construidos terapéuticos y la investigación y la práctica del turismo. Aunque existen pruebas de la importancia del entorno construido (EC) de las ciudades, los espacios de trabajo y las instalaciones sanitarias para la salud, el EC de las instalaciones para el turismo en relación con la salud sigue estando relativamente inexplorado.

Realizamos una búsqueda exploratoria sobre arquitectura y el EC turístico y la acotamos a una revisión de alcance sobre el turismo de bienestar y los impactos arquitectónicos en la salud desde 2010 hasta 2024. Esto pondría de relieve las lecciones aprendidas en el campo de la arquitectura médica, es decir, un campo interdisciplinar que combina la investigación de la EC, la salud pública y la investigación de los servicios sanitarios, para explorar posibles sinergias de polinización cruzada con el campo de la hostelería y la arquitectura médica.

Los principios y teorías de la arquitectura médica pueden incorporarse a la EC de la hosteleria para el bienestar, el turismo para el envejecimiento y la preparación ante pandemias.

Sentamos las bases de una novedosa colaboración interdisciplinar entre la arquitectura terapéutica y la hostelería para aumentar el impacto social de esta última. Esto es especialmente importante después de la crisis y en una sociedad que envejece.

Interior workspace environments use exclusively artificial light, resulting in a loss of biological connection and natural light quality, as well as greater energy consumption. The purpose of the study is to identify a suitable system that can provide natural light to such interior spaces throughout the day while supplementing it with artificial light when necessary. The fundamental aim is to provide insights into the most effective solutions for energy-efficient lighting design in the UAE's environment, with the potential to lower energy consumption related to interior lighting.

The study adopted an empirical approach to gather and analyze primary data based on field measurements to understand and assess existing lighting conditions, as well as DIALux lighting simulation software to test the efficacy of the proposed HLS in terms of natural light delivery, illumination quality and energy consumption. A branch of a local bank in the United Arab Emirates, situated inside one of the shopping malls where there is no natural light penetration, has been chosen as a case study.

The findings of comparing the base case to four probable scenarios that used HLS revealed that the third scenario, which uses 100% pure sunshine and 35% artificial LED light during daylight operations and 100% LED light during night duty, is considered to be optimal in terms of illumination quality and energy efficiency.

The study demonstrated the potential of innovative lighting to improve the visual working environment in interior spaces with limited access to direct natural lighting, especially in arid regions, where sunlight is plentiful throughout the year. The study contributes new insights into the establishment of lighting-related recommendations and standards for the UAE context. This may include advice for sustainable construction practices, lighting guidelines or incentives to encourage the use of hybrid lighting technology in commercial and institutional buildings.

Fast obstacle avoidance path planning is a challenging task for multijoint robots navigating through cluttered workspaces. This paper aims to address this issue by proposing an improved path-planning method based on the distorted space (DS) method, specifically designed for high-dimensional complex environments.

The proposed method, termed topology-preserved distorted space (TP-DS) method, mitigates the limitations of the original DS method by preserving space topology through elastic deformation. By applying distinct spring constants, the TP-DS autonomously shrinks obstacles to microscopic areas within the configuration space, maintaining consistent topology. This enhancement extends the application scope of the DS method to handle complex environments effectively.

Comparative analysis demonstrates that the proposed TP-DS method outperforms traditional methods regarding planning efficiency. Successful obstacle avoidance tasks in the cluttered workspace validate its applicability on a physical 6-DOF manipulator, highlighting its potential for industrial implementations.

The novel TP-DS method generates a topology-preserved collision-free space by leveraging elastic deformation and shows significant capability and efficiency in planning obstacle-avoidance paths in complex application scenarios.

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.

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.

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.

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.