Search results

The purpose of this paper is to present a step‐by‐step methodology for the design of parallel kinematic machines (PKMs), from the initial stages of the conceptual definition of a new machine to an optimum design fulfilling the complete set of design requirements.

The methodology includes consideration of the kinematic, static and dynamic features required for the manipulator, which must all be assessed in complete industrial design. It is applied to a 4‐degrees‐of‐freedom (DOF) Schönflies motion generator for pick & place operations by way of example.

The authors specify the key stages of a detailed design procedure for parallel manipulators.

There are many publications on the development of specific robots and parallel manipulators based on their particular characteristics. However, it is relatively rare to find a paper on the general procedure with a step‐by‐step methodology applicable to any parallel manipulator.

The purpose of this paper is to provide a general approach to compute, determine, and characterize the connectivity of the end‐effector of a robotic manipulator of arbitrary architecture, in any of the postures that it can reach.

The types of motion of this link, i.e. translational, screw motions, combinations thereof, and self‐motions, are first defined and determined, simplifying the understanding of the instantaneous behaviour of the manipulator, aided by the definition of an alternative input basis.

The characterization provided by this paper simplifies the understanding of the instantaneous behaviour of the manipulator. The mobility of the end‐effector is completely characterized by the principal screws of its motion, which can be obtained from a generalized eigenproblem. In the process, alternative demonstrations of well‐known properties of the principal screws are provided.

The approach presented is focused on the kinetostatic analysis of manipulators, and therefore, subjected to rigid body assumption.

This paper proposes effective approaches for engineering analysis of robotic manipulators.

This approach is based on a pure theoretical kinematic analysis that can characterize computationally the motion that the end‐effector of an industrial robot of general morphology (i.e. serial, parallel, hybrid manipulators, complex mechanisms, redundant or non‐redundantly actuated). Also, being implemented on a general‐purpose software for the kinematic analysis of mechanisms, it provides visual information of the motion capabilities of the manipulator, highly valuable on its design stages.

The purpose of this paper is to present systematic optimal design procedures for the Gough-Stewart platforms used as engineering motion simulators.

Three systematic optimal design procedures are proposed to solve the engineering design problems for the Gough-Stewart platform used as motion simulators. In these systematic optimal design procedures, two contradicting design optimality criteria with good representations of performances of the Gough-Stewart platforms are chosen as the objective functions. In addition, the two objective function optimization problems are solved by using the multi-objective evolutionary algorithms.

In the systematic optimal design procedures, multiple compromised design solutions are found by using Elitist Non-Dominated Sorting Genetic Algorithm version II in the primary design stage, and many candidates can be used in the secondary design stage for higher decisions. Two higher decision methods have been presented to choose the final solutions.

This paper proposes three systematic optimal design procedures to solve the practical design problems of the Gough-Stewart platforms used as motion simulators, which are very important for the engineering designers.

Personality research has played a prominent role in the organizational sciences for a number of years. During the past two decades, however, research examining the impact of individual personality traits on emotions, attitudes, perceptions, and behaviors in organizations has increased, and our knowledge of the role of personality within organizational research is stronger. We examine a number of well-known personality dimensions that include the Five-Factor model of personality, locus of control, Type A Behavior Pattern, self-efficacy, and negative affectivity. We also examine a number of promising personality dimensions that have received less attention in the organizational sciences; these include trait anger, positive affectivity, action-state orientation, emotional intelligence, individualism- collectivism, and personal innovativeness. We review the personality research in these areas and offer suggestions for practice and future research.

The development of multi-hazard risk assessment frameworks has gained momentum in the recent past. Nevertheless, the common practice with openly available risk data sets, such as the ones derived from the United Nations Office for Disaster Risk Reduction Global Risk Model, has been to assess risk individually for each peril and afterwards aggregate, when possible, the results. Although this approach is sufficient for perils that do not have any interaction between them, for the cases where such interaction exists, and losses can be assumed to occur simultaneously, there may be underestimation of losses. The paper aims to discuss these issues.

This paper summarizes a methodology to integrate simultaneous losses caused by earthquakes and tsunamis, with a peril-agnostic approach that can be expanded to other hazards. The methodology is applied in two relevant locations in Latin America, Acapulco (Mexico) and Callao (Peru), considering in each case building by building exposure databases with portfolios of different characteristics, where the results obtained with the proposed approach are compared against those obtained after the direct aggregation of individual losses.

The fully probabilistic risk assessment framework used herein is the same of the global risk model but applied at a much higher resolution level of the hazard and exposure data sets, showing its scalability characteristics and the opportunities to refine certain inputs to move forward into decision-making activities related to disaster risk management and reduction.

This paper applies for the first time the proposed methodology in a high-resolution multi-hazard risk assessment for earthquake and tsunami in two major coastal cities in Latin America.

This paper aims to provide tools for the complete Jacobian analysis of robotic manipulators of general topology, using a comprehensive velocity equation.

First, a modelling process is made in order to build the velocity equation using simple constraint equations: i.e. length restriction, relative motion and rigid body constraints. Then the motion space is solved, i.e. the space that spans all feasible motions of the manipulator.

The velocity equation is comprehensive, i.e. it relates all kinematic variables, not only input and output. The Jacobian related to the comprehensive velocity equation is a square dimensionless matrix. This characteristic has great importance when evaluating manipulability or closeness to singularities. Employing the motion space, any kinematic entity can be studied: i.e. velocities and accelerations of any active/passive joints, screw axis, axodes, and so on. Also a comprehensive singularity analysis can be made.

The approach presented is focused on the kinetostatic analysis of manipulators and, therefore, subjected to rigid body assumption.

The paper presents a proposal of effective codes for engineering analysis of manipulators.

This approach is based on a pure computational kinematic analysis that unifies all kinetostatic analysis for any manipulator topology (i.e. serial, parallel, hybrid manipulators, complex mechanisms, redundant‐or non‐redundant‐actuated). The characteristic Jacobian matrix is dimensionless and provides the means for a complete singularity analysis and an effective use of indicators.

This chapter examines symphysiotomy in twentieth-century Ireland as one example of a systematized obstetric violence that has characterized Ireland’s modern history. Expanding scholarly interpretations of state- and Church-inflicted abuse of women in the twentieth century, this analysis establishes the medical profession as a central actor alongside the twentieth-century state-Church coalition that regulated women’s reproductive lives and engaged in systematic repression. This chapter recognizes that Ireland’s history of reproductive abuse and coercion did not just involve contraception or abortion but also labor and birth experiences. In addition, it offers a more complete and complex interpretation of obstetric violence by highlighting the experiences of married women with wanted pregnancies; almost all research to date focuses on the experiences of unmarried pregnant women or unwanted pregnancies. This examination of symphysiotomy and obstetric violence in Ireland illuminates the ways in which religious, national, and medical power has been mapped on women’s reproductive bodies, particularly in the decades after independence in 1922. It also makes essential links between Ireland’s past and present, demonstrating that a careful analysis of the history of obstetric violence and the religious underpinnings of it are essential in understanding Ireland today. With this research, we also place symphysiotomy within the context of the global reproductive justice movement, asking how a reproductive justice framework – one that links reproductive rights with social justice – can help us interpret obstetric violence and address the wounds of Ireland’s past.

Obstetric violence is the mistreatment of women in the setting of obstetric care, which includes preconception, medically assisted reproduction, pregnancy, childbirth and postpartum. Obstetric violence follows and perpetuates the devaluation and subjugation of women in patriarchal societies, where socio-cultural conceptions contribute to a view of the female body as faulty and deviating from the male prototype. These shape the perception that female reproductive processes require technological corrections. The medicalisation of reproductive processes and the mechanisation of a normal life event, with the threat of death and other life-changing consequences, disempower women and objectify the body and its functions.

The entrance of women into the workforce and the specialised fields, feminising care professions, failed to shift this paradigm. Female health workers are trained in the procedures instituted by dominant patriarchal structures, expressing values encoded in the professional culture and the institutions where they work. As women conform to the models they are exposed to during their training, perpetuating corporate hierarchies and practices, they act as agents and perpetrators of obstetric violence. Thus, obstetric violence also constitutes a specific type of violence against women at the hands of other women.

Organizational misbehavior (OMB) is a complex phenomenon for researchers and a major issue facing practitioners because of both its copious negative individual and organizational outcomes and its complexity. Researchers and practitioners are increasingly becoming aware of different types of work-related misbehaviors and their significant and costly consequences for both employees and organizations. OMB can take many forms, and a plethora of terms have been introduced to describe those OMBs. This article aims to review the constructs describing workplace misbehaviors in current organizational behavior literature.

The authors used a qualitative systematic review to organize OMB-related constructs.

This paper provides a review of workplace misbehavior constructs and a broader, more organized picture of OMB by developing a hierarchical reflective model. It highlights some challenges that the OMB literature needs to overcome.

Unlike previous review articles that primarily focused on workplace misbehaviors intended to cause harm or damage, this review includes misbehaviors intended to both damage and benefit.

el mal comportamiento organizacional (OMB) es un fenómeno complejo para los investigadores y un problema importante que enfrentan los profesionales, debido tanto a sus resultados negativos individuales y organizacionales como a su complejidad. Los investigadores y profesionales son cada vez más conscientes de los diferentes tipos de malas conductas relacionadas con el trabajo y sus consecuencias significativas y costosas tanto para los empleados como para las organizaciones. La OMB puede tomar muchas formas, y se han introducido una gran cantidad de términos para describir esas OMB. Este artículo revisa los constructos que describen los malos comportamientos en el lugar de trabajo en la literatura actual sobre comportamiento organizacional.

los autores utilizaron una revisión sistemática cualitativa para organizar los constructos relacionados con el mal comportamiento organizacional.

este documento proporciona una revisión de los constructos de mala conducta en el lugar de trabajo y una imagen más amplia y organizada de OMB mediante el desarrollo de un modelo reflexivo jerárquico. Destaca algunos desafíos que la literatura OMB debe superar.

a diferencia de los artículos de revisión anteriores que se centraron en las malas conductas en el lugar de trabajo con la intención de causar daño o perjuicio, esta revisión incluye las malas conductas con la intención tanto de dañar como de beneficiar.

o mal comportamento organizacional (OMB) é um fenômeno complexo para os pesquisadores e um problema importante que enfrenta os profissionais, devendo-se tanto aos resultados individuais e organizacionais quanto à sua complexidade. Os pesquisadores e profissionais são cada vez mais conscientes dos diferentes tipos de malas que se relacionam com o trabalho e suas conseqüências significativas e custosas tanto para os empregados para as organizações. La OMB pode tomar muitas formas, e introduz uma grande precisão de termos para descrever como OMB. Este artigo revisa os constructos que descrevem os maus comportamentos no lugar de trabalho na literatura atual sobre o comportamento organizacional.

os autores utilizam uma revisão sistemática de qualificação para organizar os constructos relacionados com o mau comportamento organizacional.

este documento fornece uma revisão dos construtores de má conduta no lugar de trabalho e uma imagem mais ampliada e organizada de OMB por meio do desarrollo de um modelo reflexivo jerárquico. Destaca alguns desafios que a literatura OMB deve superar.

a diferença dos artigos de revisão anteriores que se centralizaram nas más condutas no lugar de trabalho com a intenção de causar danos ou danos, esta revisão inclui as más condutas com a intenção de danificar como beneficiário.