Search results

The development of robotized welding is truly impressive and is today one of the major application areas for industrial robots. The first industrial robots were introduced in the early 1960s for material transfer and machine tending. Not long after that, robots were used for spot welding and in the early 1970s for arc welding as well. During the years, significant developments have taken place both concerning the robot equipment and the welding equipment to meet the different challenges within the application area. This paper describes the development and progress of robotization in welding over the years and also some projections and trends for the near future.

Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task‐level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.

Sustainable agriculture implies the ability of agro‐ecosystems to remain productive in the long‐term. It is not easy to point out unambiguously whether or not current production systems meet this sustainability demand. A priori thinking would suggest that organic crops are environmentally favourable, but may ignore the effect of reduced productivity, which shifts the potential impact to other parts of the food provision system. The purpose of this paper is to assess the ecological sustainability of conventional and organic leek production by means of life cycle assessment (LCA).

A cradle‐to‐farm gate LCA is applied, based on real farm data from two research centres. For a consistent comparison, two functional units (FU) were defined: 1ha and 1 kg of leek production.

Assessed on an area basis, organic farming shows a more favourable environmental profile. These overall benefits are strongly reduced when the lower yields are taken into account. Related to organic farming it is therefore important that solutions are found to substantially increase the yields without increasing the environmental burden. Related to conventional farming, important potential for environmental improvements are in optimising the farm nutrient flows, reducing pesticide use and increasing its self‐supporting capacity.

The research is a cradle‐to‐farm gate LCA, future research can be expanded to comprise all phases from cradle‐to‐grave to get an idea of the total sustainability of our present food consumption patterns. The research is also limited to the case of leek production. Future research can apply the methodology to other crops.

To date, there is still lack of clear evidence of the added value of organic farming compared to conventional farming on environmental basis. Few studies have compared organic and conventional food production by means of LCA. This paper addresses these issues.

Biodiversity conservation tax incentives were inserted into the Income Tax Act 58 of 1962 in terms of the Revenue Laws Amendment Act 60 of 2008 and are now contained in section 37C. The objectives of this study were to quantify the maximum potential revenue loss, to National Treasury, as a result of these tax incentives granted to landowners in the Western Cape; to identify and discuss alternative policy instruments to encourage conservation; and to investigate the perceptions of landowners in the Western Cape on the tax and alternative incentives available for conservation. The study found that the maximum tax revenue foregone should amount to a tiny percentage of total estimated revenue income for the 2008/2009 fiscal year, while projected future losses could also be insignificant. Landowners prefer direct financial incentives and exemption from property taxes, and contend that direct assistance with conservation activities would also be beneficial. The use of municipal value in the valuation of land would promote objectiveness and consistency. Finally, only a third of the landowners indicated that tax incentives would encourage them to commit more land for conservation.

This paper investigates how different and sometimes conflicting approaches to performance evaluations are hybridized in the day-to-day activities of a disciplined hybrid organization–i.e. a public child protection agency at the intersection between the market and the public sector.

The paper is based on a one-year ethnography of how employees achieve to qualify their work as “good work” in situations with several and sometimes conflicting ideals of what “good work” is. Fieldwork material was collected by following casework activities across organizational boundaries. By combining accounting literature on hybridization with literature on practices of valuation, the paper develops a novel theoretical framework which allows for analyses of the various practices of valuation, when and where they clash and how they persist over time in everyday work.

Throughout the study, four distinct registers of valuation were identified: feeling, theorizing, formalizing and costing. To denote the meticulous efforts of pursuing good work in all four registers of valuation, the authors propose the notion of sequencing. Sequencing is an ongoing process of moving conflicting registers away from each other and bringing them back together again. Correspondingly, at the operational level of a hybrid organization, temporary compartmentalization is a means of avoiding clashes, and in doing so, making it possible for different and sometimes conflicting ways of achieving good results to continuously hybridize and persist together.

The single-case approach allows for analytical depth, but limits the findings to theoretical, rather than empirical, generalizability. The framework the authors propose, however, is well-suited for mobilization and potential elaboration in further empirical contexts.

The paper provides a novel theoretical framework as well as rich empirical material from the highly political field of child protection work, which has seldomly been studied within accounting research.

This paper aims to perform a meta‐analysis of the literature comparing the environmental impacts of organic and conventional farming and linking these to differences in management practises. The studied environmental impacts are related to land use efficiency, organic matter content in the soil, nitrate and phosphate leaching to the water system, greenhouse gas emissions and biodiversity.

The theoretic framework uses the driver‐state‐response framework and literature data were analysed using meta‐analysis methodology. Meta‐analysis is the statistical analysis of multiple study results. Data were obtained by screening peer reviewed literature.

From the paper's meta‐analysis it can conclude that soils in organic farming systems have on average a higher content of organic matter. It can also conclude that organic farming contributes positively to agro‐biodiversity (breeds used by the farmers) and natural biodiversity (wild life). Concerning the impact of the organic farming system on nitrate and phosphorous leaching and greenhouse gas emissions the result of the analysis is not that straightforward. When expressed per production area organic farming scores better than conventional farming for these items. However, given the lower land use efficiency of organic farming in developed countries, this positive effect expressed per unit product is less pronounced or not present at all.

Given the recent growth of organic farming and the general perception that organic farming is more environment friendly than its conventional counterpart, it is interesting to explore whether it meets the alleged benefits. By combining several studies in one analysis, the technique of meta‐analysis is powerful and may allow the generation of more nuanced findings and the generalisation of those findings.

This chapter explores the potential economic advantages and disadvantages of reusable plastic containers (RPCs) in the transport of fresh produce from growers to retail stores. The empirical research linking packaging to quantifiable economic and social benefits is reviewed. This study answers the question – what are the economic and social impacts of increased standardization of bulk packaging in the North American fresh produce supply chains? Implications for the potential use of RPCs and its impact on sustainability are explored.

The chapter describes data from grocery retailers who have implemented both one-way and reusable plastic containers for fresh produce distribution. A Time-Driven Activity-Based Costing (TD-ABC) analysis was conducted to capture and evaluate process times and product damage associated with the typical deployment of bulk containers in the grocery retailers’ distribution centers (DC), retail stores, and asset recovery centers of the supply chain. Economic measures were implemented and together with the social dimensions provided insights about sustainability-based implications.

Fresh produce shipments using the RPC technology had significantly less waste and damage representing potential social and economic benefits. The empirical findings included results about the economic impact of RPCs on the sustainability level of a typical supply chain for fresh food products.

The quantification of the economic and potential social sustainability for the explored packaging types constitutes an important contribution. Much of the previous research did not contain comprehensive assessments. The impact of technological change – the introduction and use of RPC in packaging – is examined. In addition, the supply chain scope for this research included most of the major activities that involve the packaging of fresh produce commodities in its practical dynamics.

Food Industries have to cater a plethora of consumers having variety of tastes. For sustaining in such environment companies create their unique selling point and big data helps them to analyze market situation for such purpose. In this book chapter, the supply chain of fruits and vegetables and the post-harvest losses encountered at each stage in absence of data analytics is discussed. This can be an opportunity for the food industries to reduce food loss and gain better returns on investment by going for a digital transformation. Companies combine big data with technologies like machine learning and artificial intelligence to get faster and more personalized experiences. This chapter includes comparative case studies of food and retail sector for better understanding of the outcome.

Wastage and post-harvest losses in food value chains are becoming increasingly debated and policies are being increasingly designed to reduce food wastages. Despite its presumed importance, there is large variation in the importance and type of food losses and wastage. We identify the levels of food wastage at various levels of the potato food chain for three Asian countries.

Surveys were fielded to better measure the important variation between value chain agents, to capture wastage at each level, to analyze the structure of the value chain, and to evaluate wastage over the whole value chain (except for consumption). We generate data on an important staple in these countries and analyze the importance of waste in domestic rural-urban food value chains, often the most important value chain in these countries.

We find total quantities of potatoes wasted are equal to 5.2% in the harvest period and 6.4% in the off-season of all quantities that enter the value chain for Bangladesh. Even lower numbers are obtained in India (3.2% and 3.3%, respectively). These wastage levels are higher in China, possibly because of the significantly longer distances that potatoes are shipped.

The use of cold storage facilities can minimize the level of wastage in the potato distribution chain. Studies of this type of storage for other countries and commodities can identify opportunities in which adoption of cold storage can provide the greatest contributions toward the elimination of food wastage.

The purpose of this paper is to analyse teleoperation of an ABB industrial robot with an ABB IRC5 controller. A method to improve motion smoothness and decrease latency using the existing ABB IRC5 robot controller without access to any low-level interface is proposed.

The proposed control algorithm includes a high-level proportional-integral-derivative controller (PID) controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit. The multitasking feature of the IRC5 controller was used to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a pre-defined three-dimensional trajectory were carried out and the benefits of the proposed algorithm were demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six-degrees-of-freedom force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements.

A communication rate of up to 250 Hz between the computer and the controller was established using C# .Net. Experimental results demonstrating the robot TCP, tracking errors and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with tracking errors of < 0.2 mm.

The proposed approach may be employed to produce smooth motion for a remotely operated ABB industrial robot with the existing ABB IRC5 controller. However, to achieve high-bandwidth path following, the inherent latency of the controller must be overcome, for example by utilising a low-level interface. It is particularly useful for applications including a large number of short manipulation segments, which is typical in teleoperation applications.

Using the proposed technique, off-the-shelf industrial robots can be used for research and industrial applications where remote control is required.

Although low-level control interface for industrial robots seems to be the ideal long-term solution for teleoperation applications, the proposed remote control technique allows out-of-the-box ABB industrial robots with IRC5 controllers to achieve high efficiency and manipulation smoothness without requirements of any low-level programming interface.