Fei Qi, Yiwei Ge and Xianjun Liu
This paper aims to present a kinematics performance analysis and control for a continuum robot based on a dynamic model to achieve control of the robot.
Abstract
Purpose
This paper aims to present a kinematics performance analysis and control for a continuum robot based on a dynamic model to achieve control of the robot.
Design/methodology/approach
To analyze the motion characteristics of the robot, its kinematics model is derived by the geometric analysis method, and the influence of the configuration parameters of the robot on workspace is investigated. Moreover, the dynamic model is established by the principle of virtual work to analyze the mapping relationship among the bending shape, the forces/torques applied to the robot. To achieve better control of the robot, a control strategy for continuum robot based on the dynamic model is put forward.
Findings
Results of the simulations and experiments verify the proposed continuum structure and motion model, the maximum position error is 5.36 mm when the robot performs planar bending motion and the average position error of the robot in spatial circular motion is 5.84 mm. The proposed model can accurately describe the deformation movement of the robot and realize its motion control with a few position errors.
Originality/value
The kinematics analysis and control model proposed in this paper can achieve precise control of the robot, which can be used as a reference for the motion planning and shape reconstruction of continuum robot.
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Keywords
Fei Qi, Bai Chen, Shigang She and Shuyuan Gao
This paper aims to present a shape sensing method and feedback control strategy based on fiber Bragg grating (FBG) sensor to improve the control accuracy of the robot and ensure…
Abstract
Purpose
This paper aims to present a shape sensing method and feedback control strategy based on fiber Bragg grating (FBG) sensor to improve the control accuracy of the robot and ensure the safety of the cardiac interventional surgery.
Design/methodology/approach
To theoretically describe the shape of the catheter robot, the kinematic model is established by the geometric analysis method. And to obtain the actual shape, a large curvature assemble sensor based on FBG is adopted and a novel simple shape reconstruction model is proposed, which can provide the shape curve and distal position. In addition, the influence of external load on the bending deformation is investigated by experiments. To improve the shape accuracy of the robot, a shape feedback control method is presented to control the catheter robot, which can control the robot to bend into the pre-given desired shape.
Findings
Experiment results verify the effectiveness of the shape sensing method and the reconstruction model, and the correlation coefficients of three sets of curve in different coordinate directions are 0.9986, 0.9992 and 0.9999. Results of the shape feedback experiment show that the curvature error and direction angle error are 1.42% and 10.3%, respectively. The continuum catheter robot can be controlled to achieve the desired bending shape.
Originality/value
The shape reconstruction method and feedback control strategy proposed in this paper can improve the control accuracy of the robot to avoid the risk of the collision with the surrounding blood vessels, the tissues and organs.
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Fei Qi, Dongming Bai, Xiaoming Dou, Heng Zhang, Haishan Pei and Jing Zhu
This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the…
Abstract
Purpose
This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the robot.
Design/methodology/approach
The kinematics model is derived by the geometric analysis method under the piecewise constant curvature assumption, and the workspace and dexterity of the proposed robot are analyzed to optimize its structure parameters. Moreover, the statics model is established by the principle of virtual work, which is used to analyze the mapping relationship between the bending deformation and the applied forces/torques. To improve the control accuracy of the robot, a model-based controller is put forward.
Findings
Results of the experiments verify the feasibility of the proposed continuum structure and the correctness of the established model and the control method. The force deviation between the theoretical value and the actual value is relatively small, and the mean value of the deviation between the driving forces is only 0.46 N, which verify the established statics model and the controller.
Originality/value
The proposed model and motion controller can realize its accurate bending control with a few deviations, which can be used as the reference for the motion planning and dynamic model of the continuum robot.
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Yunxia Zhu, Ravi Bhat and Pieter Nel
Business is about building relationships and hence relationship building is becoming increasingly important for cross‐cultural management. Current research findings in this area…
Abstract
Business is about building relationships and hence relationship building is becoming increasingly important for cross‐cultural management. Current research findings in this area have mainly focused on relationship marketing or on cultural dimensions of business relationships. This preliminary study attempts to break the boundary and aims to explore relationship building from a culture‐specific perspective while in corporating a social constructivist dimension. Specifically, it compares relationship building across four cultures including European, New Zealand, Chinese, Indian and South African cultures. The research method is interpretive, based on an analysis of interview results with business executives from the four target cultures.
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Analyses the alternative and informal remittance systems that characterise many Asian transactions; they are also known as informal value transfer systems, underground banking…
Abstract
Analyses the alternative and informal remittance systems that characterise many Asian transactions; they are also known as informal value transfer systems, underground banking systems and so on: unlike money laundering, they are not based on deception and may indeed be licensed. Traces the origins of these systems, which are of two main types: the Chinese fei chi’en system and the Indian hawala/hundi system. Describes the two systems, and goes on to the reasons for their growing popularity: the increased migration of Asian populations to the rest of the world, the systems’ perceived efficiency, timeliness, cost effectiveness and lack of bureaucracy, the remoteness from banks of some areas, the desire of the Chinese to conceal wealth, and insufficient supply of foreign exchange in some countries.
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Liu Tianning, Xuesong Wang, Jinzhi Lu, Yao Tong and Yixiao Liu
This paper aims to propose a set of metamodels applicable to the architecture modeling of air traffic management systems|air traffic management system (ATMS) under the UAF…
Abstract
Purpose
This paper aims to propose a set of metamodels applicable to the architecture modeling of air traffic management systems|air traffic management system (ATMS) under the UAF methodology. The designing of metamodels also needs to meet modeling requirements for the introduction of new supersonic airliners into the ATMS.
Design/methodology/approach
In order to complete the designing of metamodels and the architecture modeling work in the case study, the GOPPRR method and the M0–M3 modeling framework are used in this paper. The design and modeling work carried out in this paper was done in the multi-architecture modeling tool Airdraw.
Findings
In this paper, the set of metamodels applicable to the architecture modeling of ATMS under the UAF methodology was proposed, which has a quantity of 102 object metamodels, eight point metamodels, 98 property metamodels, 41 relationship metamodels, 36 role metamodels and 65 graph metamodels.
Originality/value
The metamodel design proposed in this thesis allows for architectural modeling of the ATMS. Comparing with the traditional method of system engineering, which uses files to define, the model-based ATMS architecture can be updated for different ATMS and different aircraft types by modifying the parameters of the corresponding views or adding relevant supplementary model views in the architecture model library, which greatly improves the compatibility and modifiability of the system definition.
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Corruption can take many forms. One of the most alarming aspects of corruption has been the impact of money laundering on financial markets. The amount of money laundered in the…
Abstract
Corruption can take many forms. One of the most alarming aspects of corruption has been the impact of money laundering on financial markets. The amount of money laundered in the Asian region is estimated at approximately $200 billion, or one-fifth the global total. Some of the Asia-Pacific countries still lack any consistent anti-money laundering legislation. The Asia-Pacific region is also home to five of the six remaining non-cooperative countries and territories on The Financial Action Task Force's 2004 list. In this paper, I present a clinical examination of the impact of money laundering and Off-shore financial centres on Asian Pacific financial markets. I describe the money laundering cycle, tools and techniques utilized in the Asia-Pacific region as well as anti-money laundering measures and regulation.
Guo‐Dong Li, Daisuke Yamaguchi and Masatake Nagai
This paper aims to increase the manufacturing accuracy and quality of product by improving the prediction accuracy of forecasting compensatory control (FCC).
Abstract
Purpose
This paper aims to increase the manufacturing accuracy and quality of product by improving the prediction accuracy of forecasting compensatory control (FCC).
Design/methodology/approach
The dynamic analysis model, which combines grey dynamic model with time series autoregressive integrated moving average (ARIMA) model is proposed. In addition, the Markov chain from stochastic process theory is applied to improve the prediction accuracy.
Findings
The proposed model is more accurate than ARIMA model and grey dynamic model.
Originality/value
The paper provides a viewpoint on FCC by using the combined methodology, which takes advantage of high predictable power of grey dynamic model and at the same time takes advantage of the prediction powers of ARIMA model and Markov chain.