Seungjun Woo, Francisco Yumbla, Chanyong Park, Hyouk Ryeol Choi and Hyungpil Moon
The purpose of this study is to propose a novel plane-based mapping method for legged-robot navigation in a stairway environment.
Abstract
Purpose
The purpose of this study is to propose a novel plane-based mapping method for legged-robot navigation in a stairway environment.
Design/methodology/approach
The approach implemented in this study estimates a plane for each step of a stairway using a weighted average of sensor measurements and predictions. It segments planes from point cloud data via random sample consensus (RANSAC). The prediction uses the regular structure of a stairway. When estimating a plane, the algorithm considers the errors introduced by the distance sensor and RANSAC, in addition to stairstep irregularities, by using covariance matrices. The plane coefficients are managed separately with the data structure suggested in this study. In addition, this data structure allows the algorithm to store the information of each stairstep as a single entity.
Findings
In the case of a stairway environment, the accuracy delivered by the proposed algorithm was higher than those delivered by traditional mapping methods. The hardware experiment verified the accuracy and applicability of the algorithm.
Originality/value
The proposed algorithm provides accurate stairway-environment mapping and detailed specifications of each stairstep. Using this information, a legged robot can navigate and plan its motion in a stairway environment more efficiently.
Details
Keywords
Senghazhani Murugesan Vadivel, Vimal Kumar and Pratima Verma
This study attempts to analyze the overall effectiveness of Lean System (LS)-based India post facility layout design (FLD) selection.
Abstract
Purpose
This study attempts to analyze the overall effectiveness of Lean System (LS)-based India post facility layout design (FLD) selection.
Design/methodology/approach
We have grouped all Lean Six Sigma elements into three different categories: Lean Technical Practices, Lean Workplace Environment Practices, and Lean Ergonomics Practices based on literature support and field surveys in the Indian postal service. Further, it employs a mathematical model known as the graph theory (GT) method. From the GT approach, interactions were identified through LS tools represented through the digraph, matrix model approach. This study was directed at the National Sorting Hub in Mysuru, Karnataka, in the southern part of India. A number of insights were given in the GT area where FLD is possible to evaluate.
Findings
The results showed that Layout five has the highest value, followed by Layout one from the GT approach. The relative relevance and effect values are given as inputs to the permanent function in the digraph technique, and an evaluation index is obtained as an output.
Research limitations/implications
When solving any optimization issue with a high number of attributes, the digraph and matrix technique is successful. The layouts that have been identified have yielded valuable insights into how to enhance critical decision-making processes, which are necessary to accomplish company strategic objectives like growing postal business services.
Originality/value
The process operations carried out in India post service as well as its heterogeneity of articles and the intangible measures of production are the significant challenges to keenly analyze the layout design through lean service principles.