Hubo Cai, Asadur Rahman, Xing Su and Hongtao Zhang
The purpose of this study is to create a framework that integrates GIS and microscopic simulation to optimize the placement of road barriers in emergency evacuation and assess the…
Abstract
Purpose
The purpose of this study is to create a framework that integrates GIS and microscopic simulation to optimize the placement of road barriers in emergency evacuation and assess the effectiveness via simulation. Human populations are at risk from many hazards including man-made and natural disasters, sudden events that are difficult to predict and prevent, but have catastrophic consequences. A critical issue in disaster management is timely evacuation that considers the dynamic traffic demand and congestions under dynamic hazard conditions. University campuses face a unique challenge in developing effective emergency evacuation plans due to their complex site configurations, high-dense buildings and dynamic spatial-temporal distribution of population.
Design/methodology/approach
The framework was implemented and tested on the main campus of the Western Michigan University to optimize the placement and configuration of road barriers to achieve an effective utilization of road network when the demand way exceeds the capacity. The resulting system was also used to test the effectiveness of the phased evacuation notification strategy, both with and without the optimal road barrier strategy.
Findings
It concluded that the newly created framework and its implementation could assist emergency evacuation planning for university campuses. It also concluded that placing road barriers at appropriate locations could reduce the evacuation time by 20 per cent or more under a variety of evacuation scenarios.
Originality/value
The originality of this research lies in three aspects of: a university campus context, the integration of GIS and microscopic simulation in emergency evacuation and the simulation based turn restriction strategy.
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Identificar los aspectos que los Actores Sociales consideran en la construcción de futuros compartidos en las comunidades. En su aplicación en los países emergentes, especialmente…
Abstract
Propósito
Identificar los aspectos que los Actores Sociales consideran en la construcción de futuros compartidos en las comunidades. En su aplicación en los países emergentes, especialmente en el Sur Global, a menudo se pasan por alto las particularidades socioculturales de las comunidades y los actores, generando fricciones o conflictos sociales. Este artículo presenta dos elementos críticos que contribuyen al debate: a) la importancia de entender a los Actores Sociales dentro de un modelo de generación de futuros comunitarios en los países emergentes; b) los factores relevantes que influyen en los actores en un ejercicio de construcción de futuros en las comunidades.
Diseño/metodología/enfoque
A partir de la investigación cualitativa, se utilizó un estudio de caso de prospectiva comunitaria del futuro: El futuro de Puerto Gaitán 2037 (Meta, Colombia). Se aplicó un método de recolección de información a partir de la observación de los participantes y el análisis de la documentación. El método de análisis fue el DQA (Análisis Cualitativo Deductivo).
Hallazgos
La participación de Los Actores Sociales presenta un modelo de cinco elementos relevantes que influyen en los actores para la construcción exitosa de futuros en las comunidades. Los primeros cuatro factores, revelados por la teoría, existen en la realidad. Asimismo, se demuestra un quinto factor: el Pensamiento a Largo Plazo, que se evidencia en un Modelo de aplicación de Estudios de Futuros para el contexto específico, aplicable al caso de comunidades en países del Sur Global.
Originalidad/valor
Si bien existen ejemplos aislados de recomendaciones respecto a estudios para generar el futuro de las comunidades, este es el primer estudio que presenta factores concretos que contribuyen a orientar la construcción de futuros comunitarios desde Actores Sociales, especialmente en países del Sur Global como Colombia. También es uno de los primeros estudios en utilizar el DQA como método de análisis en un tema de Estudios de Futuros.
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Ming Xie, Lei Wang, Xian Linbo, Jing Li, Hejin Yang, Chengsen Song and Li Zhang
Autonomous mobile manipulation depends on a lot of effort at various levels. In general, the hardware design is as important as algorithm (or software) design. In particular, the…
Abstract
Purpose
Autonomous mobile manipulation depends on a lot of effort at various levels. In general, the hardware design is as important as algorithm (or software) design. In particular, the absence of certain capabilities of hardware can seriously affect the feasibility and performance of algorithms. The purpose of this paper is to present work on developing hardware capability for mobile manipulation by low‐cost humanoids (LOCH) humanoid robot.
Design/methodology/approach
This paper presents research work on developing the hardware support which enables vision‐guided mobile manipulation realized on top of a biped humanoid robot called LOCH. One important goal which guides the development is to achieve the hardware capability with human‐like dexterity, modularity, functionality, and appearance.
Findings
This paper discusses the detail of solutions leading to the realization of the intended hardware capability, focusing in particular on the issues related to mechanism, actuation, distributed sensing, and distributed control of humanoid head, humanoid hands and humanoid arms. Finally, the paper shows the result of the actual prototype, which can be controlled by a remote control station through wireless connection.
Research limitations/implications
In designing a machine, it is common to do motor‐sizing and material selection. Since these are standard procedures, these details are omitted because readers with the training in mechanical engineering should be able to work out such details in order to select the appropriate motors and materials. Also, this paper does not delve into the description of the biped system of LOCH humanoid, because such work requires another long paper in order to reveal major details.
Originality/value
This paper presents the major detail of research efforts toward developing hardware capabilities for achieving autonomous mobile manipulation by LOCH humanoid robot, focusing on three important modules, namely: perception head, human‐like hands, and arms. The uniqueness of this work is twofold. First, LOCH humanoid robot's perception head has the most versatile sensing capabilities, which are fully integrated into a compact and human‐like head. Second, each of LOCH humanoid robot's hands has 14 degrees of freedom, which are realized within a mechanism which is of human‐hand size and shape. In addition, the perception head, humanoid hands and humanoid arms are seamlessly integrated together owing to the adoption of a distributed system which supports networked sensing and control through the use of both control area network bus and transmission control protocol/internet protocol internet.
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Xinyang Fan, Xin Shu, Baoxu Tu, Changyuan Liu, Fenglei Ni and Zainan Jiang
In the current teleoperation system of humanoid robots, the control between arms and the control between the waist and arms are individual and lack coordinated motion. This paper…
Abstract
Purpose
In the current teleoperation system of humanoid robots, the control between arms and the control between the waist and arms are individual and lack coordinated motion. This paper aims to solve the above problem and proposes a teleoperation control approach for a humanoid robot based on waist–arm coordination (WAC).
Design/methodology/approach
The teleoperation approach based on WAC comprises dual-arm coordination (DAC) and WAC. The DAC method realizes the coordinated motion of both arms through one hand by establishing a mapping relationship between a single hand controller and the manipulated object; the WAC method realizes the coordinated motion of both arms and waist by calculating the inverse kinematic input of robotic arms based on the desired velocity of the waist and the end of both arms. An integrated teleoperation control framework provides interfaces for the above methods, and users can switch control modes online to adapt to different tasks.
Findings
After conducting experiments on the dual-arm humanoid robot through the teleoperation control framework, it was found that the DAC method can save 27.2% of the operation time and reduce 99.9% of the posture change of the manipulated object compared with the commonly used individual control. The WAC method can accomplish a task that cannot be done by individual control. The experiments proved the improvement of both methods in terms of operation efficiency, operation stability and operation capability compared with individual control.
Originality/value
The DAC method better maintains the constraints of both arms and the manipulated object. The WAC method better maintains the constraints of the manipulated object itself. Meanwhile, the teleoperation framework integrates the proposed methods and enriches the teleoperation modes and control means.