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Article
Publication date: 24 August 2010

Francisco Rubio, Francisco Valero, Joseph Lluís Sunyer and Antonio Garrido

The purpose of this paper is to solve the trajectory planning problem of industrial robots in a complex environment.

431

Abstract

Purpose

The purpose of this paper is to solve the trajectory planning problem of industrial robots in a complex environment.

Design/methodology/approach

A simultaneous algorithm was presented in which the trajectory was generated gradually as the robot moves. It takes into account the presence of obstacles (to avoid collisions) and differential constraints related to the dynamics of the robotic system. The method poses an optimization problem that aims at minimizing the time to perform the trajectory when several interpolation functions are used.

Findings

A new approach to solving the trajectory planning problem in which the behaviour of four operational parameters (execution time, computational time, distance travelled and number of configurations) have been analyzed when changing the interpolation functions, therefore enabling the user to choose the most efficient algorithm depending on which parameter the user is most interested in. From the examples solved the interpolation function that yields the best results has been found.

Research limitations/implications

This new technique is very time consuming due to the great number of mathematical calculations that have to be made. However, it yields a solution.

Practical implications

The algorithm is able to obtain the solution to the trajectory planning problem for any industrial robot. Also, even mobile obstacles in the workspace could be incorporated at the same time as the robot is moving and creating the path and the time history of motion.

Originality/value

It gives a new tool for solving the trajectory planning problem and describes the best interpolation function.

Details

Industrial Robot: An International Journal, vol. 37 no. 5
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 16 October 2009

Francisco Rubio, Francisco Valero, Joseph Sunyer and Vicente Mata

The purpose of this paper is to solve the path‐planning problem of industrial robots in complex environments.

459

Abstract

Purpose

The purpose of this paper is to solve the path‐planning problem of industrial robots in complex environments.

Design/methodology/approach

A direct method (in each step, the path is been recorded) is presented in which the search of the path is made in the state space of the robotic system, and it makes use of the information generated about the characteristics of the process, introducing graph techniques for branching. The method poses an optimization problem that aims at minimizing the distance travelled by the significant points of the robot.

Findings

A new approach to solve the path‐planning problem has been introduced in which the behaviour of three operational parameters (computational time, distance travelled and number of configurations generated) have been analyzed so that the user can choose the most efficient algorithm depending on which parameter he is most interested in.

Research limitations/implications

A new technique has been introduced which yields good results as the examples show.

Practical implications

The algorithm is able to obtain the solution to the path‐planning problem for any industrial robot working in a complex environment.

Originality/value

Gives a new tool for solving the path‐planning problem.

Details

Industrial Robot: An International Journal, vol. 36 no. 6
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 6 January 2012

Francisco Rubio, Francisco Valero, Joseph Sunyer and Juan Cuadrado

The purpose of this paper is to analyze the impact of the torque, power, jerk and energy consumed constraints on the generation of minimum time collision‐free trajectories for…

1409

Abstract

Purpose

The purpose of this paper is to analyze the impact of the torque, power, jerk and energy consumed constraints on the generation of minimum time collision‐free trajectories for industrial robots in a complex environment.

Design/methodology/approach

An algorithm is presented in which the trajectory is generated under real working constraints (specifically torque, power, jerk and energy consumed). It also takes into account the presence of obstacles (to avoid collisions) and the dynamics of the robotic system. The method solves an optimization problem to find the minimum time trajectory to perform the tasks the robot should do.

Findings

Important conclusions have been reached when solving the trajectory planning problem related to the value of the torque, power, jerk and energy consumed and the relationship between them, therefore enabling the user to choose the most efficient way of working depending on which parameter he is most interested in optimizing. From the examples solved the authors have found the relationship between the maximum and minimum values of the parameters studied.

Research limitations/implications

This new approach tries to model the real behaviour of the actuators in order to be able to upgrade the trajectory quality, so a lot of work has to be done in this field.

Practical implications

The algorithm solves the trajectory planning problem for any industrial robot and the real characteristics of the actuators are taken into account, which is essential to improve the performance of it.

Originality/value

This new tool enables the performance of the robot to be improved by combining adequately the values of the mentioned parameters (torque, power, jerk and consumed energy).

Details

Industrial Robot: An International Journal, vol. 39 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Available. Content available
Article
Publication date: 14 January 2014

130

Abstract

Details

Industrial Robot: An International Journal, vol. 41 no. 1
Type: Research Article
ISSN: 0143-991X

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Book part
Publication date: 8 November 2003

Ueli Hostettler

In this paper I explore how members of rural Maya households in central Quintana Roo (Mexico) interact with the wider social system and cope with long-term transformations in…

Abstract

In this paper I explore how members of rural Maya households in central Quintana Roo (Mexico) interact with the wider social system and cope with long-term transformations in productive relations since c. 1840. Maya householders integrate elements of capitalist and non-capitalist modes of production. Through particular cultural forms they regulate internal uses of wealth and their relationships with the larger capitalist world. Social and economic stratification is a fundamental feature of life among Maya householders today as it was in the past. While disparities between wealth strata within the local context have increased, the community is far from disintegrating into antagonistic groups.

Details

Anthropological Perspectives on Economic Development and Integration
Type: Book
ISBN: 978-0-76231-071-5

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Book part
Publication date: 29 November 2012

Eduardo Fayos Solà, Laura Fuentes Moraleda and Ana Isabel Muñoz Mazón

A broad agreement exists that tourism is an effective instrument for social and economic development. However, there is no specific theoretical or practical framework of tourism…

Abstract

A broad agreement exists that tourism is an effective instrument for social and economic development. However, there is no specific theoretical or practical framework of tourism for development to be found. Even the key issues have remained unformulated: concept of development, tourism's contributions to development, and tourism policy and governance for development. This chapter first summarizes the development paradigms held in the last decades (modernization, neoliberalism, dependency, and sustainability) vis-à-vis tourism, and then goes on to consider proposals emanating from New Institutional Economics and the Theory of Social Capital. It concludes with the results of a 2011 enquiry, involving some 60 international experts.

Details

Knowledge Management in Tourism: Policy and Governance Applications
Type: Book
ISBN: 978-1-78052-981-3

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Article
Publication date: 7 April 2023

Taghreed Y. Abu-Salim, Puneet Agarwal, Eman Abu Elrub, Linda Haoum and Maryam Hasan Almashgari

The success rate of Lean Six Sigma (LSS) in the service industries is dismally poor, and most organisations discontinue LSS initiatives prematurely. This paper aims to identify…

315

Abstract

Purpose

The success rate of Lean Six Sigma (LSS) in the service industries is dismally poor, and most organisations discontinue LSS initiatives prematurely. This paper aims to identify the LSS barriers (LSSBs) and analyse their interaction via a hierarchical model developed by using interpretive structural modelling (ISM) and Fuzzy Matriced Impacts Croise’s Multiplication Appliqué à un Classement (MICMAC). These allow the LSS execution and implementation to be much more effective and avoid the high cost of implementation.

Design/methodology/approach

A structural review of the literature and interviews with experts and professionals from the service industries in the UAE supplied data wherewith to identify LSSBs. Sixteen LSSBs were determined and analysed using ISM and the MICMAC approach to discover the strong drivers and highly dependent barriers. The Fuzzy set was included in the MICMAC analysis to obtain a more precise output and create an effective hierarchical model of the barriers.

Findings

The research findings suggest that the top barriers to LSS implementation in service industries are lack of top management commitment, lack of customer focus, resistance to change management and lack of alignment between the LSS and organisational strategy. A deeper analysis using the Fuzzy-MICMAC approach categorises these barriers on the basis of their driving power and dependency.

Research limitations/implications

The relationships between paired LSSBs were obtained through an experts’ interpretations of limited numbers in one country. Conducting a large-scale survey with a more comprehensive demographic or deep focus in one service industry might deepen our understanding of the interactions of LSSBs and models.

Practical implications

The developed ISM that model suggests that the dependencies and relationships among the barriers must be accurately determined so as to remove the collaborative effect of barriers on the implementation process is at the earliest opportunity. This would improve service companies’ competitive advantage and profitability, drive out waste and reduce the cost associated with poor quality. Similarly, academicians may advocate ways in various issues can contribute to improve LSSBs for amended LSS implementation now that business services are booming in the fourth industrial revolution.

Originality/value

The structural model was developed holistically on the basis of the inputs from practitioners and academicians to ensure its practical validity. Though the model has theoretical foundations, its practical applicability is a key factor in its development, so this approach was helpful for practitioner wanted to focus on removing the key dominant barriers and be able to deploy LSS concepts smoothly in service industries. The results support the proposition that top management is a crucial factor for LSS project implementation, whatever the complexity of the research methodology and the nature of the service industries.

Details

Measuring Business Excellence, vol. 27 no. 3
Type: Research Article
ISSN: 1368-3047

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Article
Publication date: 10 June 2014

Angela Donkin, Jillian Roberts, Alison Tedstone and Michael Marmot

This paper was written as part of a suite to inform the Big Lottery Better Start programme and as such has focused on the outcomes that are of interest to that programme. The…

1410

Abstract

Purpose

This paper was written as part of a suite to inform the Big Lottery Better Start programme and as such has focused on the outcomes that are of interest to that programme. The authors have also focused on outcomes for younger children and the zero to three years age group where data are available. There is a social gradient such that the lower a family's socio-economic status (SES) the greater the likelihood that they have children who are obese, have impaired social and emotional skills, or have impaired language acquisition. These statistics are clear and undisputed. The purpose of this paper is to explore some of the reasons for the social gradient in these outcomes. The paper provides some suggestions for actions that might be taken to redress the inequalities. It follows broader work presented in, for example, the Marmot (2010) review, Fair Society Healthy Lives.

Design/methodology/approach

Rapid review of the literature building on the work of the Marmot (2010) review.

Findings

Poor SES is linked with increased stress and a higher likelihood of being unable to afford to live a healthy life. These factors can have a negative impact on children's outcomes. The paper presents some examples of what can be done.

Originality/value

This should be a useful paper for local authorities trying to reduce inequalities and improve outcomes.

Details

Journal of Children's Services, vol. 9 no. 2
Type: Research Article
ISSN: 1746-6660

Keywords

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Article
Publication date: 6 September 2021

Luqman Toriola-Coker, Hakeem Owolabi, Hafiz Alaka, Wasiu Adeniran Bello and Chaminda Pathirage

This study aims to investigate two public private partnership (PPP) road projects in Nigeria for exploring factors that can motivate end-user stakeholders for contributing towards…

274

Abstract

Purpose

This study aims to investigate two public private partnership (PPP) road projects in Nigeria for exploring factors that can motivate end-user stakeholders for contributing towards sustaining a PPP project in the long-term.

Design/methodology/approach

Using a case study methodology approach, this study adopts two-way data collection strategies via in-depth interviews with PPP experts and end-user stakeholders in Nigeria host communities and a questionnaire survey to relevant stakeholders.

Findings

The study identifies an eight-factor structure indicating critical success factors for ensuring end-user stakeholders support PPP projects on a long-term basis in their host communities.

Originality/value

Results of the study have huge implications for policymakers and project companies by encouraging the early integration of far-sighted measures that will promote long-term support and sustainability for PPP projects amongst the end-user stakeholders.

Details

Journal of Engineering, Design and Technology , vol. 21 no. 3
Type: Research Article
ISSN: 1726-0531

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Article
Publication date: 17 November 2011

Geoff Shepherd and Michael Parsonage

The purpose of this paper is to review representative literature on social inclusion and evaluate the usefulness of the concept in current mental health policy.

889

Abstract

Purpose

The purpose of this paper is to review representative literature on social inclusion and evaluate the usefulness of the concept in current mental health policy.

Design/methodology/approach

The paper employs a selective review of the cost‐effectiveness of interventions aimed at improving social inclusion in children, young adults with first episode psychosis and unemployed adults of working age.

Findings

Social inclusion remains a useful concept in understanding both the causes of mental health problems and how these might best be addressed. Although measurement is not easy, it can be operationalised through a mixture of subjective and objective indicators. There is strong evidence for the effectiveness and cost‐effectiveness of interventions aimed at improving social inclusion for the groups selected. These findings provide strong support for prioritising these interventions, especially in times of severe financial restrictions.

Research limitations/implications

The selection of literature for review limits the generalisability of the conclusions.

Originality/value

The paper sets out a clear and simple analysis of the concept of social inclusion and how it may be measured. It also brings together the cost‐effectiveness literature on attempts to improve social inclusion for three, key high‐risk groups. The paper strongly supports the value of retaining the concept of social inclusion, despite the fact that it has become temporarily unfashionable.

Details

Mental Health and Social Inclusion, vol. 15 no. 4
Type: Research Article
ISSN: 2042-8308

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