This chapter explores how the dominance of a profit-oriented “take-use-dispose” economic model presents challenges to sustainable development. Globalization’s role in accelerating…
Abstract
This chapter explores how the dominance of a profit-oriented “take-use-dispose” economic model presents challenges to sustainable development. Globalization’s role in accelerating consumerism is analyzed, along with its potential to exacerbate social inequalities, concentrating economic power within multinational corporations. The environmental consequences of globalization include overexploitation and resource depletion, highlighting the need for balanced and responsible approaches to global governance. The chapter also investigates the impact of globalization on territorial identities, ranging from the risk of cultural homogenization to the emergence of hybrid cultural forms. Finally, it considers diverse perspectives on managing globalization and consumerism’s effects.
Ya'nan Lou, Pengkun Quan, Haoyu Lin, Zhuo Liang, Dongbo Wei and Shichun Di
This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg…
Abstract
Purpose
This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through a CW. It is required that the controller does not rely on any external sensors such as 6-axis wrist force/torque (F/T) sensor, and only the compliance matrix’s estimated value of the CW is known.
Design/methodology/approach
First, the peg-in-hole assembly system based on a CDSR-CW is analyzed. Second, a characterization algorithm using micro cable tensions and joint positions to express the elastic F/T at the CW is established. Next, under the premise of only knowing the compliance matrix’s estimate, a peg-in-hole controller based on force/position hybrid control is proposed.
Findings
The experiment results show that the plug contact F/T can be tracked well. This verifies the validity and correctness of the characterization algorithm and peg-in-hole controller for CDSR-CWs in this paper.
Originality/value
First, to the authors’ knowledge, there is no relevant work about the peg-in-hole assembly task using a CDSR-CW. Besides, the proposed characterization algorithm for the elastic F/T makes the peg-in-hole controller get rid of the dependence on the F/T sensor, which expands the application scenarios of the peg-in-hole controller. Finally, the controller does not require an accurate compliance matrix, which also increases its applicability.
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Omer Faruk Argin and Zeki Yagiz Bayraktaroglu
This paper aims to present a novel modular design framework for the haptic teleoperation of single-master/multiple-slave (SM/MS) systems with cooperating manipulators.
Abstract
Purpose
This paper aims to present a novel modular design framework for the haptic teleoperation of single-master/multiple-slave (SM/MS) systems with cooperating manipulators.
Design/methodology/approach
The user commands the remote-leader robot and the slave remote robot follows the leader in a leader–follower formation. The remote-slave is purely force-controlled. A virtual model of the remote environment is introduced between the local and remote environments through simulation software. Locally generated motion inputs are transmitted to the remote environment through the virtual model. A haptic coupling is designed in the virtual environment and the haptic feedback is transmitted to the user along with the forces measured in the remote environment. The controllers proposed in this work are experimentally evaluated with experienced and inexperienced users.
Findings
The proposed haptic interaction model contributes to the total force feedback and smoothens the high-frequency signals occurring at the physical interaction in the remote environment. Experimental results show that the implemented controllers including the proposed haptic interaction improve the teleoperation performances in terms of trajectory tracking. Furthermore, pure force control of the remote-slave is shown to enhance the robustness of the teleoperation against external disturbances. Satisfactory teleoperation performances are observed with both experienced and inexperienced users.
Originality/value
The proposed SM/MS teleoperation system involves a multi-purpose virtual simulator and a purely force-controlled remote-slave manipulator in a modular cooperative configuration. The uniquely defined structure of the proposed haptic coupling is used in modeling the interaction between the local and remote manipulators on the one hand, and between cooperating remote manipulators on the other.
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Donghua Zhao, Gaohan Zhu, Jiapeng He and Weizhong Guo
With the development of 3D printing or additive manufacturing (AM), curved layer fused deposition modeling (CLFDM) has been researched to cope with the flat layer AM inherited…
Abstract
Purpose
With the development of 3D printing or additive manufacturing (AM), curved layer fused deposition modeling (CLFDM) has been researched to cope with the flat layer AM inherited problems, such as stair-step error, anisotropy and the time-cost and material-cost problems from the supporting structures. As one type of CLFDM, cylindrical slicing has obtained some research attention. However, it can only deal with rotationally symmetrical parts with a circular slicing layer, limiting its application. This paper aims to propose a ray-based slicing method to increase the inter-layer strength of flat layer-based AM parts to deal with more general revolving parts.
Design/methodology/approach
Specifically, the detailed algorithm and implementation steps are given with several examples to enable readers to understand it better. The combination of ray-based slicing and helical path planning has been proposed to consider the nonuniform path spacing between the adjacent paths in the same curved layer. A brief introduction of the printing system is given, mainly including a 3D printer and the graphical user interface.
Findings
The preliminary experiments are successfully conducted to verify the feasibility and versatility of the proposed and improved slicing method for the revolving thin-wall parts based on a rotary 3D printer.
Originality/value
This research is early-stage work, and the authors are intended to explore the process and show the initial feasibility of ray-based slicing for revolving thin-wall parts using a rotary 3D printer. In general, this research provides a novel and feasible slicing method for multiaxis rotary 3D printers, making manufacturing revolving thin-wall and complex parts possible.
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Anne-Claire Pache and Patricia H. Thornton
This chapter identifies assumptions, conceptual issues and challenges in the literature on hybrid organizations that draws on the institutional logics perspective. The authors…
Abstract
This chapter identifies assumptions, conceptual issues and challenges in the literature on hybrid organizations that draws on the institutional logics perspective. The authors build on the existing literature reviews as well as on an analysis of the 10 most cited and 10 most recently published articles at the intersection of hybrid organizations and institutional logics. The authors further draw from the literature on theory construction and theory development and growth to strengthen our analysis of this body of work and reflect upon future theoretical developments. From this analysis, the authors highlight four challenges to current research on organizational hybridity with an institutional logics lens and develop four suggestions to inspire future research. In doing so, they aim at seeding a more nuanced use of the institutional logics perspective and thereby foster the development of innovative and cumulative theory and empirical research on organizational hybridity.
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Cenk Budayan, Kerim Koc, Eralp Yüksel Erk and Onur Behzat Tokdemir
Many countries struggled to respond to the pandemic burden; in fact, most suffer from healthcare incapacity generally. Therefore, they need to find innovative systems to…
Abstract
Purpose
Many countries struggled to respond to the pandemic burden; in fact, most suffer from healthcare incapacity generally. Therefore, they need to find innovative systems to compensate for their deficiencies in dealing with current and future problems. One such goes down the public-private partnership (PPP) route. It is important to note, however, that PPP is not a magic wand, and some of these projects have been criticized for overruns that exceed the value created. Aiming to promote the value created in healthcare PPP projects, this study aims to identify factors and critical points related to their implementation.
Design/methodology/approach
A two-stage literature review was conducted to shape semi-structured interviews. Based on this, the questions to be asked in the interviews were prepared. The interviews were conducted with twelve experts. The transcripts of the twelve semi-structured interviews were analyzed using manual thematic analysis to reveal the most critical value-creation factors (VCFs). The VFCs were validated by comparing them with the studies in the literature and by having focus group discussions (FGDs) with the experts. Finally, in an FGD, the experts discussed how these factors affect value creation in healthcare PPP projects.
Findings
The findings show that VFCs can be categorized into four dimensions: assets, partnership synergy, cooperation environment and processes. Based on the frequency of codes during the thematic analysis, the most frequently addressed VFCs in each category were identified. These were complementary skills and resources, attitude, early establishment of the operational body and effective design development, respectively.
Practical implications
This research contributes to both society and practice by unveiling VCFs and effective ways to achieve them in healthcare PPP projects. Thus, practitioners can generate more value and bring value to the forefront of healthcare PPPs, which can then enhance the value gained by society.
Originality/value
Studies to date have offered little about VCFs and how to realize value in PPP projects by considering the factors involved in them. Moreover, value creation in PPP healthcare projects has largely remained unexplored, despite PPPs being adopted and investigated quite commonly.
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Giuseppe Gillini, Paolo Di Lillo, Filippo Arrichiello, Daniele Di Vito, Alessandro Marino, Gianluca Antonelli and Stefano Chiaverini
In the past decade, more than 700 million people are affected by some kind of disability or handicap. In this context, the research interest in assistive robotics is growing up…
Abstract
Purpose
In the past decade, more than 700 million people are affected by some kind of disability or handicap. In this context, the research interest in assistive robotics is growing up. For people with mobility impairments, daily life operations, as dressing or feeding, require the assistance of dedicated people; thus, the use of devices providing independent mobility can have a large impact on improving their life quality. The purpose of this paper is to present the development of a robotic system aimed at assisting people with this kind of severe motion disabilities by providing a certain level of autonomy.
Design/methodology/approach
The system is based on a hierarchical architecture where, at the top level, the user generates simple and high-level commands by resorting to a graphical user interface operated via a P300-based brain computer interface. These commands are ultimately converted into joint and Cartesian space tasks for the robotic system that are then handled by the robot motion control algorithm resorting to a set-based task priority inverse kinematic strategy. The overall architecture is realized by integrating control and perception software modules developed in the robots and systems environment with the BCI2000 framework, used to operate the brain–computer interfaces (BCI) device.
Findings
The effectiveness of the proposed architecture is validated through experiments where a user generates commands, via an Emotiv Epoc+ BCI, to perform assistive tasks that are executed by a Kinova MOVO robot, i.e. an omnidirectional mobile robotic platform equipped with two lightweight seven degrees of freedoms manipulators.
Originality/value
The P300 paradigm has been successfully integrated with a control architecture that allows us to command a complex robotic system to perform daily life operations. The user defines high-level commands via the BCI, letting all the low-level tasks, for example, safety-related tasks, to be handled by the system in a completely autonomous manner.
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Yueyong Lv, Qinglei Hu, Guangfu Ma and Jian Zhang
The purpose of this paper is to propose a decentralized output feedback controller for cooperative attitude regulation of spacecraft formation in absence of angular velocity…
Abstract
Purpose
The purpose of this paper is to propose a decentralized output feedback controller for cooperative attitude regulation of spacecraft formation in absence of angular velocity feedback.
Design/methodology/approach
The nonlinear relative attitude dynamic and kinematic equations represented by relative quaternion and relative angular velocity, respectively, are considered in this paper. The lead filter is employed to synthesize virtual angular velocity signal so that the design of output feedback controller is achieved. Lyapunov method is adopted to prove the stability of closed‐loop system. Considering the external disturbance, the theory of L2‐gain disturbance attenuation is employed to improve the designed controller. Numerical simulations are carried out to verify the controllers proposed.
Findings
It is found that the closed‐loop system can be guaranteed asymptotically stable in absence of external disturbance. When disturbance is considered, as long as the sufficient condition proposed is satisfied, the improved controller can render system uniformly ultimately bounded stable.
Practical implications
The proposed output feedback control scheme can be considered as a fall‐back alternative for the case that the angular velocity sensors fail, or seen as another option for the system without angular velocity sensors at all.
Originality/value
Unlike most classical works in the field of output feedback which focus on centralized scheme and neglect the disturbance, the controller proposed in this paper is able to handle the output feedback control problem of multi‐agent formation in a decentralized fashion, so as to avoid the single failure point of a centralized scheme. Meanwhile, the capability of L2‐gain disturbance attenuation is also achieved simultaneously.
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This paper aims to clarify the notion of artificial intelligence (AI), reviewing the present scope of the phenomenon through its main applications. It aims at describing the…
Abstract
Purpose
This paper aims to clarify the notion of artificial intelligence (AI), reviewing the present scope of the phenomenon through its main applications. It aims at describing the various applications while assessing the markets, highlighting some of the leading industrial sectors in the field. Therefore, it identifies pioneering companies and the geographical distribution of AI companies.
Design/methodology/approach
The paper builds upon an in-depth investigation of public initiatives focusing mostly on the EU. It is based on desk research, a comprehensive review of the main grey and scientific literature in this field.
Findings
The paper notes that there is no real consensus on any definition for this umbrella term, that the definition does fluctuate over time but highlights some of the main changes and advances that took place over the past 60 years. It stresses that, in spite of the hype, on both the business and consumer sides, the demand appears uncertain. The scope of the announced disruptions is not easy to assess, technological innovation associated with AI may be modest or take some time to be fully deployed. However, some companies and regions are leading already in the field.
Research limitations/implications
The paper, based on desk research, does not consider any expert opinions. Besides, the scientific literature on the phenomenon is still scarce (but not the technical one in the specific research sectors of AI). Most of the data come from consultancies or government publications which may introduce some bias, although the paper gathered various, often conflicting viewpoints.
Originality/value
The paper gives a thorough review of the available literature (consultancies, governments) stressing the limitations of the available research on economic and social aspects. It aims at providing a comprehensive overview of the major trends in the field. It gives a global overview of companies and regions.
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Vincenzo Lippiello, Luigi Villani and Bruno Siciliano
To present an open architecture for real‐time sensory feedback control of a dual‐arm industrial robotic cell. The setup is composed of two industrial robot manipulators equipped…
Abstract
Purpose
To present an open architecture for real‐time sensory feedback control of a dual‐arm industrial robotic cell. The setup is composed of two industrial robot manipulators equipped with force/torque sensors and pneumatic grippers, a vision system and a belt conveyor.
Design/methodology/approach
The original industrial robot controllers have been replaced by a single PC with software running under a real‐time variant of the Linux operative system.
Findings
The new control architecture allows advanced control schemes to be developed and tested for the single robots and for the dual‐arm robotic cell, including force control and visual servoing tasks.
Originality/value
An advanced user interface and a simulation environment have been developed, which permit fast, safe and reliable prototyping of planning and control algorithms.