Hector Montes, Lisbeth Mena, Roemi Fernández and Manuel Armada
The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours…
Abstract
Purpose
The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours. To this end, the paper presents an experimental study for the evaluation of its energy efficiency.
Design/methodology/approach
First, the interest of using a walking robot for detection and localization of anti-personnel landmines is described, followed by the description of the mechanical system and the control architecture of the hexapod robot. Second, the energy efficiency of the hexapod robot is assessed to demonstrate its autonomy for performing humanitarian demining tasks. To achieve this, the power consumed by the robot is measured and logged, with a number of different payloads placed on-board (always including the scanning manipulator arm assembled on the robot front end), during the execution of a discontinuous gait on flat terrain.
Findings
The hexapod walking robot has demonstrated low energy consumption when it is carrying out several locomotion cycles with different loads on it, which is fundamental to have a desired autonomy. It should be considered that the robot has a mass of about 250 kg and that it has been loaded with additional masses of up to 170 kg during the experiments, with a consumption of mean power of 72 W, approximately.
Originality/value
This work provides insight on the use of a walking robot for humanitarian demining tasks, which has high stability and an autonomy of about 3 hours for a robot with high mass and high payload. In addition, the robot can be supervised and controlled remotely, which is an added value when it is working in the field.
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Filipe Sardo, Zélia Serrasqueiro, Elisabete Vieira and Manuel Rocha Armada
This study seeks to analyse if the adjustment towards the target short-term debt ratio of small and medium-sized firms (SMEs) is related to financial distress risk.
Abstract
Purpose
This study seeks to analyse if the adjustment towards the target short-term debt ratio of small and medium-sized firms (SMEs) is related to financial distress risk.
Design/methodology/approach
Data obtained for a sample of Portuguese manufacturing SMEs from 2010 to 2017 were analysed using the system-generalised method of moments (GMM-sys). Using the modified Z-Altman score, the authors classify SMEs according to their exposure to financial distress risk.
Findings
Manufacturing SMEs exposed to a high risk of financial distress rebalance their short-term debt ratio quicker. However, regardless of the financial distress risk level, SMEs distant from the target short-term debt ratio adjust more slowly, suggesting that transaction costs are greater than financial distress costs.
Practical implications
Policymakers should promote the access to external sources of finance with low transaction costs for SMEs, exposed to low levels of financial distress risk, to rebalance their short-term debt ratios quicker. Distressed SMEs far from their target short-term debt ratios, but with capacity to rebalance, need government programmes to access finance with low transaction costs to rebalance their short-term debt ratios.
Originality/value
This paper contributes to deepening our understanding of how SMEs, facing financial risk, rebalance their short-term debt ratios. SMEs, facing high financial distress risk, adjust towards their target short-term debt ratios more rapidly. However, SMEs, distant from the target short-term debt ratio face higher transaction costs than financial distress costs. These firms adjust towards their target short-term debt ratios more slowly, which may aggravate the refinancing risk and, ultimately, announce bankruptcy.
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Rezia Molfino, Manuel Armada, Francesco Cepolina and Matteo Zoppi
The aim of the research is to design, build and test a robot able to autonomously execute slope consolidation tasks.
Abstract
Purpose
The aim of the research is to design, build and test a robot able to autonomously execute slope consolidation tasks.
Design/methodology/approach
A multidisciplinary approach has been adopted to solve the problem: mechanical and control architecture have been conceived simultaneously. Modularity and lifecycle are considered. The robot can climb by means of four legs and two ropes. The drilling system is hosted onboard. Drilling process is fully automated, motion can be controlled in tele‐operation.
Findings
The performance of the first prototype has satisfied the end‐user; new on‐site tests and improvements are planned.
Research limitations/implications
Roboclimber is cumbersome; both robot transport and on‐site positioning are complex operations. Coordination between legs motion and ropes tensioning is a difficult task.
Practical implications
The system reduces operating costs and working time, while avoiding the human presence in unsafe and harsh environments.
Originality/value
Roboclimber is the first robot able to do heavy duty works on rocky walls
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Abstract
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Teodor Akinfiev, Manuel Armada and Samir Nabulsi
The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces.
Abstract
Purpose
The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces.
Design/methodology/approach
The paper analyzes the reasons for the low productivities or unreliable work of cleaning robots for vertical surfaces. Based on this analysis, a design of a new robot is created. Pilot studies were performed of laboratory and industrial prototypes of a new robot.
Findings
The paper shows that the new design provides a reliable and high‐performance work of the cleaning robot for vertical surfaces. Thus, the new design provides increasing in productivities more than ten times compared with the known robot.
Research limitations/implications
In this paper, it is assumed that the speed of the robot during the process of surface cleaning is constant. For future research the algorithm is proposed that automatically maintains such speed of the robot, which depends on the degree of dirtiness and is optimal for the surface to be cleaned.
Practical implications
The results of the research have been used in the manufacture of the robot TITO 500 industrial prototype. Currently, the company RatioForem is implementing small‐lot production of the robots TITO 500.
Originality/value
A new design has been developed for a high‐performance climbing robot for vertical surfaces cleaning, and algorithms for control of the robot.
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Manuel J. Rocha Armada and Ricardo M. Sousa
Purpose – The purpose of this chapter is to assess the role of the wealth-to-income ratio in forecasting housing risk premium.Methodology/approach – To investigate this issue, the…
Abstract
Purpose – The purpose of this chapter is to assess the role of the wealth-to-income ratio in forecasting housing risk premium.
Methodology/approach – To investigate this issue, the chapter uses the residuals of the trend relationship among asset wealth and labor income to predict future real housing returns. It shows that deviations of asset wealth from its cointegrating relationship with labor income, wy, track time-variation in expected housing returns.
Findings – Using data for a set of industrialized countries, this chapter finds that if agents are hit by a shock that generates a fall in the wealth-to-income ratio, they will demand (i) a higher housing risk premium when housing assets are complements of financial assets and (ii) a lower housing risk premium when housing assets are substitutes of financial assets.
Originality/value of chapter – The findings of this chapter are novel in the field of alternative finance and, in particular, durable (housing) finance. Indeed, they build on a representative agent's theoretical model to infer about the degree of substitution or complementarity between financial and housing assets, which, in turn, can be useful at developing investment strategies for hedging against the risk of unfavorable housing fluctuations. Additionally, they open a new research avenue for understanding the determinants of housing risk premium by linking the dynamics of asset wealth and labor income with the behavior of future housing returns.
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Manuel Armada and Pablo Gonzalez de Santos
Explains how the Automatic Control Department of the Instituto de Automatica Industrial (CSIC) in Madrid, Spain has been developing robots for over 15 years. This activity began…
Abstract
Explains how the Automatic Control Department of the Instituto de Automatica Industrial (CSIC) in Madrid, Spain has been developing robots for over 15 years. This activity began in the 1980s with the realization of industrial robots and then the department focused its attention on the area of robots for hostile/hazardous environments. Describes several achievements in this field including a complex tele‐operated system for steam generator inspection and maintenance in nuclear power plants; a tele‐manipulator for servicing a new concept of urban infrastructures; a self‐propelling climbing robot with magnetic feet; and a four‐legged walking robot for hazardous environments.
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Manuel Armada, Mario Maza, Jean‐Guy Fontaine, Pablo Gonzalez de Santos and Vasilios Papantoniou
Explains how the Tracminer project aimed to provide a robust, low cost device to be mounted as an accessory on the motorized wheels of traction machines, in order to increase grip…
Abstract
Explains how the Tracminer project aimed to provide a robust, low cost device to be mounted as an accessory on the motorized wheels of traction machines, in order to increase grip on loose soils. The main goal was to provide a device increasing by 30‐40 per cent the traction capacity of the given machine in soft or marshy soil working conditions. The intended device was designed to be robust and simple to adapt to existing machines. A key element of the development strategy was to provide an accessory easy to mount on the machine, which can remain “idle” (in this case, retracted) while not needed. The machine may then be operated as usual, with the opportunity to engage the accessory in action when a better ground grip is required. Such a possibility offers significant advantages for the Tracminer accessory when compared with other permanent traction enhancement solutions such as metallic frames with grids attached to the wheels, accessory caterpillars, etc.
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Highlights new robots introduced in the fall 2004 offer various benefits such as lower prices, internal cable management for arc welding, reduced floor space requirements…
Abstract
Purpose
Highlights new robots introduced in the fall 2004 offer various benefits such as lower prices, internal cable management for arc welding, reduced floor space requirements, environmental protection and features for quicker application design and commissioning.
Design/methodology/approach
Attended various trade shows and contacted key vendors for information on product introductions.
Findings
Vendors are addressing more and more application needs with features like cable management/protection, smaller footprints, lower pricing, greater application integration and other features.
Research limitations/implications
Not all the new products which may have been introduced have been covered.
Practical implications
Users and systems integrators can find answers to previously troubling aspects of robot applications.
Originality/value
Highlights new robot offerings that may be real problem solutions for users who previously considered a robot solution as not fully addressing their requirements.