Sixing Liu, Yan Chai, Rui Yuan and Hong Miao
Simultaneous localization and map building (SLAM), as a state estimation problem, is a prerequisite for solving the problem of autonomous vehicle motion in unknown environments…
Abstract
Purpose
Simultaneous localization and map building (SLAM), as a state estimation problem, is a prerequisite for solving the problem of autonomous vehicle motion in unknown environments. Existing algorithms are based on laser or visual odometry; however, the lidar sensing range is small, the amount of data features is small, the camera is vulnerable to external conditions and the localization and map building cannot be performed stably and accurately using a single sensor. This paper aims to propose a laser three dimensions tightly coupled map building method that incorporates visual information, and uses laser point cloud information and image information to complement each other to improve the overall performance of the algorithm.
Design/methodology/approach
The visual feature points are first matched at the front end of the method, and the mismatched point pairs are removed using the bidirectional random sample consensus (RANSAC) algorithm. The laser point cloud is then used to obtain its depth information, while the two types of feature points are fed into the pose estimation module for a tightly coupled local bundle adjustment solution using a heuristic simulated annealing algorithm. Finally, the visual bag-of-words model is fused in the laser point cloud information to establish a threshold to construct a loopback framework to further reduce the cumulative drift error of the system over time.
Findings
Experiments on publicly available data sets show that the proposed method in this paper can match its real trajectory well. For various scenes, the map can be constructed by using the complementary laser and vision sensors, with high accuracy and robustness. At the same time, the method is verified in a real environment using an autonomous walking acquisition platform, and the system loaded with the method can run well for a long time and take into account the environmental adaptability of multiple scenes.
Originality/value
A multi-sensor data tight coupling method is proposed to fuse laser and vision information for optimal solution of the positional attitude. A bidirectional RANSAC algorithm is used for the removal of visual mismatched point pairs. Further, oriented fast and rotated brief feature points are used to build a bag-of-words model and construct a real-time loopback framework to reduce error accumulation. According to the experimental validation results, the accuracy and robustness of the single-sensor SLAM algorithm can be improved.
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This study aims to understand the epistemic foundation of the classification applied in the first Chinese library catalogue, the Seven Epitomes (Qilue).
Abstract
Purpose
This study aims to understand the epistemic foundation of the classification applied in the first Chinese library catalogue, the Seven Epitomes (Qilue).
Design/methodology/approach
Originating from a theoretical stance that situates knowledge organization in its social context, the study applies a multifaceted framework pertaining to five categories of textual data: the Seven Epitomes; biographical information about the classificationist Liu Xin; and the relevant intellectual, political, and technological history.
Findings
The study discovers seven principles contributing to the epistemic foundation of the catalogue's classification: the Han imperial library collection imposed as the literary warrant; government functions considered for structuring texts; classicist morality determining the main classificatory structure; knowledge perceived and organized as a unity; objects, rather than subjects, of concern affecting categories at the main class level; correlative thinking connecting all text categories to a supreme knowledge embodied by the Six Classics; and classicist moral values resulting in both vertical and horizontal hierarchies among categories as well as texts.
Research limitations/implications
A major limitation of the study is its focus on the main classes, with limited attention to subclasses. Future research can extend the analysis to examine subclasses of the same scheme. Findings from these studies may lead to a comparison between the epistemic approach in the target classification and the analytic one common in today's bibliographic classification.
Originality/value
The study is the first to examine in depth the epistemic foundation of traditional Chinese bibliographic classification, anchoring the classification in its appropriate social and historical context.
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The purpose of this study was conducted at an enterprise that produces fasteners and is one of the leading companies in the sector in terms of market share. Possible defects in…
Abstract
Purpose
The purpose of this study was conducted at an enterprise that produces fasteners and is one of the leading companies in the sector in terms of market share. Possible defects in the coating of bolts and nuts either lead to products being scrapped or all of the coating process being repeated from beginning to end. In both cases, the enterprise faces a waste of time and excessive costs. Through this project, the six sigma theory and its means were effectively used to improve the efficiency and quality management of the company. The selection of the six sigma project has also contributed to the creation of various documents to be used for project screening and evaluation of financial results.
Design/methodology/approach
Six sigma is an optimization strategy that is used to improve the profitability of businesses, avoid waste, scrap and losses, reduce costs and improve the effectiveness of all activities to meet or exceed customers’ needs and expectations. Six sigma’s process improvement model, known as Definition-Measurement-Analysis-Improvement-Control, contributes to the economic and technical achievements of businesses. The normal distribution of a process should be within ±3 sigma of the mean. This represents a scale of 99.7% certainty. However, improving the process through the utilization of the six sigma rule, which accepts normal variabilities of processes twice as strict, will result in an error rate of 3.4 per million instead of 2,700 per million for each product or service.
Findings
Using six sigma practices to reduce the costs associated with low quality and to increase economic added value became a cultural practice. With this, the continuation of six sigma practices throughout the Company was intended. The annual cost reduction achieved with the utilization of six sigma practices can be up to $21,780. When time savings are also considered, a loss reduction of about $30,000 each year can be achieved. The coating thickness efficiency increased from 85% to 95% after the improvements made through the six sigma project. There is a significant increase in the efficiency of coating thickness. In addition, the coating thickness efficiency is also close to the target value of 95%–97%.
Originality/value
The results of the study were optimized with the help of deep learning. The performance of the model created in deep learning was quite close to the actual performance. This result implicates the validity of the improvement work. The results may act as a guide for the use of deep learning in new projects.
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Antonio Barbera, Paloma Merello and Rafael Molina
The purpose of this paper is to investigate the effect of the determinants of corporate effective tax rates (ETR) of listed companies in euro area.
Abstract
Purpose
The purpose of this paper is to investigate the effect of the determinants of corporate effective tax rates (ETR) of listed companies in euro area.
Design/methodology/approach
With a large and recent panel of 2,870 listed companies for the period 2005–2016, the authors use the generalized moments method (GMM) to estimate global models for three groups of countries and specific models for six selected countries: Germany, Spain, France, Italy, Belgium and Greece.
Findings
The results confirm that ETR have different determinants depending on the countries analyzed. There is a significantly positive relationship with leverage and negative with size and financial profitability. However, economic profitability shows a statistically positive effect in the new members, but negative effect on old ones. In the individual analysis, Germany and Spain maintain this negative association with return on assets (ROA), but Belgium and Greece show a positive effect. The effect of the economic cycle shows statistically relevant, negatively in Germany but positively in Belgium and Greece.
Originality/value
This paper makes a novel contribution to the current debate on the need for harmonization of corporate income tax in the European Union (EU). For the first time, the group of countries whose common currency is the euro is considered with a great level of detail. In addition, the impact derived from the enlargement of the euro area and the individual analysis of the main countries is included. The European authorities must take into account the specific differences found in the ETR determinants because it hinders to take measures that limit tax competition.
Propósito
El propósito de este artículo es investigar el efecto de los determinantes del tipo impositivo efectivo (TIE) del impuesto de sociedades de las empresas que cotizan en la zona del euro.
Diseño/metodología/enfoque
Utilizando un panel de 2,870 compañías cotizadas en el período 2005–2016, los autores utilizan el Método de Momentos Generalizados (GMM) para estimar modelos globales para tres grupos de países y modelos específicos para los seis países seleccionados: Alemania, España, Francia, Italia, Bélgica y Grecia.
Resultados
Los resultados confirman que el TIE tiene diferentes determinantes en función de los países analizados. Entre antiguos y nuevos miembros se evidencia una relación significativamente positiva con el apalancamiento y negativa con el tamaño y la rentabilidad financiera. Sin embargo, la rentabilidad económica muestra una relación estadísticamente positiva en los nuevos, pero negativa en los antiguos. En el análisis individual, Alemania y España mantienen esta asociación negativa con el ROA, pero Bélgica y Grecia evidencian un efecto positivo. El efecto del ciclo económico sí resulta estadísticamente relevante, de forma negativa en Alemania, pero positiva en Bélgica y Grecia.
Originalidad/valor
Este artículo hace una novedosa contribución al debate actual sobre la necesidad de armonizar del impuesto de sociedades en la Unión Europea. Por primera vez, se considera el grupo de países cuya moneda común es el euro con gran nivel de detalle, así como el impacto de su ampliación y la comparativa individual entre sus principales países. Las autoridades europeas deberían tener en cuenta las específicas diferencias encontradas en los determinantes del ETR, tanto entre antiguos y nuevos miembros como por países, porque dificultan la adopción de medidas de armonización que limiten la competencia fiscal entre países comunes.
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Matthew Tingchi Liu, Tina Tsing Gya Chang, Edmund H. N. Loi and Andrew Chi Hong Chan
The viewpoints from industry briefly review the success in last decade, analyze what challenges and difficulties came across currently and forecast opportunities/development in…
Abstract
Purpose
The viewpoints from industry briefly review the success in last decade, analyze what challenges and difficulties came across currently and forecast opportunities/development in next decade of Macau gambling industry. The paper aims to discuss these issues.
Design/methodology/approach
Practitioners from banking and gambling industries offered their cutting-edged analysis and viewpoints with scholars’ observation.
Findings
Macroeconomic and political factors in China are the principal direct cause of Macau’s gambling revenue decline in 2014, implicating the vulnerability and unsustainability associated with the VIP business model of gambling industry. Although Macau continues to face challenges since late 2014, the prospect of Macau gambling industry is still optimistic in the long term, as there are emerging positive catalysts which will boost demand. From casino operators’ perspective, they should continue to try to increase revenue from mass market and non-gambling business by relocating the resource and adding more non-gambling amenities.
Originality/value
This paper provides a fresh perspective, and a new line of thinking with regard to how gambling industry in Macau will develop in next decade since 2015. It therefore potentially directs a new path of research in the area.
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Mario Iván Tarride and Mario Italo Contreras
The paper aims to propose a model and a comprehensive diagnostic method of organizational health status based on traditional Chinese medicine (TCM).
Abstract
Purpose
The paper aims to propose a model and a comprehensive diagnostic method of organizational health status based on traditional Chinese medicine (TCM).
Design/methodology/approach
The methodology is qualitative/interpretive and uses of the concept of functional homomorphism of WR Ashby is used, establishing similarities between the way in which this ancient medicine considers the human being and their condition as healthy to transfer it to an organization that produces goods and/or services.
Findings
A healthy organization is conceived as one constituted by an association of people regulated by a set of norms based on certain purposes in a state of harmonious balance of their physical and energetic dimensions. In that the physical refers to storage functions, regulation and allocation of resources; transformation of raw materials and inputs into goods and services; waste disposal, distribution and coordination and with information systems for management control, while energy is associated with the ability to act with its management and policies.
Research limitations/implications
The current paper is a first theoretical proposal, which should be enriched with practical applications that feedback its conceptual formulation, thus contributing to its validation.
Practical implications
A comprehensive organizational diagnostic method is made available.
Social implications
The proposed method allows a comprehensive organizational diagnosis, considering the participation of all the actors that make up this type of social systems.
Originality/value
Although the methodological resource is old, the way it is used here is considered original, and it is also part of an original investigative process by the authors, oriented toward the search for comprehensive organizational diagnostic methods.
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Jin Xue, Ziying Mo, Matthew Tingchi Liu and Ming Gao
The objective of this study was to improve understanding of frontline staff's subjective happiness and anxiety during the COVID-19 pandemic by investigating the roles of…
Abstract
Purpose
The objective of this study was to improve understanding of frontline staff's subjective happiness and anxiety during the COVID-19 pandemic by investigating the roles of employees' busy mindset and leader conscientiousness.
Design/methodology/approach
The link between employee anxiety and subjective happiness was also explored, and the cross-level mediating effect of employee anxiety was tested using a multilevel design. A survey of 373 frontline staffers and 74 team leaders in the integrated resorts (IRs) was conducted in three waves: April (Time 1), May (Time 2) and June (Time 3) in 2020. The data were analysed with SPSS and Mplus using a hierarchical linear modelling (HLM) method.
Findings
The results indicated that during the COVID-19 pandemic, a busy mindset increased frontline staff's anxiety and thus decreased their subjective happiness, and leader conscientiousness remedied the effect of anxiety on subjective happiness.
Practical implications
The findings are relevant to frontline staffers, team leaders in the hospitality industry and corporate service departments. Against the background of COVID-19, conscientious leaders can significantly help employees to overcome their anxiety and insecurity and improve their subjective happiness, answering the urgent call to deal with the challenges of the new work–life environment.
Originality/value
The study differs from previous other studies in two dimensions: First, the authors explored the interactions of the affective events from the cross-level perspectives, i.e. both team level and individual level. Second, the authors conducted this research on the mental issues of the hospitality frontline staffers in the context of the COVID-19 pandemic, which remains a black box to be explored.
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Kaixuan Liu, Jianping Wang, Chun Zhu and Yan Hong
Currently, the researches on garment development and wear comfort evaluation mainly focus on the static condition type and seldom involved dynamic condition. Therefore, the…
Abstract
Purpose
Currently, the researches on garment development and wear comfort evaluation mainly focus on the static condition type and seldom involved dynamic condition. Therefore, the purpose of this paper is to develop cycling clothes’ patterns and evaluate their dynamic wear comfort.
Design/methodology/approach
First, the 3D-to-2D flattening technology was applied to develop garment patterns of a cycler’s jersey T-shirt. Then, 3D animation technology was used to simulate the scene of cycling. Next, a novel pressure-measuring method was proposed to measure static and dynamic clothing pressures in a virtual environment. Finally, the collected data were used for evaluating wear comfort.
Findings
Compared to static conditions, the dynamic wear comfort noticeably improved at the front neck, side neck, upper front chest, around back neck point and front shoulder, and the front neck. Compared to static conditions, the dynamic wear comfort visibly deteriorates at the back neck, below chest, outseam, back except around back neck point and around scapula, and the around scapula area. The dynamic pressure at back neck, below front chest and shoulder fluctuate wildly throughout the whole cycling. On the contrary, the dynamic pressure at the front neck, side neck, front upper chest and at the back cause it to tend to stability during cycling.
Originality/value
The 3D virtual-reality technology was applied to simulate cycling. And a novel method was proposed to measure numerical clothing pressures for evaluating the dynamic wear comfort. The proposed method can not only quantitatively evaluate the wear comfort of cycling clothes and optimize cycling clothes’ patterns, but also can be applied to other tight garment types.
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Jie Zhao, Gangfeng Liu, Jihong Yan and Xizhe Zang
The purpose of this paper is to present a new scout robot that tries to combine the hopping movement and the wheeling movement to greatly enlarge the scope of robot's activities.
Abstract
Purpose
The purpose of this paper is to present a new scout robot that tries to combine the hopping movement and the wheeling movement to greatly enlarge the scope of robot's activities.
Design/methodology/approach
A five‐shank hopping mechanism was employed to build the wheeling‐hopping combination scout robot. The non‐linear character of the five‐shank hopping mechanism was analyzed and then used in the proposed non‐linear spring‐mass model for the robot.
Findings
The rules of robot's movement were deduced, influencing factors of the jumping height were analyzed and the countermeasure was adopted. Simulations and an experiment of the robot's movement showed that the robot has strong locomotivity and survival ability.
Originality/value
A five‐shank hopping mechanism is proposed, analyzed and combined with wheeling movement to enhance the locomotivity and survival ability of scout robot.
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Junlin Cheng, Peiyu Ma, Qiang Ruan, Yezhuo Li and Qianqian Zhang
The purpose of this paper is to propose an overall deformation rolling mechanism based on double four-link mechanism. The double quadrilateral mobile mechanism (DQMM) has two…
Abstract
Purpose
The purpose of this paper is to propose an overall deformation rolling mechanism based on double four-link mechanism. The double quadrilateral mobile mechanism (DQMM) has two switchable working modes which can be used to traverse different terrains or climb over obstacles.
Design/methodology/approach
The main body of the DQMM is composed of a double four-link mechanism which sharing a public link and two symmetrical steering platforms which placed at both ends of the four-link mechanism. The steering platforms give the DQMM not only steering ability but also reconnaissance ability which can be achieved by carrying sensors such as cameras on steering platforms. By controlling the deformation of the DQMM, it can switch between two working modes (tracked rolling mode and obstacle-climbing mode) to achieve the functions of rolling and obstacle-climbing. Dynamic simulation model was established to verify the feasibility.
Findings
Based on the kinematics analysis and simulation results of the DQMM, its moving function is realized by the tracked rolling mode, and the obstacle-climbing mode is used to climb over obstacles in structured terrains such as continuous stairs. The feasibility of the two working modes is verified on a physical prototype.
Originality/value
The work of this paper is a new exploration of applying “overall closed moving linkages mechanism” to the area of small mobile mechanisms. The adaptability of different terrains and the ability of obstacle-climbing are improved by the combination of multi-modes.