P. Chatzakos, Y.P. Markopoulos, K. Hrissagis and A. Khalid
The development of a novel omni‐directional inspection robot is presented, which is capable of delivering NDT sensors to surfaces on straight pipe, pipe bends and branch…
Abstract
Purpose
The development of a novel omni‐directional inspection robot is presented, which is capable of delivering NDT sensors to surfaces on straight pipe, pipe bends and branch connections, overcoming the limitation that a test area over a pipe bend or past a branch or other obstruction raise.
Design/methodology/approach
The lightweight crawler is attached on the outside of the pipe to the thin metal strip that holds the insulation in place without deforming the insulation through the application of a force controlled clamping mechanism while performing longitudinal, circumferential and arbitrary movements. In order to be able to cope with a range of pipe, materials and coverings, to allow for future modifications and to be able to incorporate a wide range of NDT inspection equipment, a modular approach was considered for the design of the mobile robot. Either two different inspection sensors may be mechanically incorporated into the chassis of the crawler and deployed at the same time or just a double‐sided acting sensor (e.g. X‐ray).
Findings
The developed omni‐directional mobile robot is capable of delivering NDT sensors to the external surfaces on straight pipe, pipe bends and branch connections, overcoming the limitation that a test area over a pipe bend or past a branch or other obstruction raise. Either a double‐sided acting sensor or two different inspection sensors may be mechanically incorporated and deployed at the same time. Future work will primarily include optimisation of the current design of the crawler aiming at further reduction of its size and weight but without sacrificing the rigidness of the chassis. A perfectly balanced system, which in turn will lead to smaller DC servo motors, will be obtained either by systematic placement of various subsystems and components on the periphery of the chassis or by putting counterbalancing weights in appropriate locations on the chassis. Design and manufacture of custom‐made omni‐wheels exclusively for use with the proposed clawer is also included in the scope of future work. Finally, a sophisticated control scheme for special, uncommon and fully automated inspection routines will be developed.
Originality/value
Today, there are no commercially available current inspection techniques that can accurately detect significant corrosion or other types of defects in pipework under thick coatings. Another limitation is that current inspection techniques can only be applied manually by highly trained operators. Recent PANI trials, carried out to assess the effectiveness of manual inspections have shown that operators detect only 50 per cent of defects. Commercial scanners have been developed for scanning pipe girth welds and lengths of straight pipe with inspection sensors. These are primarily ultrasonic sensors and the scanning is in simple X‐Y routines. These scanners either move around the pipe on tracks or along the pipe on magnetic wheels. However, these cannot work on curved surfaces around pipe bends and in the vicinity of valves, branches and other features in the pipe. Unluckily, these are areas where corrosion is most likely to occur.
Details
Keywords
The purpose of this paper is to propose a suitable motion planning for omni‐directional mobile robots (OMRs) by taking into account the motion characteristics.
Abstract
Purpose
The purpose of this paper is to propose a suitable motion planning for omni‐directional mobile robots (OMRs) by taking into account the motion characteristics.
Design/methodology/approach
Based on the kinematic and dynamic constraints, the maximum velocity, motion stability and energy consumption of the OMR moving in different directions are analysed, and the anisotropy of the OMR is presented. In order to obtain the optimal motion, the path that the robot can take in order to avoid the obstacle safely and reach the goal in a shorter path is deduced. According to the new concept of anisotropic function, the motion direction derived from traditional artificial potential field (tAPF) is regulated.
Findings
A combination of the anisotropic function and tAPF method produces high‐speed, highly stable and efficient motion when compared to the tAPF. Simulations and experiments have proven the validity and effectiveness of this method.
Research limitations/implications
The practical factors, such as the effect of wear on the omni‐directional wheels, are not considered. Typical problems of APF, e.g. local minima, are not addressed here. In our future research, we will deal with these issues.
Practical implications
The proposed motion planning is applicable for any kind of OMRs, both three‐ and four‐wheeled OMRs, which can fully exhibit the advantages of OMRs.
Originality/value
The new concept of an anisotropic function is proposed to indicate the quality of motion in different directions. Different motion effects can be obtained in the same direction with different weights denoted by the anisotropic function, i.e. different trade‐offs can be achieved by varying the weights.
Details
Keywords
Chuntao Leng, Qixin Cao and Charles Lo
The purpose of this paper is to propose a suitable motion control method for omni‐directional mobile robots (OMRs) based on anisotropy.
Abstract
Purpose
The purpose of this paper is to propose a suitable motion control method for omni‐directional mobile robots (OMRs) based on anisotropy.
Design/methodology/approach
A dynamic modeling method for OMRs based on the theory of vehicle dynamics is proposed. By analyzing the driving torque acting on each axis while the robot moves in different directions, the dynamic anisotropy of OMRs is analyzed. The characteristics of dynamic anisotropies and kinematic anisotropies are introduced into the fuzzy sliding mode control (FSMC) system to coordinate the driving torque as a factor of influence.
Findings
A combination of the anisotropy and FSMC method produces coordinated motion for the multi‐axis system of OMRs, especially in the initial process of motion. The proposed control system is insensitive to parametric vibrations and external disturbances, and the chattering is apparently decreased. Simulations and experiments have proven that an effective motion tracking can be achieved by using the proposed motion control method.
Research limitations/implications
In order to obtain a clearer analysis of the anisotropy influence during the acceleration process, only the case of translation motion is discussed here. Future work could be done on cases where there are both translation and rotation motions.
Practical implications
The proposed motion control method is applied successfully to achieve effective motion control for OMRs, which is suitable for any kind of OMR.
Originality/value
The novel concept of dynamic anisotropy of OMRs is proposed. By introducing the anisotropy as an influential factor into the FSMC system, a new motion control method suitable for OMRs is proposed.
Details
Keywords
Malgorzata Tarczynska-Luniewska, Saule Maciukaite-Zviniene, Ninditya Nareswari and Udisubakti Ciptomulyono
Purpose: ESG indices serve as vital tools for investors to measure a company’s sustainability performance, reflecting its economic, environmental, and social standings. However…
Abstract
Purpose: ESG indices serve as vital tools for investors to measure a company’s sustainability performance, reflecting its economic, environmental, and social standings. However, integrating ESG faces numerous constraints, particularly in emerging economies. This study aims to identify the key challenges of ESG integration in emerging economies.
Methodology: Systematic search and reporting framework following a five-stage iterative process, encompassing: (1) formulating the research question, (2) identifying pertinent studies, (3) selecting studies, (4) organising data, and (5) compiling, summarising, and presenting the findings.
Findings: Several important factors including the lack of quality and availability of non-financial data, underdeveloped regulatory frameworks, technological constraints, difficulties in supply chain integration, cultural and social barriers, financial constraints, and a general lack of awareness and understanding of ESG issues. An unbalanced approach to ESG compliance, with companies often focusing primarily on societal issues while neglecting environmental aspects. Despite these challenges, the research contributes to the discussion on the significant benefits of ESG integration, including improved risk management, access to new markets and capital, and enhanced reputation.
Implication: Overcoming these challenges requires concerted efforts from governments, businesses, and international organisations to develop supportive policies, develop inclusive capacity-building systems, and raise awareness of ESG issues.
Limitation: The scope of available literature and the inherent biases within selected studies.
Future research: Future studies could analyse deeper into case studies, and comparative research to better understand how ESG integration operates in emerging economies and to evaluate how effective the strategies implemented are in tackling the challenges that have been identified.
Details
Keywords
Jianming Yuan, Xinjun Wu, Yihua Kang and Chen Huang
Damage of oil and gas long‐distance transmission pipelines caused by corrosion, stresses, geological change, and other factors can result in catastrophic failures. The purpose of…
Abstract
Purpose
Damage of oil and gas long‐distance transmission pipelines caused by corrosion, stresses, geological change, and other factors can result in catastrophic failures. The purpose of this paper is to describe a mobile out‐pipe inspection robot for the pipeline inspection.
Design/methodology/approach
This paper adapts to the requirements of long‐distance transmission pipelines on‐site overhaul, the robot developed in this paper utilizes a local magnetic flux leakage testing method for the pipeline inspection. Detection, walking, attachment, steering, and control units are designed for the robot.
Findings
The detection apparatus of the robot plays dual roles as detection and attachment unit. So, the structure of the robot is relatively simple and it is relatively small in size and relatively light.
Practical implications
A prototype of the robot has been manufactured according to the design. Results of the test in lab show the robot can be used to inspect pipe.
Originality/value
The robot is able to scan and inspect the pipeline along the planned route automatically.
Details
Keywords
Kate Letheren, Rebekah Russell-Bennett, Lucas Whittaker, Stephen Whyte and Uwe Dulleck
Purpose – The purpose of this chapter is to conduct a critical literature review that examines the origins and development of research on service robots in organizations, as well…
Abstract
Purpose – The purpose of this chapter is to conduct a critical literature review that examines the origins and development of research on service robots in organizations, as well as the key emotional and cognitive issues between service employees, customers, and robots. This review provides a foundation for future research that leverages the emotional connection between service robots and humans.
Design/Methodology/Approach – A critical literature review that examines robotics, artificial intelligence, emotions, approach/avoid behavior, and cognitive biases is conducted.
Findings – This research provides six key themes that emerge from the current state of research in the field of service robotics with 14 accompanying research questions forming the basis of a research agenda. The themes presented are as follows: Theme 1: Employees have a forgotten “dual role”; Theme 2: The influence of groups is neglected; Theme 3: Opposing emotions lead to uncertain outcomes; Theme 4: We know how robots influence engagement, but not experience; Theme 5: Trust is necessary but poorly understood; and Theme 6: Bias is contagious: if the human mind is irrational…so too are robot minds.
Practical Implications – Practically, this research provides guidance for researchers and practitioners alike regarding the current state of research, gaps, and future directions. Importantly for practitioners, it sheds light on themes in the use of AI and robotics in services, highlighting opportunities to consider the dual role of the employee, examines how incorporating a service robot influences all levels of the organization, addresses motivational conflicts for employees and customers, explores how service robots influence the whole customer experience and how trust is formed, and how we are (often inadvertently) creating biased robots.
Details
Keywords
Sanja Božić and Tamara Jovanović
This study examines how travel-related patterns of behavior on Facebook (FB) differ among users of different gender, age, and education. The authors assumed that females, young…
Abstract
This study examines how travel-related patterns of behavior on Facebook (FB) differ among users of different gender, age, and education. The authors assumed that females, young, and more educated people are more active in using FB for travel-related purposes and that the results will show a significant difference in their travel-related behavior patterns. Data about respondent’s travel-related behavior on FB were collected through an online survey (Google Docs) through the FB page named “The research on behaviors of FB users.” The study applies the multivariate general linear model (GLM) on the data collected from the total of 793 respondents. The results show that travel-related statuses respondents post on FB are generally about their travel destination. The main findings indicate that women, more educated, and older people are the ones who are the most active in sharing their travel-related information and are therefore target groups for promoting travel destinations via electronic word of mouth (eWOM). The study suggests target groups for promoting travel destinations via eWOM and it is the first research of this type done on a Serbian sample.
Details
Keywords
Hannah R. Marston, Linda Shore, Laura Stoops and Robbie S. Turner