Zeguo Yang, Mantian Li, Fusheng Zha, Xin Wang, Pengfei Wang and Wei Guo
This paper aims to introduce an imitation learning framework for a wheeled mobile manipulator based on dynamical movement primitives (DMPs). A novel mobile manipulator with the…
Abstract
Purpose
This paper aims to introduce an imitation learning framework for a wheeled mobile manipulator based on dynamical movement primitives (DMPs). A novel mobile manipulator with the capability to learn from demonstration is introduced. Then, this study explains the whole process for a wheeled mobile manipulator to learn a demonstrated task and generalize to new situations. Two visual tracking controllers are designed for recording human demonstrations and monitoring robot operations. The study clarifies how human demonstrations can be learned and generalized to new situations by a wheel mobile manipulator.
Design/methodology/approach
The kinematic model of a mobile manipulator is analyzed. An RGB-D camera is applied to record the demonstration trajectories and observe robot operations. To avoid human demonstration behaviors going out of sight of the camera, a visual tracking controller is designed based on the kinematic model of the mobile manipulator. The demonstration trajectories are then represented by DMPs and learned by the mobile manipulator with corresponding models. Another tracking controller is designed based on the kinematic model of the mobile manipulator to monitor and modify the robot operations.
Findings
To verify the effectiveness of the imitation learning framework, several daily tasks are demonstrated and learned by the mobile manipulator. The results indicate that the presented approach shows good performance for a wheeled mobile manipulator to learn tasks through human demonstrations. The only thing a robot-user needs to do is to provide demonstrations, which highly facilitates the application of mobile manipulators.
Originality/value
The research fulfills the need for a wheeled mobile manipulator to learn tasks via demonstrations instead of manual planning. Similar approaches can be applied to mobile manipulators with different architecture.
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Keywords
Zi Hui Yin and Chang Hwan Choi
A wide urban–rural income gap exists in China despite the implementation of pro-rural policies. Additionally, with the proliferation of the internet and information technology…
Abstract
Purpose
A wide urban–rural income gap exists in China despite the implementation of pro-rural policies. Additionally, with the proliferation of the internet and information technology, the promotion effect of e-commerce on the economy has become apparent. Accordingly, China has been actively encouraging rural households to participate in e-commerce activities. This study aims to examine the effect of e-commerce on the urban–rural income gap.
Design/methodology/approach
In the study, linear and panel threshold models were applied to provincial-level panel data from 2002 to 2018.
Findings
The results of the linear model show that e-commerce contributes to narrowing the urban–rural income gap. Moreover, the panel threshold model results show that the narrowing effect exists in regions where the e-commerce intensity is at a medium-to-high level and urbanization is at a relatively low level; otherwise, e-commerce has no effect. In addition, in regions with a relatively high level of public expenditure and education, the income-gap-narrowing effect of e-commerce is more than double.
Practical implications
The urban–rural income gap can be reduced by promoting e-commerce and reducing the urban–rural divide in e-commerce use.
Originality/value
To determine how varying levels of e-commerce development affect the urban–rural income gap across regions, the study proposes four key causes of the digital divide in e-commerce: e-commerce intensity, public expenditure level, urbanization level and education level and applies the variables as threshold variables to examine the non-linear effect of e-commerce on the income gap.
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Lotta-Maria Sinervo, Luca Bartocci, Pauliina Lehtonen and Carol Ebdon
Sustainability is a pressing challenge of governance and public financial management. One key element of sustainable governance is the role of citizens. Participatory budgeting…
Abstract
Purpose
Sustainability is a pressing challenge of governance and public financial management. One key element of sustainable governance is the role of citizens. Participatory budgeting (PB) is a participatory tool with which citizens can influence public administration. PB is a democratic process that grants people real power over real money and it has spread around the world. This special issue explores the role of PB in the context of sustainable governance. In this editorial, the authors aim to approach PB as a form of sustainable governance.
Design/methodology/approach
In this editorial, the authors collaborate in the analysis of how PB is implicated in the public management of complex social, economic and ecological issues. The authors identify key dimensions of internal and external sustainability based on prior research. The authors approach these dimensions as an internal–external nexus of sustainable governance in which organizational and financial sustainability are the internal dimensions and socio-political and environmental sustainability are the external dimensions.
Findings
Even though PB can be seen as one tool for citizen participation, it has the potential to foster sustainability in multiple ways. PB, as a form of sustainable governance, requires a financially and administratively sustainable organizational process that results in the institutionalization of PB. It also includes thorough consideration of socio-political and environmental sustainability impacts of PB.
Originality/value
Academics are actively studying PB from various perspectives. However, most of this work has approached PB from the viewpoints of design and results of PB, and less is known about its institutional settings. PB has not yet been adequately studied in the context of sustainability, and there is a need to scrutinize PB as a form of sustainable governance.