Exploring relationship between perceived motivation factors and job satisfaction

A number of studies that have focused on perceived motivation factors towards employees’ job satisfaction have been conducted. However, very few relate these concepts from knowledge workers’ perspective. This paper set out to have an empirical look at the relationship between motivation factors and employees’ job satisfaction. The survey had been conducted by distributing questionnaires to employees describes as “knowledge workers” by the manager. 50 respondents participated in this study to yield a response rate of 84.75%. The results showed that only two out three motivator factors (recognition and achievement) have significant relationship between with intrinsic satisfaction and only two out of three hygiene factor (security and working condition) have significant relationship with extrinsic job satisfaction. Thus, this signifies the importance of both motivator and hygiene factors in enhancing job satisfaction among employees especially among knowledge worker

Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots

Dynamic models describing the ball-robot motion form the basis for developments in ball-robot mechanics and motion control systems. For this paper, we have conducted a literature review of decoupled forward-motion models for pendulum-driven ball-shaped robots. The existing models in the literature apply several different conventions in system definition and parameter notation. Even if describing the same mechanical system, the diversity in conventions leads into dynamic models with different forms. As a result, it is difficult to compare, reproduce and apply the models available in the literature. Based on the literature review, we reformulate all common variations of decoupled dynamic forward-motion models using a unified notation and formulation. We have verified all reformulated models through simulations, and present the simulation results for a selected model. In addition, we demonstrate the different system behavior resulting from different ways to apply the pendulum reaction torque, a variation that can be found in the literature. For anyone working with the ball-robots, the unified compilation of the reformulated dynamic models provides an easy access to the models, as well as to the related work.Peer reviewe

Dynamic Obstacle Overcoming Capability of Pendulum-driven Ball-Shaped Robots

This paper discusses dynamic step-crossing capability of pendulum-driven ball-shaped robots. We introduce an extended dynamic model that allows modeling of ballrobot rolling, bouncing and slipping. Based on the new model, our simulations predict the maximum over-passable step-height for the robot. The simulation results agree well with the result from a parallel simulation in Adamssoftware as well as with practical experiments. The new dynamic model can be applied for mobility analysis of robot-ball designs as well as for path planning.Peer reviewe

Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

This study discusses kinematic and dynamic precession models for a rolling ball with a finite contact area and a point contact respectively. In literature, both conventions have been applied. In this paper, we discuss in detail the kinematic and dynamic models to describe the ball precession and the radius of a circular rolling path. The kinematic model can be used if the contact area and friction coefficient are sufficient to prevent slippage. The dynamic precession model has significance in multi-body simulation environments handling rolling balls with ideal point contacts. We have applied both the kinematic and dynamic precession model to evaluate the no-slip condition of the existing GimBall-robot. According to the result, the necessity of an external precession torque may cause slipping at lower velocities than expected if ignoring this torque.Peer reviewe

A Pendulum-Driven Legless Rolling Jumping Robot

In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight distribution, the robot is able to obtain significant rolling speed, achieve jumps of up to 2.5 body lengths vertically, and clear horizontal distances of over 6 body lengths. The robot's dynamic model is derived and simulation results indicate that it is consistent with the rolling motion and jumping observed on the robot. The ability to both roll and jump effectively using a minimalistic design makes this robot unique and could inspire the use of similar mechanisms on robots intended for applications in which agile locomotion on unstructured terrain is necessary, such as disaster response or planetary exploration.Comment: Final version of paper in IROS 2023. View the supplemental video at https://youtu.be/9hKQilCpea

Inverse dynamics-based motion control of a fluid-actuated rolling robot

In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations