2,961 research outputs found

    RoboCrane: a system for providing a power and a communication link between lunar surface and lunar caves for exploring robots

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    Lava caves are the result of a geological process related to the cooling of basaltic lava flows. On the Moon, this process may lead to caves several kilometers long and diameters of hundreds of meters. Access to lava tubes can be granted through skylights, a vertical pit between the lava tube and the lunar surface. This represents an outstanding opportunity for long-term missions, for future permanent human settlements, and for accessing pristine samples of lava, secondary minerals and volatiles. Given this, the ESA launched a campaign through the Open Space Innovation Platform calling for ideas that would tackle the many challenges of exploring lava pits. Five projects, including Robocrane, were selected. Solar light and direct line of sight (for communications) with the lunar surface are not available inside lava tubes. This is a problem for any robot (or swarm of robots) exploring the lava tubes. Robocrane tackles both problems by deploying an element (called the Charging head, or CH) at the bottom of the skylight by means of a crane. This CH behaves as a battery charger and a communication relay for the exploring robots. The required energy is extracted from the crane’s solar panel (on the surface) and driven to the bottom of the skylight through an electrical wire running in parallel to the crane hoisting wire. Using a crane allows the system to deal with unstable terrain around the skylight rim and protect the wires from abrasion from the rocky surface and the pit rim. The charger in the CH is wireless so that the charging process can begin as soon as any of the robots get close enough to the CH. This avoids complex and time-consuming docking operations, aggravated by the skylight floor orography. The crane infrastructure can also be used to deploy the exploring robots inside the pit, reducing their design constraints and mass budget, as the robots do not need to implement their own self-deployment system. Finally, RoboCrane includes all the sensors and actuators for remote operation from a ground station. RoboCrane has been designed in a parametric tool so it can be dynamically and rapidly adjusted to input-variable changes, such as the number of exploring robots, their electrical characteristics, and crane reach, etc.Agencia Estatal de Investigación | Ref. RTI2018-099682-A-I0

    Graduate Catalog of Studies, 2023-2024

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    Digitalization and Development

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    This book examines the diffusion of digitalization and Industry 4.0 technologies in Malaysia by focusing on the ecosystem critical for its expansion. The chapters examine the digital proliferation in major sectors of agriculture, manufacturing, e-commerce and services, as well as the intermediary organizations essential for the orderly performance of socioeconomic agents. The book incisively reviews policy instruments critical for the effective and orderly development of the embedding organizations, and the regulatory framework needed to quicken the appropriation of socioeconomic synergies from digitalization and Industry 4.0 technologies. It highlights the importance of collaboration between government, academic and industry partners, as well as makes key recommendations on how to encourage adoption of IR4.0 technologies in the short- and long-term. This book bridges the concepts and applications of digitalization and Industry 4.0 and will be a must-read for policy makers seeking to quicken the adoption of its technologies

    Safety-Aware Human-Robot Collaborative Transportation and Manipulation with Multiple MAVs

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    Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot interaction focus on collaboration between a human and a single ground robot. In recent years, very little progress has been made in this research area when considering aerial robots, which offer increased versatility and mobility compared to their grounded counterparts. This paper proposes a novel approach for safe human-robot collaborative transportation and manipulation of a cable-suspended payload with multiple aerial robots. We leverage the proposed method to enable smooth and intuitive interaction between the transported objects and a human worker while considering safety constraints during operations by exploiting the redundancy of the internal transportation system. The key elements of our system are (a) a distributed payload external wrench estimator that does not rely on any force sensor; (b) a 6D admittance controller for human-aerial-robot collaborative transportation and manipulation; (c) a safety-aware controller that exploits the internal system redundancy to guarantee the execution of additional tasks devoted to preserving the human or robot safety without affecting the payload trajectory tracking or quality of interaction. We validate the approach through extensive simulation and real-world experiments. These include as well the robot team assisting the human in transporting and manipulating a load or the human helping the robot team navigate the environment. To the best of our knowledge, this work is the first to create an interactive and safety-aware approach for quadrotor teams that physically collaborate with a human operator during transportation and manipulation tasks.Comment: Guanrui Li and Xinyang Liu contributed equally to this pape

    An empirical investigation of the relationship between integration, dynamic capabilities and performance in supply chains

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    This research aimed to develop an empirical understanding of the relationships between integration, dynamic capabilities and performance in the supply chain domain, based on which, two conceptual frameworks were constructed to advance the field. The core motivation for the research was that, at the stage of writing the thesis, the combined relationship between the three concepts had not yet been examined, although their interrelationships have been studied individually. To achieve this aim, deductive and inductive reasoning logics were utilised to guide the qualitative study, which was undertaken via multiple case studies to investigate lines of enquiry that would address the research questions formulated. This is consistent with the author’s philosophical adoption of the ontology of relativism and the epistemology of constructionism, which was considered appropriate to address the research questions. Empirical data and evidence were collected, and various triangulation techniques were employed to ensure their credibility. Some key features of grounded theory coding techniques were drawn upon for data coding and analysis, generating two levels of findings. These revealed that whilst integration and dynamic capabilities were crucial in improving performance, the performance also informed the former. This reflects a cyclical and iterative approach rather than one purely based on linearity. Adopting a holistic approach towards the relationship was key in producing complementary strategies that can deliver sustainable supply chain performance. The research makes theoretical, methodological and practical contributions to the field of supply chain management. The theoretical contribution includes the development of two emerging conceptual frameworks at the micro and macro levels. The former provides greater specificity, as it allows meta-analytic evaluation of the three concepts and their dimensions, providing a detailed insight into their correlations. The latter gives a holistic view of their relationships and how they are connected, reflecting a middle-range theory that bridges theory and practice. The methodological contribution lies in presenting models that address gaps associated with the inconsistent use of terminologies in philosophical assumptions, and lack of rigor in deploying case study research methods. In terms of its practical contribution, this research offers insights that practitioners could adopt to enhance their performance. They can do so without necessarily having to forgo certain desired outcomes using targeted integrative strategies and drawing on their dynamic capabilities

    Machine learning and mixed reality for smart aviation: applications and challenges

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    The aviation industry is a dynamic and ever-evolving sector. As technology advances and becomes more sophisticated, the aviation industry must keep up with the changing trends. While some airlines have made investments in machine learning and mixed reality technologies, the vast majority of regional airlines continue to rely on inefficient strategies and lack digital applications. This paper investigates the state-of-the-art applications that integrate machine learning and mixed reality into the aviation industry. Smart aerospace engineering design, manufacturing, testing, and services are being explored to increase operator productivity. Autonomous systems, self-service systems, and data visualization systems are being researched to enhance passenger experience. This paper investigate safety, environmental, technological, cost, security, capacity, and regulatory challenges of smart aviation, as well as potential solutions to ensure future quality, reliability, and efficiency

    Integrating materials supply in strategic mine planning of underground coal mines

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    In July 2005 the Australian Coal Industry’s Research Program (ACARP) commissioned Gary Gibson to identify constraints that would prevent development production rates from achieving full capacity. A “TOP 5” constraint was “The logistics of supply transport distribution and handling of roof support consumables is an issue at older extensive mines immediately while the achievement of higher development rates will compound this issue at most mines.” Then in 2020, Walker, Harvey, Baafi, Kiridena, and Porter were commissioned by ACARP to investigate Australian best practice and progress made since Gibson’s 2005 report. This report was titled: - “Benchmarking study in underground coal mining logistics.” It found that even though logistics continue to be recognised as a critical constraint across many operations particularly at a tactical / day to day level, no strategic thought had been given to logistics in underground coal mines, rather it was always assumed that logistics could keep up with any future planned design and productivity. This subsequently meant that without estimating the impact of any logistical constraint in a life of mine plan, the risk of overvaluing a mining operation is high. This thesis attempts to rectify this shortfall and has developed a system to strategically identify logistics bottlenecks and the impacts that mine planning parameters might have on these at any point in time throughout a life of mine plan. By identifying any logistics constraints as early as possible, the best opportunity to rectify the problem at the least expense is realised. At the very worst if a logistics constraint was unsolvable then it could be understood, planned for, and reflected in the mine’s ongoing financial valuations. The system developed in this thesis, using a suite of unique algorithms, is designed to “bolt onto” existing mine plans in the XPAC mine scheduling software package, and identify at a strategic level the number of material delivery loads required to maintain planned productivity for a mining operation. Once an event was identified the system then drills down using FlexSim discrete event simulation to a tactical level to confirm the predicted impact and understand if a solution can be transferred back as a long-term solution. Most importantly the system developed in this thesis was designed to communicate to multiple non-technical stakeholders through simple graphical outputs if there is a risk to planned production levels due to a logistics constraint

    Soundscape in Urban Forests

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    This Special Issue of Forests explores the role of soundscapes in urban forested areas. It is comprised of 11 papers involving soundscape studies conducted in urban forests from Asia and Africa. This collection contains six research fields: (1) the ecological patterns and processes of forest soundscapes; (2) the boundary effects and perceptual topology; (3) natural soundscapes and human health; (4) the experience of multi-sensory interactions; (5) environmental behavior and cognitive disposition; and (6) soundscape resource management in forests

    Blending the Material and Digital World for Hybrid Interfaces

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    The development of digital technologies in the 21st century is progressing continuously and new device classes such as tablets, smartphones or smartwatches are finding their way into our everyday lives. However, this development also poses problems, as these prevailing touch and gestural interfaces often lack tangibility, take little account of haptic qualities and therefore require full attention from their users. Compared to traditional tools and analog interfaces, the human skills to experience and manipulate material in its natural environment and context remain unexploited. To combine the best of both, a key question is how it is possible to blend the material world and digital world to design and realize novel hybrid interfaces in a meaningful way. Research on Tangible User Interfaces (TUIs) investigates the coupling between physical objects and virtual data. In contrast, hybrid interfaces, which specifically aim to digitally enrich analog artifacts of everyday work, have not yet been sufficiently researched and systematically discussed. Therefore, this doctoral thesis rethinks how user interfaces can provide useful digital functionality while maintaining their physical properties and familiar patterns of use in the real world. However, the development of such hybrid interfaces raises overarching research questions about the design: Which kind of physical interfaces are worth exploring? What type of digital enhancement will improve existing interfaces? How can hybrid interfaces retain their physical properties while enabling new digital functions? What are suitable methods to explore different design? And how to support technology-enthusiast users in prototyping? For a systematic investigation, the thesis builds on a design-oriented, exploratory and iterative development process using digital fabrication methods and novel materials. As a main contribution, four specific research projects are presented that apply and discuss different visual and interactive augmentation principles along real-world applications. The applications range from digitally-enhanced paper, interactive cords over visual watch strap extensions to novel prototyping tools for smart garments. While almost all of them integrate visual feedback and haptic input, none of them are built on rigid, rectangular pixel screens or use standard input modalities, as they all aim to reveal new design approaches. The dissertation shows how valuable it can be to rethink familiar, analog applications while thoughtfully extending them digitally. Finally, this thesis’ extensive work of engineering versatile research platforms is accompanied by overarching conceptual work, user evaluations and technical experiments, as well as literature reviews.Die Durchdringung digitaler Technologien im 21. Jahrhundert schreitet stetig voran und neue Geräteklassen wie Tablets, Smartphones oder Smartwatches erobern unseren Alltag. Diese Entwicklung birgt aber auch Probleme, denn die vorherrschenden berührungsempfindlichen Oberflächen berücksichtigen kaum haptische Qualitäten und erfordern daher die volle Aufmerksamkeit ihrer Nutzer:innen. Im Vergleich zu traditionellen Werkzeugen und analogen Schnittstellen bleiben die menschlichen Fähigkeiten ungenutzt, die Umwelt mit allen Sinnen zu begreifen und wahrzunehmen. Um das Beste aus beiden Welten zu vereinen, stellt sich daher die Frage, wie neuartige hybride Schnittstellen sinnvoll gestaltet und realisiert werden können, um die materielle und die digitale Welt zu verschmelzen. In der Forschung zu Tangible User Interfaces (TUIs) wird die Verbindung zwischen physischen Objekten und virtuellen Daten untersucht. Noch nicht ausreichend erforscht wurden hingegen hybride Schnittstellen, die speziell darauf abzielen, physische Gegenstände des Alltags digital zu erweitern und anhand geeigneter Designparameter und Entwurfsräume systematisch zu untersuchen. In dieser Dissertation wird daher untersucht, wie Materialität und Digitalität nahtlos ineinander übergehen können. Es soll erforscht werden, wie künftige Benutzungsschnittstellen nützliche digitale Funktionen bereitstellen können, ohne ihre physischen Eigenschaften und vertrauten Nutzungsmuster in der realen Welt zu verlieren. Die Entwicklung solcher hybriden Ansätze wirft jedoch übergreifende Forschungsfragen zum Design auf: Welche Arten von physischen Schnittstellen sind es wert, betrachtet zu werden? Welche Art von digitaler Erweiterung verbessert das Bestehende? Wie können hybride Konzepte ihre physischen Eigenschaften beibehalten und gleichzeitig neue digitale Funktionen ermöglichen? Was sind geeignete Methoden, um verschiedene Designs zu erforschen? Wie kann man Technologiebegeisterte bei der Erstellung von Prototypen unterstützen? Für eine systematische Untersuchung stützt sich die Arbeit auf einen designorientierten, explorativen und iterativen Entwicklungsprozess unter Verwendung digitaler Fabrikationsmethoden und neuartiger Materialien. Im Hauptteil werden vier Forschungsprojekte vorgestellt, die verschiedene visuelle und interaktive Prinzipien entlang realer Anwendungen diskutieren. Die Szenarien reichen von digital angereichertem Papier, interaktiven Kordeln über visuelle Erweiterungen von Uhrarmbändern bis hin zu neuartigen Prototyping-Tools für intelligente Kleidungsstücke. Um neue Designansätze aufzuzeigen, integrieren nahezu alle visuelles Feedback und haptische Eingaben, um Alternativen zu Standard-Eingabemodalitäten auf starren Pixelbildschirmen zu schaffen. Die Dissertation hat gezeigt, wie wertvoll es sein kann, bekannte, analoge Anwendungen zu überdenken und sie dabei gleichzeitig mit Bedacht digital zu erweitern. Dabei umfasst die vorliegende Arbeit sowohl realisierte technische Forschungsplattformen als auch übergreifende konzeptionelle Arbeiten, Nutzerstudien und technische Experimente sowie die Analyse existierender Forschungsarbeiten

    Tradition and Innovation in Construction Project Management

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    This book is a reprint of the Special Issue 'Tradition and Innovation in Construction Project Management' that was published in the journal Buildings
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