Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework

Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be satisfied with a set/range of values can be addressed in a rigorous manner within a priority framework. In addition, optimization tasks, driven by the gradient of a proper function, may be considered as well, usually as lower priority tasks. In this paper the proper design of the tasks, their priority and the use of a Set-Based Multi-Task Priority framework is proposed in order to handle several constraints simultaneously in real-time. It is shown that safety related tasks such as, e.g., joint limits or kinematic singularity, may be properly handled by consider them both at an higher priority as set-based task and at a lower within a proper optimization functional. Experimental results on a 7DOF Jaco$^2

Safety-related Tasks within the Set-Based Task-Priority Inverse Kinematics Framework

In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that allows the manipulator's motion while respecting constraints defined either in the joint or in the operational space in the form of equality-based or set-based tasks. This gives the possibility to define, among the others, tasks as joint-limits, obstacle avoidance or limiting the workspace in the operational space. Additionally, an algorithm for the real-time computation of the minimum distance between the manipulator and other objects in the environment using depth measurements has been implemented, effectively allowing obstacle avoidance tasks. Experiments with a Jaco$^2$ manipulator, operating in an environment where an RGB-D sensor is used for the obstacles detection, show the effectiveness of the developed system

Origin of Roman worked stones from St. Saturno christian Basilica (south Sardinia, Italy)

The work aims to define the origin of the architectural stone elements worked by Romans and reused in the St. Saturno Basilica, between the late Antiquity and Romanesque periods. Thus, different rocks (marbles, various facies of limestones, volcanic rocks) used to construct the ancient building were sampled and analysed. All the different kinds of stones were sampled from the Basilica, taking precise reference to the various construction phases and structural changes of the monument occurred in the centuries. The sedimentary and volcanic lithologies belong to the local outcrops of Cagliari Miocenic geological formation (e.g. limestone) and to other volcanic outcrops of south Sardinia, respectively. By means of a multi-method archaeometric study (mineralogical-petrographic observations on thin sections and O-18 vs C-13 stable isotope ratio analysis), the provenance of classical marbles used for manufacturing Roman architectural elements (column shafts, bases, capitals, slabs, etc.) were defined, which are thought to come from extra-regional sources. The results show that the marbles come mainly from Apuan Alps (Italy) and subordinately from Greek quarrying areas

Opportunities and Benefits of People Analytics for HR Managers and Employees: Signals in the Grey Literature

With its promise to help leaders better understand and optimize their workforce, People Analytics is attracting increasing attention in Human Resource (HR) Management and has been recently defined as one of the top 10 HR technology disruptions that could transform the way we work and manage organizations. Despite this optimism, and the growing market in People Analytics tools and services, recent literature reviews show that it has been largely unexplored as a research topic, and it is little understood beyond HR innovators. We are currently analyzing social media, and the ‘grey literature’ it points to, to obtain insights into how scholars, business innovators, and HR are talking about the benefits and opportunities of People Analytics and the key sources of knowledge or evidence guiding this narrative. The provisional results reported here illustrate how we analyzed relevant Tweets with reference to an existing framework for classifying PA benefits for different HRM practices. This analysis, and our broader scoping review, aim to provide new insights for HR practitioners and academic researchers

The Ethics of People Analytics:Risks, Opportunities and Recommendations

Purpose: This research analyzed the existing academic and grey literature concerning the technologies and practices of people analytics (PA), to understand how ethical considerations are being discussed by researchers, industry experts and practitioners, and to identify gaps, priorities and recommendations for ethical practice. Design/methodology/approach: An iterative “scoping review” method was used to capture and synthesize relevant academic and grey literature. This is suited to emerging areas of innovation where formal research lags behind evidence from professional or technical sources. Findings: Although the grey literature contains a growing stream of publications aimed at helping PA practitioners to “be ethical,” overall, research on ethical issues in PA is still at an early stage. Optimistic and technocentric perspectives dominate the PA discourse, although key themes seen in the wider literature on digital/data ethics are also evident. Risks and recommendations for PA projects concerned transparency and diverse stakeholder inclusion, respecting privacy rights, fair and proportionate use of data, fostering a systemic culture of ethical practice, delivering benefits for employees, including ethical outcomes in business models, ensuring legal compliance and using ethical charters. Research limitations/implications: This research adds to current debates over the future of work and employment in a digitized, algorithm-driven society. Practical implications The research provides an accessible summary of the risks, opportunities, trade-offs and regulatory issues for PA, as well as a framework for integrating ethical strategies and practices. Originality/value: By using a scoping methodology to surface and analyze diverse literatures, this study fills a gap in existing knowledge on ethical aspects of PA. The findings can inform future academic research, organizations using or considering PA products, professional associations developing relevant guidelines and policymakers adapting regulations. It is also timely, given the increase in digital monitoring of employees working from home during the Covid-19 pandemic