Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot

2020 ◽  
Vol 40 (2) ◽  
pp. 189-198
Author(s):  
Yanjiang Huang ◽  
Yanglong Zheng ◽  
Nianfeng Wang ◽  
Jun Ota ◽  
Xianmin Zhang
Keyword(s):  
Design Methodology ◽  
Position Control ◽  
Control Model ◽  
Torque Control ◽  
Human Beings ◽  
Content Type ◽  
Different Shapes ◽  
Dual Arm Robot ◽  
Assembly Tasks ◽  
Dual Arm

Purpose The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task. Design/methodology/approach The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage. Findings The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece. Originality/value The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.

Human sensitivity towards nature: Eastern and Western perspectives

2015 ◽  
Vol 12 (3) ◽  
pp. 172-182 ◽  
Author(s):  
Anne K. Randerson
Keyword(s):  
Comparative Literature ◽  
Design Methodology ◽  
Positive Influence ◽  
Human Beings ◽  
Basic Difference ◽  
Content Type ◽  
True Value ◽  
Human Situation ◽  
Conceptual Paper ◽  
The Universe

Purpose – The purpose of this paper is to focus on the religious and philosophical ways humans view nature, and how we perceive and treat our planet, including all its living entities. Its purpose is to make a positive influence on individuals living in the Eastern and Western hemispheres, so that those who are unaware may be given an unexpected glimpse at our current human situation, which appears increasingly discouraging with regard to sensitivity towards nature. Design/methodology/approach – By offering a subtle, insightful view of human nature and its connection to religion and the universe, rather than facts and statistics on pollution alone, this conceptual paper introduces theoretical and philosophical discussions from comparative literature as well as narratives from actual interviews conducted in Japan. Findings – As human beings, we need to better define our position in this world, in order to learn to appreciate the true value of our own existence. With regard to the question of where humans lie in nature, a basic difference exists between Asian and Western views. The Asian view of nature has traditionally regarded humans and the universe as continually interacting together – human beings are an integral part of life. This differs from the basic Western notion of humans and nature comprising two separate, opposing elements. Originality/value – This paper offers readers a deeper understanding of how humans feel and perceive nature, to help them realize how urgent it is for us to respect our natural resources on Earth.

Exploring the meaning of work through a transcendental frame

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Anselmo Ferreira Vasconcelos
Keyword(s):  
Interest Group ◽  
Design Methodology ◽  
Meaning Of Work ◽  
Human Beings ◽  
Content Type ◽  
Sensitive Issue ◽  
Spirituality And Religion ◽  
Practical Implications

Purpose Despite the advancement, it appears that much has to be done to clarify the understanding of the effects of the meaning of work (MOW) in the lives. Thus, the purpose of this paper is to explore such a theoretical stream by means of the Spiritism Doctrine (SD) tenets. In fact, the spiritual knowledge derived from this religion alludes to aspects worthy of investigation. Design/methodology/approach Religious lens serves as a robust frame to approach the MOW, given that people’s beliefs likely shape their view about work. Toward that end, it examines pivotal aspects of MOW literature and the SD revelations thereof. Findings The wise revelations and teachings from the spirits examined throughout this paper suggest that work embraces one of God’s laws. In this regard, the SD tenets deepen this by providing sound explanations, reflections and arguments about the MOW, as well as highlighting that we all must do the best in the work regardless of the profession or activity. In doing so, this paper is serving the neighbors by fulfilling or at least mitigating their needs and consequently engaging in something indefinitely greater than the own desires, that is, the celestial Father’s wish. Practical implications There is no denying that the knowledge brought by the SD, as a source of transcendental epistemology, has deep implications for workers and organizations likewise. Overall, such knowledge enriches the understanding of a very important theme to human beings through an understudied but also insightful lens. Originality/value Therefore, this essay contributes to the MOW through transcendental epistemology (Maslow, 1993). Rather, it focuses on a very sensitive issue (work) and its corresponding implications to mankind through the knowledge of a spiritual and religious framework. In addition, such endeavor also adds to the field of management, spirituality and religion Interest Group of Academy of Management.

scholarly journals Are CRM systems ready for AI integration?

2019 ◽  
Vol 32 (2) ◽  
pp. 144-157 ◽  
Author(s):  
Sheshadri Chatterjee ◽  
Soumya Kanti Ghosh ◽  
Ranjan Chaudhuri ◽  
Bang Nguyen
Keyword(s):  
Conceptual Framework ◽  
Design Methodology ◽  
Business Success ◽  
Human Beings ◽  
Content Type ◽  
Customer Data ◽  
Crm System ◽  
Automated Decision Making ◽  
Unique Study ◽  
Practical Implications

Purpose The purpose of this paper is to develop a conceptual framework to check if an organization is ready to adopt an AI-integrated CRM system. The study also analyzes different situations which can provide a comprehensive check list in the form of indicators that could provide a signal indicating whether the organization is ready to adopt an AI-integrated CRM system by capturing actionable and appropriate data. Design/methodology/approach The paper is a general review, and appropriate literature has been used to support the conceptual framework. Findings The key findings of this study are the different indicators that make up the conceptual framework. This framework can help organizations to check at a glance whether they are ready to adopt AI-integrated CRM system in their organizations. Specifically, it has been identified that different approaches are needed to tackle various types of customer data so that those may be made fit and actionable for appropriate utilization of AI algorithms to facilitate business success of an organization. Practical implications The paper has elaborately discussed the different approaches to be undertaken to calibrate and reorient the various kinds of actionable data and the contemplated challenges one would face in doing so. This would help the practitioners that how the data so captured can be made fit for action and utilization toward application of AI technologies integrated with existing CRM system in an organization. Originality/value This study is claimed to be a unique study to provide a conceptual framework which could help arranging and rearranging of captured data by an organization for making the data fit and ready for use with the help of AI technologies. This successful integration of AI with CRM system can help organizations toward taking quick and automated decision-making without much intervention of human beings.

scholarly journals The allure of celebrities: unpacking their polysemic consumer appeal

2019 ◽  
Vol 53 (10) ◽  
pp. 2025-2053
Author(s):  
Markus Wohlfeil ◽  
Anthony Patterson ◽  
Stephen J. Gould
Keyword(s):  
Design Methodology ◽  
Supporting Evidence ◽  
Human Beings ◽  
Total Period ◽  
Content Type ◽  
The Public ◽  
The Social ◽  
Social Link ◽  
The Individual ◽  
Practical Implications

Purpose This paper aims to explain a celebrity’s deep resonance with consumers by unpacking the individual constituents of a celebrity’s polysemic appeal. While celebrities are traditionally theorised as unidimensional semiotic receptacles of cultural meaning, the authors conceptualise them here instead as human beings/performers with a multi-constitutional, polysemic consumer appeal. Design/methodology/approach Supporting evidence is drawn from autoethnographic data collected over a total period of 25 months and structured through a hermeneutic analysis. Findings In rehumanising the celebrity, the study finds that each celebrity offers the individual consumer a unique and very personal parasocial appeal as the performer, the private person behind the public performer, the tangible manifestation of either through products and the social link to other consumers. The stronger these constituents, individually or symbiotically, appeal to the consumer’s personal desires, the more s/he feels emotionally attached to this particular celebrity. Research limitations/implications Although using autoethnography means that the breadth of collected data is limited, the depth of insight this approach garners sufficiently unpacks the polysemic appeal of celebrities to consumers. Practical implications The findings encourage talent agents, publicists and marketing managers to reconsider underlying assumptions in their talent management and/or celebrity endorsement practices. Originality/value While prior research on celebrity appeal has tended to enshrine celebrities in a “dehumanised” structuralist semiosis, which erases the very idea of individualised consumer meanings, this paper reveals the multi-constitutional polysemy of any particular celebrity’s personal appeal as a performer and human being to any particular consumer.

Vivekananda’s message of human excellence

2014 ◽  
Vol 13 (3) ◽  
pp. 225-230
Author(s):  
Swami Purnatmananda
Keyword(s):  
Design Methodology ◽  
The State ◽  
Human Beings ◽  
Content Type ◽  
Vertical Growth ◽  
Horizontal Growth ◽  
Human Material ◽  
The Difference ◽  
Human Excellence

Purpose – This paper aims to explore Vivekananda’s message of human excellence. The central message of Vivekananda is: Man is not just man. Man is potentially divine. The goal of life is to manifest this divinity within by controlling nature, external and internal. This message deserves to be spread across all human beings. Design/methodology/approach – All individuals could try to improve the quality of their human material and thus gradually proceed towards the state of perfect human excellence by combining in them both the horizontal growth and the vertical growth. Findings – It is possible to enrich the quality of our life to such an extent where the difference between man and God melts away. Originality/value – The highest and finest human excellence is thus evolving a God out of the material man. It is the state when I know I am one with all. This is what Vivekananda wanted to impress upon mankind.

Human being – organization homomorphism: between autopoiesis and allopoiesis

Kybernetes ◽  
2016 ◽  
Vol 45 (3) ◽  
pp. 508-520
Author(s):  
Mario Iván Tarride
Keyword(s):  
Nervous System ◽  
Production System ◽  
Design Methodology ◽  
Processing System ◽  
Human Beings ◽  
Content Type ◽  
Productive System ◽  
Definition Of ◽  
Practical Implications ◽  
Human Nervous System

Purpose – The purpose of this paper is to discuss the condition of human beings and organizations producing goods and/or services as autopoietic and allopoietic machines, with the aim of establishing a functional homomorphism between the productive system of an organization and the productive system of human beings, a matter that involves reflecting on what human beings do that is distinguished as allopoietic by an observer. Design/methodology/approach – Use is made of Ashby’s concept of functional homomorphism to establish similarities between human beings and organizations. The definitions of autopoietic and allopoietic machine of Maturana and Varela are used to distinguish similarities and differences between what organizations do and what human beings do. Findings – As a result of using the autopoietic/allopoietic viewpoint, it is proposed to homologate the human nervous system with the production system of an organization, defining the latter as a world-creating energy/communication processing system. Research limitations/implications – A homomorphism is established here between a human nervous system and the production system of an organization; it remains pending the other homomorphisms that can be made between the systems of the human body and the organization. Practical implications – A proposal is made to understand an organization as a world-creating energy/communication processing system, and it is estimated that this would imply displacing attention, at present strongly centered on the generated products and/or services, toward the sense that they have for both persons and society, restating the question on the world we construct/live in, from the organizational standpoint. Originality/value – Human beings are seen as allopoietic machines, aiming to contribute to the discussion about what it is that we call human, homologating it with the work of an organization. As a result a new definition of organization is proposed.

Cooperative control of dual-arm robots in different human-robot collaborative tasks

2019 ◽  
Vol 40 (1) ◽  
pp. 95-104 ◽  
Author(s):  
Xinbo Yu ◽  
Shuang Zhang ◽  
Liang Sun ◽  
Yu Wang ◽  
Chengqian Xue ◽  
...  
Keyword(s):  
Cooperative Control ◽  
Force Feedback ◽  
Control Strategies ◽  
Experimental Results ◽  
Distant Object ◽  
Content Type ◽  
Human Arm ◽  
Dual Arm Robot ◽  
Dual Arm ◽  
Robot Platform

Purpose This paper aims to propose cooperative control strategies for dual-arm robots in different human–robot collaborative tasks in assembly processes. The authors set three different regions where robot performs different collaborative ways: “teleoperate” region, “co-carry” region and “assembly” region. Human holds the “master” arm of dual-arm robot to operate the other “follower” arm by our proposed controller in “teleoperation” region. Limited by the human arm length, “follower” arm is teleoperated by human to carry the distant object. In the “co-carry” region, “master” arm and “follower” arm cooperatively carry the object to the region close to the human. In “assembly” region, “follower” arm is used for fixing the object and “master” arm coupled with human is used for assembly. Design/methodology/approach A human moving target estimated method is proposed for decreasing efforts for human to move “master” arm, radial basis functions neural networks are used to compensate for uncertainties in dynamics of both arms. Force feedback is designed in “master” arm controller for human to perceive the movement of “follower” arm. Experimental results on Baxter robot platform show the effectiveness of this proposed method. Findings Experimental results on Baxter robot platform show the effectiveness of our proposed methods. Different human-robot collaborative tasks in assembly processes are performed successfully under our cooperative control strategies for dual-arm robots. Originality/value In this paper, cooperative control strategies for dual-arm robots have been proposed in different human–robot collaborative tasks in assembly processes. Three different regions where robot performs different collaborative ways are set: “teleoperation” region, “co-carry” region and “assembly” region.

Consumers’ perception on artificial intelligence applications in marketing communication

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Huan Chen ◽  
Slyvia Chan-Olmsted ◽  
Julia Kim ◽  
Irene Mayor Sanabria
Keyword(s):  
Artificial Intelligence ◽  
Design Methodology ◽  
Phenomenological Reduction ◽  
Marketing Communication ◽  
Human Beings ◽  
Research Project ◽  
Content Type ◽  
Depth Interviews ◽  
Analyze Data

Purpose This study aims to examine consumers’ perception of artificial intelligence (AI) and AI marketing communication. Design/methodology/approach Twenty in-depth interviews were conducted to collect data and phenomenological reduction was used to analyze data. Findings Findings suggest that consumers’ interpretation of AI is multidimensional and relational with a focus on functionality and emotion, as well as comparison and contrast between AI and human beings; consumers’ perception of voice-assisted AI centers on the aspects of function, communication, adaptation, relationship and privacy; consumers consider AI marketing communication to be unavoidable and generally acceptable; and consumers believe that AI marketing communication to be limited in its effect on influencing their evaluation of products/brands or shaping their consumptive behaviors. Originality/value According to the authors' knowledge, this study is the first research project to gauge consumers' perception on AI and AI marketing communication.

Adaptive neural network visual servoing of dual-arm robot for cyclic motion

2017 ◽  
Vol 44 (2) ◽  
pp. 210-221 ◽  
Author(s):  
Jiadi Qu ◽  
Fuhai Zhang ◽  
Yili Fu ◽  
Guozhi Li ◽  
Shuxiang Guo
Keyword(s):  
Neural Network ◽  
Visual Servoing ◽  
Joint Angle ◽  
Pi Controller ◽  
Steering Wheel ◽  
Adaptive Neural Network ◽  
Content Type ◽  
Cyclic Motion ◽  
Dual Arm Robot ◽  
Dual Arm

Purpose The purpose of this paper is to develop a vision-based dual-arm cyclic motion method, focusing on solving the problems of an uncertain grasp position of the object and the dual-arm joint-angle-drift phenomenon. Design/methodology/approach A novel cascade control structure is proposed which associates an adaptive neural network with kinematics redundancy optimization. A radial basis function (RBF) neural network in conjunction with a conventional proportional–integral (PI) controller is applied to compensate for the uncertainty of the image Jacobian matrix which includes the estimated grasp position. To avoid the joint-angle-drift phenomenon, a dual neural network (DNN) solver in conjunction with a PI controller and dual-arm-coordinated constraints is applied to optimize the closed-chain kinematics redundancy. Findings The proposed method was implemented on an industrial robotic MOTOMAN with two 7-degrees of freedom robotic arms. Two experiments of carrying a tray repeatedly and turning a steering wheel were carried out, and the results indicate that the closed-trajectories tracking is achieved successfully both in the image plane and the joint spaces with the uncertain grasp position, which validates the accuracy and realizability of the proposed PI-RBF-DNN control strategy. Originality/value The adaptive neural network visual servoing method is applied to the dual-arm cyclic motion with the uncertain grasp position of the object. The proposed method enhances the environmental adaptability of a dual-arm robot in a practical manipulation task.

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