Empirically Investigating a Hybrid Lean-Agile Design Paradigm for Mobile Robots

2015 ◽  
Vol 24 (1) ◽  
pp. 117-134
Author(s):  
Salah A.M. Elmoselhy
Keyword(s):  
Cost Effectiveness ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Development Process ◽  
Robot Design ◽  
Design Activities ◽  
Design Paradigm ◽  
Agile Design ◽  
Robot Performance

AbstractLean design and agile design paradigms have been proposed for designing robots; yet, none of them could strike a balance between cost-effectiveness and short duration of the design process without compromising the quality of performance. The present article identifies the key determinants of the mobile robots development process. It also identifies empirically the mobile robot design activities and strategies with the most influence on mobile robot performance. The study identified statistically the mobile robot design activities and strategies most positively correlated with mobile robot performance. The results showed that 65% of typical mobile robot design activities and strategies are affiliated with the lean design paradigm, while the remaining 35% are affiliated with the agile design paradigm. In addition, it was found that 22% of the lean mobile robot design activities and strategies and 25% of the agile mobile robot design activities and strategies, significantly with 99% confidence, are among the design activities and strategies most positively correlated with improving mobile robot performance. A hybrid lean-agile design paradigm is thus proposed.

The Disturbance of Inductive Proximity Sensor for Mobile Robot

2014 ◽  
Vol 1079-1080 ◽  
pp. 909-912 ◽  
Author(s):  
Tsing Tshih Tsung ◽  
Thi Khanh Tang ◽  
Nguyen Hoai
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Ferrous Metal ◽  
Sheet Thickness ◽  
Negative Effects ◽  
Proximity Sensor ◽  
Position Detection ◽  
Set Up ◽  
Metal Tape

Non-contactingproximity sensors are widely promoted for position detection through determiningthe distance between sensor and object. Besides, the usage of non-contactinginductive proximity sensors for object detections such as finding non-ferrousand ferrous metal tape is the popular technique in mobile robots. Most of thetechnology uses simple HF- oscillation principle as an inductive proximitysensor (IPS) with a decrease in the quality of the oscillator circuit’selectromagnetic to find the tape. By applying this technique, the externalfactors may cause negative effects to systemperformance. To overcome this situation, we set up a hand measurement withinductive proximity sensors and two tapes, meanwhile main tape and disturbingtape are separated by an obstruction sheet. After measuring, dataresults are used to analyze the influence of the obstruction sheet thickness anddisturbance tape to the noise in received signals. The research isthe fundament for further applications, based on inductive proximity sensor formobile robot that could be more robust against noises and disturbances.

scholarly journals Autonomic architecture for fault handling in mobile robots

2020 ◽  
Vol 16 (3-4) ◽  
pp. 263-288
Author(s):  
Martin Doran ◽  
Roy Sterritt ◽  
George Wilkie
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Case Studies ◽  
Robot Design ◽  
Human Intervention ◽  
Fault Handling ◽  
Generic Architecture ◽  
Fault Compensation ◽  
Hardware Faults

Abstract This paper describes a generic autonomic architecture for use in developing systems for managing hardware faults in mobile robots. The method by which the generic architecture was developed is also described. Using autonomic principles, we focused on how to detect faults within a mobile robot and how specialized algorithms can be deployed to compensate for the faults discovered. We design the foundation of a generic architecture using the elements found in the MAPE-K and IMD architectures. We present case studies that show three different fault scenarios that can occur within the effectors, sensors and power units of a mobile robot. For each case study, we have developed algorithms for monitoring and analyzing data stored from previous tasks completed by the robot. We use the results from the case studies to create and refine a generic autonomic architecture that can be utilized for any general mobile robot setup for fault detection and fault compensation. We then describe a further case study which exercises the generic autonomic architecture in order to demonstrate its utility. Our proposal addresses fundamental challenges in operating remote mobile robots with little or no human intervention. If a fault does occur within the mobile robot during field operations, then having a self-automated strategy as part of its processes may result in the mobile robot continuing to function at a productive level. Our research has provided insights into the shortcomings of existing robot design which is also discussed.

scholarly journals An Autonomous Robot-Aided Auditing Scheme for Floor Cleaning

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4332
Author(s):  
Thejus Pathmakumar ◽  
Manivannan Kalimuthu ◽  
Mohan Rajesh Elara ◽  
Balakrishnan Ramalingam
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Density Estimation ◽  
Research Work ◽  
Kernel Density ◽  
Fundamental Question ◽  
Outdoor Environments ◽  
Audit Score ◽  
Density Map

Cleaning is an important factor in most aspects of our day-to-day life. This research work brings a solution to the fundamental question of “How clean is clean” by introducing a novel framework for auditing the cleanliness of built infrastructure using mobile robots. The proposed system presents a strategy for assessing the quality of cleaning in a given area and a novel exploration strategy that facilitates the auditing in a given location by a mobile robot. An audit sensor that works by the “touch and inspect” analogy that assigns an audit score corresponds to its area of inspection has been developed. A vision-based dirt-probability-driven exploration is proposed to empower a mobile robot with an audit sensor on-board to perform auditing tasks effectively. The quality of cleaning is quantified using a dirt density map representing location-wise audit scores, dirt distribution pattern obtained by kernel density estimation, and cleaning benchmark score representing the extent of cleanliness. The framework is realized in an in-house developed audit robot to perform the cleaning audit in indoor and semi-outdoor environments. The proposed method is validated by experiment trials to estimate the cleanliness in five different locations using the developed audit sensor and dirt-probability-driven exploration.

A mobile robot with autonomous climbing and descending of stairs

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 171-188 ◽  
Author(s):  
Pinhas Ben-Tzvi ◽  
Shingo Ito ◽  
Andrew A. Goldenberg
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Urban Environments ◽  
Robot Design ◽  
Military Operations ◽  
Technical Problems ◽  
Hazardous Environments ◽  
Functional Attributes ◽  
Tracked Mobile Robot ◽  
Embedded Intelligence

SUMMARYMobile robots are used to operate in urban environments, for surveillance, reconnaissance, and inspection, as well as for military operations and in hazardous environments. Some are intended for exploration of only natural terrains, but others also for artificial environments, including stairways. This paper presents a mobile robot design that achieves autonomous climbing and descending of stairs. The robot uses sensors and embedded intelligence to achieve the task. The robot is a reconfigurable tracked mobile robot that has the ability to traverse obstacles by changing its track configuration. Algorithms have been further developed for conditions under which the mobile robot would halt its motion during the climbing process when at risk of flipping over. Technical problems related to the implementation of some of the robot functional attributes are presented, and proposed solutions are validated and experimentally tested. The experiments illustrate the effectiveness of the proposed approach to autonomous climbing and descending of stairs.

scholarly journals Development of DEMQOL-U and DEMQOL-PROXY-U: generation of preference-based indices from DEMQOL and DEMQOL-PROXY for use in economic evaluation

2013 ◽  
Vol 17 (5) ◽  
pp. 1-140 ◽  
Author(s):  
B Mulhern ◽  
D Rowen ◽  
J Brazier ◽  
S Smith ◽  
R Romeo ◽  
...  
Keyword(s):  
Quality Of Life ◽  
Cost Effectiveness ◽  
General Population ◽  
Development Process ◽  
Classification Systems ◽  
Health State ◽  
Moderate Dementia ◽  
Valuation Study ◽  
The Uk

BackgroundDementia is one of the most common and serious disorders in later life and the economic and personal cost of caring for people with dementia is immense. There is a need to be able to evaluate interventions in dementia using cost-effectiveness analyses, but the generic preference-based measures typically used to measure effectiveness do not work well in dementia. Existing dementia-specific measures can effectively measure health-related quality of life but in their current form cannot be used directly to inform cost-effectiveness analysis using quality-adjusted life-years as the measure of effectiveness.ObjectivesThe aim was to develop two brief health-state classifications, one from DEMQOL and one from DEMQOL-Proxy, to generate health states amenable to valuation. These classification systems consisted of items taken from DEMQOL and DEMQOL-Proxy so they can be derived from any study that has used these instruments.Data sourcesIn the first stage of the study we used a large, clinically representative sample aggregated from two sources: a sample of patients and carers attending a memory service in south London and a sample of patients and carers from other community services in south London. This included 644 people with a diagnosis of mild/moderate dementia and 689 carers of those with mild/moderate dementia. For the valuation study, the general population sample of 600 respondents was drawn to be representative of the UK general population. Households were sampled in urban and rural areas in northern England and balanced to the UK population according to geodemographic profiles. In the patient/carer valuation study we interviewed a sample of 71 people with mild dementia and 71 family carers drawn from a memory service in south London. Finally, the instruments derived were applied to data from the HTA-SADD (Study of Antidepressants for Depression in Dementia) trial.Review methodsThis was a complex multiphase study with four linked phases: phase 1 – derivation of the health-state classification system; phase 2 – general population valuation survey and modelling to produce values for every health state; phase 3 – patient/carer valuation survey; and phase 4 – application of measures to trial data.ResultsAll four phases were successful and this report details this development process leading to the first condition-specific preference-based measures in dementia, an important new development in this field.LimitationsThe first limitation relates to the lack of an external data set to validate the DEMQOL-U and DEMQOL-Proxy-U classification systems. Throughout the development process we have made decisions about which methodology to use. There are other valid techniques that could be used and it is possible to criticise the choices that we have made. It is also possible that the use of a mild to moderate dementia sample has resulted in classification systems that do not fully reflect the challenges of severe dementia.ConclusionThe results presented are sufficiently encouraging to recommend that the DEMQOL instruments be used alongside a generic measure such as the European Quality of Life-5 Dimensions (EQ- 5D) in future studies of interventions in dementia as there was evidence that they can be more sensitive for patients at the milder end of disease and some limited evidence that the person with dementia measure may be able to reflect deterioration.FundingThe National Institute for Health Research Health Technology Assessment programme.

Different Approaches to Design Management - comparative study among Swedish and Polish furniture companies

2016 ◽  
Vol 8 ◽  
pp. 46-52 ◽  
Author(s):  
Justyna Starostka
Keyword(s):  
Best Practices ◽  
Marketing Strategy ◽  
Development Process ◽  
Product Development Process ◽  
Design Management ◽  
Brand Name ◽  
The Third ◽  
Design Activities ◽  
Effective Product ◽  
A Company

There are many roles that design can play in organisations. It can be source of good marketing strategy, and designer by himself can be a promotional tool for a company. Thanks to those actions companies can gain publicity, media attention and good PR.On the second level, design can be perceived as ‘process of making things better’. In this case companies can achieve more effective product development process, new tools and technologies.On the third level we have the situation when designer work alongside with company managers with the whole business concept. At this level, designers’ work looks more like a brand consultant, a strategist. In this approach design should be reflecting certain brand name and brand values.As our study presented, Swedish companies operate on those two, higher levels, while Polish still limit the scope of design. We strongly believe, that Polish companies, as they gain more experience with design activities, will be more likely to perceive design in this more mature approach. In the meantime, presenting best practices from companies from other, more mature countries could be a good way of promoting design as a strategic asset rather than promotional tool. We believe that in order to fasten this process, Polish companies should as follows:1. Work more often with external and foreign designers;2. Expand the area of designer responsibilities in companies;3. Place the responsibility for design in hands of professional design managers.

The Significance of the Quality of Life Technology (QoLT) Center: Focused on the Center's Initial Development Process

2014 ◽  
Vol 15 (3) ◽  
pp. 1-28
Author(s):  
Kim Dong-il ◽  
정소라 ◽  
남지은 ◽  
이재호 ◽  
김경선
Keyword(s):  
Quality Of Life ◽  
Development Process ◽  
Initial Development

Motivating the staff of Jazan University

2013 ◽  
Vol 10 (1) ◽  
pp. 1261-1267
Author(s):  
Ali Medabesh
Keyword(s):  
Human Capital ◽  
Quality Of Service ◽  
Economic System ◽  
Endogenous Growth ◽  
Employee Satisfaction ◽  
Development Process ◽  
Empirical Investigation ◽  
Critical Role ◽  
Financial Investment

The quality of public services and the yield of organizations are not limited to the financial investment and innovation solely. Human capital plays a critical role in the growth and excellence in institutions, but its contribution remains dependent on several factors. Its role is not limited on quantitative and qualitative accumulating, because it should be coherent and integrated in the development process. The theories of endogenous growth contributed to account for the disparity in levels of development between countries, by assuming that the extent of human capital response or inversely lack of responsiveness the economic system. This inaction is usually the prime cause of the deterioration of the quality of service and lack of satisfaction of the citizens, in addition of the lack of employee satisfaction about the circumstances of his work. Hence, arose the significance of several research about the mechanisms of reducing non-enthusiasm for the job or complacency professional and indifference. Staff of Jazan University has been chosen as a context of the empirical investigation of this study. The data has been collected using a well designed questionnaire and analyzed by SPSS program.

Cost-effectiveness of minimally invasive midline lumbar interbody fusion versus traditional open transforaminal lumbar interbody fusion

2020 ◽  
Vol 32 (1) ◽  
pp. 31-35
Author(s):  
Mladen Djurasovic ◽  
Jeffrey L. Gum ◽  
Charles H. Crawford ◽  
Kirk Owens ◽  
Morgan Brown ◽  
...  
Keyword(s):  
Cost Effectiveness ◽  
Minimally Invasive ◽  
Interbody Fusion ◽  
Smoking Status ◽  
Transforaminal Lumbar Interbody Fusion ◽  
Direct Costs ◽  
Lumbar Interbody Fusion ◽  
Related Quality ◽  
Health Related

OBJECTIVEThe midline transforaminal lumbar interbody fusion (MIDLIF) using cortical screw fixation is a novel, minimally invasive procedure that may offer enhanced recovery over traditional open transforaminal lumbar interbody fusion (TLIF). Little information is available regarding the comparative cost-effectiveness of the MIDLIF over conventional TLIF. The purpose of this study was to compare cost-effectiveness of minimally invasive MIDLIF with open TLIF.METHODSFrom a prospective, multisurgeon, surgical database, a consecutive series of patients undergoing 1- or 2-level MIDLIF for degenerative lumbar conditions was identified and propensity matched to patients undergoing TLIF based on age, sex, smoking status, BMI, diagnosis, American Society of Anesthesiologists Physical Status Classification System (ASA) class, and levels fused. Direct costs at 1 year were collected, including costs associated with the index surgical visit as well as costs associated with readmission. Improvement in health-related quality of life was measured using EQ-5D and SF-6D.RESULTSOf 214 and 181 patients undergoing MIDLIF and TLIF, respectively, 33 cases in each cohort were successfully propensity matched. Consistent with propensity matching, there was no difference in age, sex, BMI, diagnosis, ASA class, smoking status, or levels fused. Spondylolisthesis was the most common indication for surgery in both cohorts. Variable direct costs at 1 year were $2493 lower in the MIDLIF group than in the open TLIF group (mean $15,867 vs $17,612, p = 0.073). There was no difference in implant (p = 0.193) or biologics (p = 0.145) cost, but blood utilization (p = 0.015), operating room supplies (p < 0.001), hospital room and board (p < 0.001), pharmacy (p = 0.010), laboratory (p = 0.004), and physical therapy (p = 0.009) costs were all significantly lower in the MIDLIF group. Additionally, the mean length of stay was decreased for MIDLIF as well (3.21 vs 4.02 days, p = 0.05). The EQ-5D gain at 1 year was 0.156 for MIDLIF and 0.141 for open TLIF (p = 0.821). The SF-6D gain at 1 year was 0.071 for MIDLIF and 0.057 for open TLIF (p = 0.551).CONCLUSIONSCompared with patients undergoing traditional open TLIF, those undergoing MIDLIF have similar 1-year gains in health-related quality of life, with total direct costs that are $2493 lower. Although the findings were not statistically significant, minimally invasive MIDLIF showed improved cost-effectiveness at 1 year compared with open TLIF.

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