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Drawing on a 2.5-year ethnography of first-time founders in a coworking facility, I shed light on the process by which founders ascribe self-referential meaning to entrepreneurship—that is, how they develop an entrepreneurial identity in situ. I discovered that founders' use of the coworking space occasioned distinct interaction patterns. Over time, varying interactions played a central role in whether the workspace became a community or remained a mere office space to these founders. Such emergent spatial meanings were coupled with whether founders themselves developed as entrepreneurs or not within their workspace. Founders' perceptions of the workspace as a community were generally associated with their identifying more as entrepreneurs, while their perceptions of the workspace as an office were usually linked with their identifying less, and even disidentifying, as entrepreneurs. In explaining these dynamics, I contribute to research on identity and space, research on entrepreneurial identity, and broader scholarship on space and interactions in organizations. For first-time founders, the meanings associated with being an entrepreneur can be equivocal, and where they work helps to shape their answers to the questions "What is entrepreneurship to me?" and "Who am I?" [ABSTRACT FROM AUTHOR]

To address the lack of mechanical orchard operation-aid platforms that assist in the horticultural management tasks such as pruning, spraying, thinning flowers and fruits, and harvesting in litchi and longan orchards, this paper proposes an orchard operation-aid platform specifically tailored for hilly and mountainous orchards. The platform is optimized for orchards with tree and row spacing not exceeding 6 m and slopes not exceeding 15°. By considering the planting patterns and operational topography parameters of litchi and longan, the key components were meticulously designed, including the chassis, lifting device, extension device, and slope operation support device. The driving stability, slope operation stability, and the reachable workspace of the orchard operation-aid platform were analyzed, followed by a prototype experiment. The results demonstrate that the platform achieves an in situ turning radius of 1.2 m with no deviation in the turning path. It satisfies the passability and operational slope requirements of hilly terrains with both driving and operational slopes exceeding 15°. Additionally, the platform features a working height of 4.0 m and an operating radius of 3.7 m, meeting the operational requirements for multiple tasks. This research provides a practical and effective solution for enhancing operational efficiency in multiple stages of fruit cultivation, demonstrating significant practical value and potential for widespread application. [ABSTRACT FROM AUTHOR]

Robot manipulators have recently been introduced in various industrial automation processes. The payload and workspace of manipulator are determined according to the process to be performed. Most commercially available robot manipulators are designed with links whose lengths are fixed, based on which their workspaces are fixed. When the payload or workspace increases due to changes in the process, a manipulator with different specifications is required. As the length of the links increases to accommodate a larger workspace, the size of the robot increases, requiring a larger collision-free region. In this paper, we propose a robot manipulator that can control its workspace by using the wire-driven variable link mechanism. The proposed mechanism resulted in a 119.71% increase in the workspace of the robot manipulator, while simultaneously reducing the weight and inertia of the robot manipulator's links by approximately 15.79% and 16.865%, respectively. Furthermore, without additional wire tension maintenance device design, we proposed an effective method for maintaining wire tension through the position and current control of the joint actuators. Through object grasping experiments, the proposed manipulator showed more effective manipulation than the fixed link manipulator. [ABSTRACT FROM AUTHOR]

This study presents a novel rod–cable hybrid planar cable-driven parallel robot inspired by the biological synergy of bones and muscles. The design integrates rigid rods and flexible cables to enhance structural stability and precision in motion control. The rods emulate bones, providing foundational support, while the cables mimic muscles, driving motion through coordinated tension. This design enables planar motions with three degrees of freedom, and a structural configuration that mitigates sagging and vibration for improved stability and accuracy by introducing rigid structure. The study develops detailed kinematic models, including Jacobian analysis for motion control, and evaluates the workspace using geometric and Monte Carlo methods. [ABSTRACT FROM AUTHOR]

Based on the same direction vectors of the six links that can achieve spatial isotropy, a lot of spatially isotropic Stewart platforms can be designed, which means some physical parameters do not affect the Cartesian stiffness. However, these physical parameters will affect the collision-free and the singularity-free workspace of the spatially isotropic Stewart platform. In order to find the combinations of the physical parameters that do not affect the Cartesian stiffness matrix but can determine the largest collision-free and singularity-free workspace, this paper proposes several algorithms to optimise the spatially isotropic Stewart platforms based on the position of the TCP expressed in spherical coordinates and the orientation of the moving platform expressed by a unit quaternion with angle-axis. By this way, the symmetric constant-position workspace and constant-orientation workspace are dependent only on the rotation angle in the angle-axis representation and the sphere radius, respectively. At the same time, the singularity locus and collision-free workspace can be clearly illustrated and optimised. [ABSTRACT FROM AUTHOR]

This paper offers a comprehensive investigation into the forward and inverse kinematics of a wrist rehabilitation robot, utilizing the Denavit-Hartenberg method for forward kinematics (FK) and a geometric approach, as well as artificial neural networks (ANN) and adaptive Neuro-Fuzzy inference systems (ANFIS) for inverse kinematics (IK) analysis. While the geometric method entails precise parameter measurements and faces uncertainties, ANN and ANFIS are explored as potential remedies to enhance accuracy and robustness. Evaluating 11 different training functions sourced from existing literature, our study conducts a thorough assessment of their performance within an ANN network. We aim to pinpoint the most suitable training function for achieving optimal IK solutions in the context of a wrist rehabilitation robotic. Additionally, the ANFIS model, trained using Fuzzy C-Means (FCM), sets itself apart from Grid Partitioning (GP) and Subtractive Clustering (SC). Among the ANN training functions, Bayesian regularization with 5 hidden layers emerges as the most effective, yielding low root mean square error (RMSE) values of 0.003, 0.004, and 0.007 degrees for pronation/supination (P/S), abduction/adduction (AB/AD), and flexion/extension (F/E), respectively. Conversely, ANFIS, trained with FCM, demonstrates satisfactory yet less precise results, with RMSE values of 0.191, 0.082, and 0.165 degrees for P/S, AB/AD, and F/E, respectively. Despite its adequacy, ANFIS trails behind ANN, showcasing RMSE reductions of 98.4%, 95.1%, and 95.7% for P/S, AB/AD, and F/E angles, respectively. This study contributes to leveraging ANN and ANFIS for IK analysis in wrist rehabilitation robotics, highlighting the efficacy of ANN, particularly when employing Bayesian regularization, to enhance accuracy. [ABSTRACT FROM AUTHOR]

Copyright of Light Industry Machinery is the property of Light Industry Machinery Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

In rigid lower-mobility parallel manipulators the motion of the end-effector is partially constrained due to a combination of passive kinematic pairs and rigid components. Translational mechanisms, such as the Delta manipulator, are the most common ones among this type of mechanisms. When flexible elements are introduced, as in Parallel Continuum Manipulators, the constraint is no longer rigid, and new challenges arise in performing certain motions depending on the degree of compliance. Mobility analysis shifts from being purely a geometric issue to one that heavily relies on force distribution within the mechanism. Simply converting classical lower-mobility rigid parallel mechanisms into Parallel Continuum Mechanisms may yield unexpected outcomes. This work, making use of a planar parallel continuum Delta manipulator, on the one hand, presents two different approaches to solve the Forward Kinematics of planar continuum manipulators, and, on the other hand, explores some challenges and issues in assessing the resultant workspace for different design alternatives of this kind of flexible manipulators. [ABSTRACT FROM AUTHOR]

Copyright of Machine Tool & Hydraulics is the property of Guangzhou Mechanical Engineering Research Institute (GMERI) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

In the field of rigid parallel manipulators, the Delta parallel robot is one of the most popular choices in the industry due to its ability to adapt to a wide range of applications, particularly pick-and-place tasks. In this paper, the authors present novel designs of Delta-type continuum parallel manipulators with flexible bars, solving both their direct and inverse kinematics, as well as obtaining the associated workspace. The continuum parallel manipulators, unlike conventional robots, incorporate certain flexible elements, such as slender rods that make up the kinematic chains of the Delta manipulators proposed in this work. As a consequence of the flexibility of these rods, a purely translational movement will not be generated, since it is necessary to analyze the zones of the workspace where a parasitic motion related to the inclination of the moving platform compromises the task devised. In addition, an experimental prototype of the Keops-Delta continuum manipulator has been built, and several experimental tests have been carried out to validate the proposed theoretical model. [ABSTRACT FROM AUTHOR]

This paper presents a novel parallel manipulator capable of generating two translations (2T), inside a vertical plane, and two rotations (2R), about horizontal axes, which are required in aerospace, manufacturing and rehabilitation fields. These four degrees of freedom are reached by means of a unique RRU and three RSS kinematic chains connected to a rhomboid-shaped mobile platform. The kinematic analysis of the new manipulator is provided, which includes the resolution of the inverse position problem and the velocity equations relating to input and output variables. Additionally, a methodology is proposed for obtaining the workspace free of singularities, collisions and kinematic joint range limitation. This systematic methodology allows designers to identify the critical factors affecting the workspace and, thus, to rearrange the mechanical design accordingly for optimum path planning. We represent the workspace using its two-dimensional subspaces (i.e., translational and rotational workspace). The results are analyzed for different working modes of the manipulator to see its potential use in applications wherein 2T2R motion is necessary. [ABSTRACT FROM AUTHOR]

This paper examines the ethical issues of the inclusion of workers with disabilities in the workplace with a cross-fertilization approach between organization studies, the ethics of care, and a movement from the field of architecture and design that is called Universal Design (UD). It explores how organizations can use UD to develop more inclusive workplaces, first by applying UD principles to workspaces and second by showing how UD implies an integrative understanding of inclusion from the workspace to the workplace. Moreover, this paper discusses the ethical challenges and complexities that this design practice faces in regard to its applicability to diverse organizations and industries. Finally, this paper demonstrates that inclusion requires abandoning any notion of a perfect, productive body and, therefore, recognizing our shared vulnerability and fundamental interdependence in the workplace. [ABSTRACT FROM AUTHOR]

The cable-driven parallel mechanism (CDPM) is known as an interesting application in industry to pick and place objects owing to its advantages such as large workspaces. In addition to the advantages of this mechanism, there are some challenges to improving performance by considering constraints in different components, such as the behavior of cables, shape, size of the end effector and base, and model of pulleys and actuators. Moreover, the impact of online geometry reconfiguration must be analyzed. This paper demonstrates the impact of these constraints on the performance of reconfigurable CDPM. The methodology is based on the systematic review and meta-analysis guidelines to report the results. The databases used to find the papers are extracted from Scopus and Google Scholar, using related keywords. As a result, the impact of physical constraints on system performance is discussed. A total of 90 and 37 articles are selected, respectively. After removing duplicates and unrelated papers, 88 studies that met the inclusion criteria are selected for review. Even when considering the physical constraints in modeling the mechanism, simplifications in designing a model for the reconfigurable CDPM generate errors. There is a gap in designing high-performance controllers to track desired trajectories while reconfiguring the geometry, and the satisfaction of physical constraints needs to be satisfied. In conclusion, this review presents several constraints in designing a controller to track desired trajectories and improve performance in future work. This paper presents an integrated controller architecture that includes physical constraints and predictive control. [ABSTRACT FROM AUTHOR]

Purpose: To present the social network analysis-based approach used to create a new workspace layout for three hospital services as part of a campus expansion at a large tertiary care public hospital. Objective: To analyze the relationships among service members across four healthcare resilience abilities (monitor, anticipate, respond, and learn) and utilize network metrics to indicate the suitability of a shared workspace layout for the services. Background: The hospital expanded by 70%, providing space for relocating key services—the rapid response team, medical on-call team, and nursing supervision. Initial observations suggested a shared workspace layout based on anecdotal evidence. Method: Stakeholders have reached a consensus on a three-stage process to assess the suitability of a shared workspace layout for these services: first, collecting data on social interactions with a focus on resilience abilities; second, presenting layout alternatives based on sociograms; and third, evaluating these alternatives and devising a strategy for allocating personnel to shifts based on a resilience score derived from social network metrics. Case Study: The examination of social network metrics allowed identifying key individuals contributing to the overall resilience of the three services. Sociograms provided visual representations of how these individuals were spatially distributed within the shared layout. Discussion: The process was designed to shape a resilient layout and incorporated initial data, preferences, and constraints into layout proposals. Additionally, it utilized a resilience score from existing literature to formulate a strategy for staff allocation to shifts, ensuring consistent collective resilience ability across all shifts. [ABSTRACT FROM AUTHOR]

Contact with nature is believed to enhance mental health through the process of human psychological restoration. However, prolonged indoor living limits individuals' exposure to nature, potentially hindering the timely alleviation of stress and fatigue induced by work. While biophilic design is recognized as a potential solution, its impact on the restoration process has not been extensively studied, particularly in relation to its various design patterns. Therefore, it is important to determine the restorative effects of different patterns of biophilic design and their combination in order to guide the practical application of biophilic design. In this study, the effects of two typical biophilic design patterns and their combination on attention restoration were measured using subjective scales, cognitive tasks, and functional near-infrared spectroscopy (fNIRS) in a simulated real workspace. The results suggest a significant enhancement in the restorative impact on cognitive performance and physiological benefits when combining two biophilic design patterns, while a single design pattern does not yield the same effect. These findings contribute to a better understanding and improvement of workspaces, enhancing users' experience and well-being. [ABSTRACT FROM AUTHOR]

When looking at workplace dynamics, especially given the pandemic, we must identify why individuals choose to leave specific fields, such as STEM, specifically computer science. The purpose of this study was to identify the unique belonging experiences of women who specifically work in the technology field. Issues such as the need for belonging, marginalization, workplace culture, imposter syndrome, and allyship affect how women feel connected to their work. Using a qualitative narrative inquiry approach, nine women were interviewed for their unique perspective of belonging in the technological workspace. Within the transcriptions, certain themes were derived from the data, which included (1) lack of belonging in the workspace, (2) lack of trust, and (3) lack of support. However, we also discovered that women can be successful leaders in the technology sector if they receive support from a mentor at work. For the computer science industry to attract and retain female talent, addressing these obstacles and fostering a more inclusive environment is imperative to counter underrepresentation. [ABSTRACT FROM AUTHOR]

Purpose: In response to the challenges posed by the conventional manual flange docking method in the LNG (Liquefied Natural Gas) loading process, such as low positioning accuracy, constraints on production efficiency and safety hazards, this study analyzed the LNG five-axis loading arm's main functions and structural characteristics. Design/methodology/approach: An automated solution for the joints of the LNG loading arm was designed. The forward kinematic model of the LNG loading arm was established using the Denavit–Hartenberg (D-H) parameter method, and its workspace was analyzed. The Newton–Raphson iteration method was employed to solve the inverse kinematics of the LNG loading arm, facilitating trajectory planning. The relationship between the target position and the joint variables was established to verify the stability of the arm's motion. Flange center identification was achieved using the Hough transform function. Based on the ROS platform, combined with Gazebo and Rviz, an experimental simulation of automatic docking of the LNG loading arm was conducted. Findings: The docking errors in the XYZ directions were all less than 0.8 mm, meeting the required docking accuracy. Moreover, the motion performance of the loading arm during docking was smooth and free of abrupt changes, validating its capability to accomplish the automatic docking task. Originality/value: The proposed trajectory planning and automatic docking scheme can be used for the rapid filling of LNG filling arms and LNG tankers to improve the efficiency of LNG transportation. In guiding the docking, the proposed automatic docking scheme is an accurate and efficient way to improve safety. [ABSTRACT FROM AUTHOR]

Copyright of Journal of Mechanical & Electrical Engineering is the property of Mechanical & Electrical Engineering Magazine and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The parallel mechanism exhibits high stiffness and excellent dynamic response, making it ideal for high-precision applications. In our early work, a novel 6-DOF redundant parallel posture mechanism with four limbs for solar wing docking has been proposed; each limb consists of three links and four joints. This paper primarily focuses on optimization design of the mechanism. The calculation of workspace volume reveals that factors influencing the range of posture adjustment include dynamic platform parameters, static platform parameters, the drive trajectory of each kinematic pair, and the angles between each kinematic pair. A sensitivity analysis was conducted to examine the impact of each parameter on the range of posture adjustment. To reduce computational complexity and improve analysis efficiency, a combined approach of single-factor analysis and response surface methodology (RSM) is used in the paper. Single-factor analysis is utilized to evaluate the effect of each parameter on the posture adjustment range. Based on these results, RSM is used to establish a regression model for parameters; thereby, the optimal parameter combination for the mechanism is determined. The regression coefficient R2 = 0.9374 attests to the validity of the proposed model. Finally, a comparison of the posture adjustment range before and after optimization is presented, providing a foundation for the practical application of the redundant parallel mechanism. This paper introduces a novel structural design concept aimed at resolving the conflict between heavy loads and compact sizes in redundant parallel mechanisms while providing valuable insights for miniaturized design. [ABSTRACT FROM AUTHOR]

Copyright of Machine Tool & Hydraulics is the property of Guangzhou Mechanical Engineering Research Institute (GMERI) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Architecture & Life Journal / Kocaeli Üniversitesi Mimarlık ve Yaşam Dergisi is the property of Architecture & Life Journal / Kocaeli Universitesi Mimarllik ve Yasam Dergisi and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

This paper introduces a new concept of a zero-platform delta robot with three key parameters affecting the shape and size of the workspace. This concept is applied to directly bring the torus configuration into the links of the robot and shows its usefulness in configuring and generating the workspace conveniently. Analyzing the workspace of parallel robots, such as delta robots, requires extensive computation due to the constraints between the links, typically requiring complex equations or numerical methods. This paper proposes a new method for quickly estimating the shape and size of the workspace using a cross-section diagram based on a geometrical analysis of the zero-platform delta robot. The shape and size of the workspace can be rapidly estimated because the intersection of three cross-section diagrams needs only the torus's 2D operation. Comparing the workspace between the cross-section diagram and the 3D CAD software, this paper shows that the cross-section diagram can analyze the shape and size of the workspace quickly and give a more geometrical understanding of the workspace. [ABSTRACT FROM AUTHOR]

Copyright of Machine Tool & Hydraulics is the property of Guangzhou Mechanical Engineering Research Institute (GMERI) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of FME Transactions is the property of University of Belgrade, Faculty of Mechanical Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

In construction projects, when resources assigned to two or more simultaneous activities share the same workspace, they generate time-space conflicts associated with congestion, safety, and quality issues. The use of building information modeling (BIM) methodologies, particularly four-dimensional (4D) models, offers the possibility to facilitate the identification of these types of conflicts. Existing literature has proposed formal methods for conflict detection; however, these largely focus on automating computational analyses without providing a practical and useful procedure for planners. Moreover, previous research has not evaluated the impact of using formal conflict detection methodologies. To address these gaps, this study proposes and evaluates the use of a formal conflict detection methodology in workspaces based on 4D-BIM. The research methodology includes a first stage that develops and validates the formalized conflict detection methodology through a literature review and interviews with field professionals. The second stage quantifies the impact of using the proposed methodology through an experiment that compares the effectiveness and efficiency of a group of planners in detecting conflicts using 4D-BIM models with and without the proposed methodology. The results demonstrate that the formalized methodology enhances the planning process by increasing the detection of conflicts from 18% to 82%. Additionally, the formalized methodology reduces review time by 23% and enhances user experience. These findings contribute to improving the planning process by managing and reducing time-space conflicts in construction schedules. Consequently, the construction process will become more efficient by averting issues related to productivity, safety, and quality based on the identification of workspace conflicts. Last, the proposed methodology contributes to a better adoption of BIM by providing a structured procedure for using the 4D-BIM model to support planning processes. Practical Applications: This study lays the groundwork for companies aiming to enhance their conflict detection processes and refine planning and conflict management procedures. The practical contributions include achieving greater effectiveness and efficiency in identifying conflicts in workspaces. The proposed formalized methodology enhances productivity, reduces safety-related risks, and prevents quality issues in building projects by managing and mitigating time-space conflicts in construction programs. Additionally, the research contributes to the enrichment of BIM application in construction activity planning. It formalizes the use of BIM through a conflict detection methodology, particularly in the analysis of construction programs and the identification of workspace conflicts. The results further strengthen the application of the BIM methodology by facilitating the design of BIM processes associated with planning, incorporating the methodology proposed in this research. Furthermore, the study encourages the adoption of BIM in construction activity planning by evaluating the positive impact of the proposed formalized methodology, providing evidence for its implementation in organizations and highlighting its potential benefits in terms of effectiveness and efficiency. [ABSTRACT FROM AUTHOR]

Purpose: Compared to the years prior to the COVID-19 pandemic, more workers today seemingly have choice over where, when and how they do their work. However, gender inequalities at work and at home persist, which may impact perceptions of choice. Thus, researchers must investigate the potential impact of gender and domestic responsibilities on perceptions of work-related options, including perceptions of workspace choice. Design/methodology/approach: Using an original dataset with workers in North America, South America, Europe and Asia (N = 3,147), the authors conducted logistic regression analyses to explore whether workers felt they had a choice in where they do their work (workspace choice). In addition to gender, the authors considered the effect of domestic responsibilities (childcare and housework) on worker perceptions of workspace choice. Findings: In the paper's initial regression, the authors found that men (OR: 1.24; 95%CI 1.04–1.48) as well as workers reporting that a partner was responsible for all or most of the housework (OR: 1.80; 95%CI 1.34–2.40) and childcare (OR 1.51; 95%CI 1.09–2.09) reported feeling a greater sense of workspace choice. Simultaneously, follow-up regression analyses found that women and men whose partners had a greater share of domestic responsibility had amplified perceptions of choice. However, surprisingly, men who claimed primary responsibility for domestic work also reported more choice over workspace. Originality/value: Using an international sample, the authors explore gender inequities in worker perceptions of workspace choice. The authors' findings suggest that domestic responsibilities interact with gender in interesting ways, leading to differences in perceptions of choice in the post-pandemic workplace. [ABSTRACT FROM AUTHOR]

Copyright of Science Technology & Engineering is the property of Chinese Society of Technology Economics and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Science Technology & Engineering is the property of Chinese Society of Technology Economics and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Hand dysfunction is a common symptom in stroke patients. This paper presents a robotic device which assists the rehabilitation process in order to reduce the need of physical therapy, i.e., a 3UPS/S parallel robotic device is employed for repetitive robot-assisted rehabilitation. Euler angle representation was used to solve the robot's inverse kinematics. The robot's joint space and rotational workspace were determined for two scenarios. In the first scenario, the workspace was obtained considering the actuator's stroke limitations, while in the second scenario, the workspace was determined by adding a second condition, i.e., the range of motion of the spherical joints. Singularity analysis was performed using the geometric algebra approach. The robot was manufactured using additive manufacturing technology. The solution of the inverse kinematic problem was employed to control the robot. The robot can perform a full range of motion during wrist ulnar deviation and radial deviation motions, with the exception of limited wrist flexion and extension motions. The robot has singular configurations within its workspace. Although the spherical joints have roles in reducing the workspace, the primary causes are actuator selection, radii of the base and moving platforms, and the length of the central leg. These factors can be considered to improve the workspace. Singularity can be avoided by carefully selecting the rotation of the moving platform about the Z-axis and avoiding same leg lengths. [ABSTRACT FROM AUTHOR]

Compared with single rigid serial robots (RSRs) and cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) have the advantages of both CDPRs and RSRs, which can improve the deficiencies of a single robot in one aspect. Due to a larger force-enclosed workspace (FEW), CDHRs can accomplish more complex tasks, which have a wide range of applications in industrial picking, disaster rescue, construction renovation, etc. However, as its structural complexity increases, the coupling modeling and workspace analysis will become more difficult. Based on this, this paper provides a coupled kinematics, statics modeling, and workspace analysis method of CDHRs. Firstly, the forward/inverse kinematic equations of the series/parallel coupling are derived, and the corresponding solutions are given according to this composite structure with high redundancy. Secondly, the static equations of the CDHR are further derived based on the coupled kinematics model and solved by the quadratic programming method (QPM). Further, a FEW for the CDHR is established based on collision constraints, containing the workspaces of both the RSR and the CDPR. To evaluate the quality of the workspace for the CDHR, a method for solving the configuration flexibility is proposed. Finally, the workspace and the configuration flexibility of the CDHR are analyzed by the built simulation system. And then, the tracking methods of several typical trajectories are verified by the model. [ABSTRACT FROM AUTHOR]

This contribution focuses on solving the inverse and forward kinematics in the kinematic analysis of a two-link manipulator model. It involves determining the trajectory of the end effector through fifth-degree polynomial interpolation. Furthermore, given initial and final arm angle values, it computes not only the end effector trajectory but also the angular parameters of individual actuators in both arms. Additionally, it calculates the variations of angular parameters such as rotation angle, angular velocity, and angular acceleration in each kinematic pair. The direct kinematics task is utilized to define the manipulator's workspace. The task is carried out using Matlab software, and the results are presented in the form of graphs and tables. [ABSTRACT FROM AUTHOR]

Purpose: In today’s world many companies fell the need to move especially their leaders from traditional leadership into a more person cantered approach, which is clearly defined by Social Psychology of Risk. The pioneering methodology was invented to support personhood, care for ethics and promote an appropriate culture of an organization. The following article explains the fundamentals of Social Psychology of Risk, as well as underlines its definitions about leadership. Material shows original aspects of understanding some of the most important roles humans might take upon themselves not only as leaders, but also as employes in any organization or field of work. Design/methodology/approach: The paper uses the desk research method of analysis. Findings: Today’s leadership. Social implications: Many aspire to be great leaders; however, not many are on the pathway of receiving value adding answers regarding the matter. Originality/value: The article is an original approach to understand some of the most efficient ways to create a great leadership, mostly submerged in the fundamentals of Social Psychology of Risk and that all being explained while using a Newton’s cradle and a “jar of time”. [ABSTRACT FROM AUTHOR]

Copyright of Science Technology & Engineering is the property of Chinese Society of Technology Economics and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Existing direct and inverse kinematic models of planar parallel robots assume that the robot's active joints are all at the bases. However, this approach becomes excessively complex when modeling a planar parallel robot in which the active joints are within one single kinematic chain. To address this problem, our article unveils an alternative for a 3RRR symmetric planar robot modeling technique for the derivation of the robot workspace and the analysis of its direct and inverse kinematics. The workspace was defined using a system of inequalities, and the direct and inverse kinematics models were generated using vectorial analysis and an optimized geometrical approach, respectively. The resulting models are systematically presented and validated. Two final model renditions are delivered supplying a thorough equation analysis and an applicability discussion based on the importance of the robot's mobile platform orientation. The advantages of this model are discussed in comparison to the traditional modeling approach: whereas conventional techniques require the solution of complex eighth-degree polynomials for the analysis of the active joint configuration of these robots, these models provide an efficient back-of-the-envelope analysis approach that requires the solution of a simple second-degree polynomial. [ABSTRACT FROM AUTHOR]

There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation. To overcome these problems, an advanced dual-arm tunneling robotic system for a coal mine is developed that can achieve the synchronous operation of excavation and the permanent support of laneways to efficiently complete excavation tasks for large-sized cross-section laneways. A dual-arm cutting robot (DACR) has an important influence on the forming quality and excavation efficiency of large-sized cross-section laneways. As a result, the relative kinematics, workspace, and control of dual-arm cutting robots are investigated in this research. First, a relative kinematic model of the DACR is established, and a closed-loop control strategy for the robot is proposed based on the relative kinematics. Second, an associated workspace (AW) for the DACR is presented and generated, which can provide a reference for the cutting trajectory planning of a DACR. Finally, the relative kinematics, closed-loop kinematic controller, and associated workspace generation algorithm are verified through simulation results. [ABSTRACT FROM AUTHOR]

Above all, the population of individuals with impairments is constantly increasing, making them one of the largest groups in the diverse workforce. Jobs for people with impairments require the implementation and development of special processes within enterprises. This is because the details of employment for persons with disabilities must be considered organizationally and legally. Examining current diversity and inclusion policies of companies and states concerning the hiring of people with disabilities is the aim of this research. According to the study's findings, there were no appreciable differences between employees with disabilities and those without them at various stages of the hiring process. Nonetheless, it should be noted that corporate behavior regarding the employment of persons with disabilities is largely influenced by the Nigerian legal system. [ABSTRACT FROM AUTHOR]

Purpose: This paper aims to explore how the scientific literature and company reports have addressed inclusive workplace design and strategies to date. Design/methodology/approach: This paper adopts a scoping review to answer the following question: To what extent is inclusion present in workplace design and related strategies? An analysis of 27 scientific papers and 25 corporate social responsibility reports of the highest-ranked companies in the Great Place to Work global ranking disentangles the main aspects related to workplace design and strategies for promoting inclusion. Findings: This paper opens avenues for four macro-categories of diversity (psycho-physical aspects; cultural aspects; socio-economic conditions; and ability, experience and strengths) to support the development of inclusive workplace design and strategy. Besides, multiple spatial scales emerged as material and immaterial elements of the workplace encountering inclusion and diversity. Originality/value: Nowadays, the workforce is becoming more diverse. Although diversity, equity and inclusion (DE&I) has become key to many organizations, it remains unclear how DE&I principles are applied in workspace design and strategies. This scoping review provides a novel perspective on the topic by integrating scientific knowledge and practice-based approaches which still address this matter independently. [ABSTRACT FROM AUTHOR]

As research on parallel mechanisms with limited degrees of freedom (DOF) continues to grow, this paper introduces a novel 2UPU-2SPU parallel mechanism that features 2 Rotational and 2 Translational (2R2T) motion capabilities. The SPU branches are symmetrically positioned relative to the plane of the 2UPU branches, endowing the mechanism with a full-circle DOF that encompasses two rotations and two translations. One of the rotational DOF influences the characteristics of a constrained rotational freedom. This study conducts a kinematic analysis using screw theory to elucidate the DOF and derives the inverse kinematics of the mechanism. Furthermore, by employing motion/force transmission performance indicators and performance maps, the mechanical performance characteristics are analyzed. A mathematical model for optimizing mechanical performance using the Particle Swarm Optimization (PSO) algorithm is established, facilitating the design of specific mechanical devices. The mechanism boasts a large workspace, with the operational space varying as the moving platform rotates, making it suitable for applications requiring minimal rotational and lateral movements but significant longitudinal displacement. [ABSTRACT FROM AUTHOR]

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Objective: Using the example of robotic-assisted surgery (RAS), we explore the methodological and practical challenges of technology integration in surgery, provide examples of evidence-based improvements, and discuss the importance of systems engineering and clinical human factors research and practice. Background: New operating room technologies offer potential benefits for patients and staff, yet also present challenges for physical, procedural, team, and organizational integration. Historically, RAS implementation has focused on establishing the technical skills of the surgeon on the console, and has not systematically addressed the new skills required for other team members, the use of the workspace, or the organizational changes. Results: Human factors studies of robotic surgery have demonstrated not just the effects of these hidden complexities on people, teams, processes, and proximal outcomes, but also have been able to analyze and explain in detail why they happen and offer methods to address them. We review studies on workload, communication, workflow, workspace, and coordination in robotic surgery, and then discuss the potential for improvement that these studies suggest within the wider healthcare system. Conclusion: There is a growing need to understand and develop approaches to safety and quality improvement through human-systems integration at the frontline of care. Precis: The introduction of robotic surgery has exposed under-acknowledged complexities of introducing complex technology into operating rooms. We explore the methodological and practical challenges, provide examples of evidence-based improvements, and discuss the implications for systems engineering and clinical human factors research and practice. [ABSTRACT FROM AUTHOR]

Given the difficulty in manually adjusting the position and posture of the pile body during the pile driving process, the improved Denavit-Hartenberg (D-H) parameter method is used to establish the kinematics equation of the mechanical arm, based on the motion characteristics of each mechanism of the mechanical arm of the pile driver, and forward and inverse kinematics analysis is carried out to solve the equation. The mechanical arm of the pile driver is modeled and simulated using the Robotics Toolbox of MATLAB to verify the proposed kinematics model of the mechanical arm of the pile driver. The Monte Carlo method is used to investigate the working space of the mechanical arm of the pile driver, revealing that the arm can extend from the nearest point by 900 mm to the furthest extension of 1800 mm. The actuator's lowest point allows for a descent of 1000 mm and an ascent of up to 1500 mm. A novel multi-strategy grey wolf optimizer (GWO) algorithm is proposed for robotic arm three-dimensional (3D) path planning, successfully outperforming the basic GWO, ant colony algorithm (ACA), genetic algorithm (GA), and artificial fish swarm algorithm (AFSA) in simulation experiments. Comparative results show that the proposed algorithm efficiently searches for optimal paths, avoiding obstacles with shorter lengths. In robotic arm simulations, the multi-strategy GWO reduces path length by 16.575% and running time by 9.452% compared to the basic GWO algorithm. [ABSTRACT FROM AUTHOR]

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This paper presents the structure and model of a hybrid modular structure of a robotic system for lower limb rehabilitation. It is made of two modules identical in structure, including an active 3-PRRR manipulator for moving the patient's foot and a passive orthosis based on the RRR mechanism for supporting the lower limb. A mathematical model has been developed to describe the positions for the links of the active and passive mechanisms of two modules, as a function of the angles in the joints of the passive orthosis, considering constraints for attaching the active manipulators to the moving platform and their configurations. A method has been formulated for a parametric synthesis of the hybrid robotic system proposed with modular structure, taking into account the generated levels of parametric constraints depending on the ergonomic and manufacturability features. The proposed design is based on a criterion in the form of a convolution, including two components, one of which is based on minimizing unattainable points of the trajectory, considering the characteristics of anthropometric data, and the other is based on the compactness of the design. The results of the mathematical modeling are discussed as well as the analysis results towards a prototype validation. [ABSTRACT FROM AUTHOR]

A four-level rigid trunk mechanism based on 4-SPS/U, with SPS as the driving branch and U pair as the middle constrained driven branch, is innovatively proposed in this paper. Based on the innovative design of this trunk mechanism, it can improve the flexibility of the hexapod mobile robot's posture adjustment and changes in various motion modes such as walking, water propulsion, climbing and rolling. Firstly, the screw theory is adopted to calculate the degree of freedom of the trunk mechanism. Secondly, a combination of closed vector method and the characteristic structure configuration decoupling method has been applied to constructing the inverse kinematics solution, and deriving the velocity and acceleration models as well as analyzing the high posture flexibility in workspace of the trunk mechanism. Thirdly, theoretical simulation data diagram of the movement branch chain displacement, end height, speed and acceleration of the trunk mechanism are calculated through theoretical numerical examples, and the excellent motion characteristics of the 4-SPS/U-based four-level rigid trunk mechanism are analyzed. Finally, a quantitative comparison was made between the theoretical simulation data and the experimental data of the experimental prototype. The error rates of the variation curves of the displacement length, height, velocity and acceleration of the driving branch chain were 0.8%, 0.2%, 0.5% and 0.9%, which verified the correctness and reliability of the theoretical derivation. [ABSTRACT FROM AUTHOR]

Traditional shipbuilding crane manipulator is widely used in the process of block lifting and erection of ships, but there are generally problems, such as inflexible output trajectory, limited workspace and low working efficiency. In order to solve above problems, a novel hybrid shipbuilding crane manipulator with closed-chain structure and weakly-coupled characteristics based on multi-DOF (Degree-of-Freedom) mechanism is proposed. Then, a systematically structural and kinematic modeling and analysis method is presented to describe the coupling degree, singular configurations, workspace, motion trajectory, dexterity capacity and static stiffness performances of this type of closed-chain structure mechanism. Results of the numerical examples verify the correctness, accuracy and efficiency of the proposed method. Meanwhile, compared with the traditional shipbuilding crane manipulator, the proposed novel manipulator can finish lifting and transportation operation more efficient, which can also be applied in fields such as: innovative design of oil and gas drilling platforms, deck machinery, construction machinery and other engineering equipment. [ABSTRACT FROM AUTHOR]

Copyright of Japanese Journal of Disaster Medicine is the property of Japanese Association for Disaster Medicine and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

WFH‐related issues regarding house planning, spatial arrangements, and relationships among cohabitants for sharing spaces remain to be clarified. This research aimed to clarify the usage patterns of shared spaces for work‐from‐home (WFH) and the respective behavioral patterns in different household compositions, targeting women in the child‐rearing stage and residing with family in residential building estates in urban areas. Forty‐four percent (n = 199) of women performing childcare who regularly telecommuted had a spouse or partner who also telecommuted, and 65.6% (n = 328) had a child at home while telecommuting. Male spouses or partners (male) did less than half of the housework (12.7%) and childcare (19.8%) than women (41.0% housework, 34.4% childcare). Women primarily used dining rooms for office work (n = 221; 44.2%). When the children were at home during telecommuting, the unclear distinction between work and home was not a deficiency but rather an inevitable acceptance, and a tendency to work in a corner overlooking the common area was observed. When both spouses telecommute without children, men work in their bedrooms or private rooms, whereas women work in common areas, such as the dining room. Simultaneously, women tended to seek spaces dedicated to their work and keep their workspaces separate from common area. [ABSTRACT FROM AUTHOR]

Laparoscopic manipulation of delicate large intra-abdominal organs is a difficult task that needs special training programs to improve the surgeons' dexterity. In this study, the mechanical design of a robotic interface for haptic simulation of largeorgan laparoscopic surgery is described. The designed robot enjoys active active Degree of Freedoms (DOFs), back drivability, low inertia, friction and backlash, and sufficiently large force/moment production capacity. The kinematics of the robot was analyzed and a functional prototype was fabricated for experimental tests. Results indicated that the target workspace was fully covered with no singular points inside. The mechanism was highly isotropic and the torque requirements were in the acceptable range. The trajectory tracking experiments against a 1 kg payload revealed an Root Mean Square (RMS) of 0.9 mm, due to the simplifications of the kinematic model, i.e., not considering the friction and backlash effects. It was concluded that the designed robot could satisfy the mechanical requirements for being used as the robotic interface in a haptic large-organ laparoscopic surgery simulation system. [ABSTRACT FROM AUTHOR]

The paper delves into the possibilities of computer modeling for manipulator systems within the Matlab program. The analysis is directed towards a two-link manipulator model. Within the framework of kinematic analysis, the paper confronts the solution to the inverse kinematics problem and subsequently navigates through the solution to the direct kinematics problem. The trajectory is modeled by a fifth-degree polynomial during the motion from a known initial position to the specified final position within defined working regions of the manipulator. The work encompasses graphical representation of the results. The manipulator's workspace is also delineated, considering angular constraints on both arms and illustrating the trajectories during operational movement. [ABSTRACT FROM AUTHOR]

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