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For economical design, scour around the bridge piers is required to be controlled. In the present study, an attempt has been made to minimize scour depth by placing a triangular prism on the downstream side of a circular pier (35 mm dia) with one of its noses facing the direction of flow and other facing opposite to the direction of flow. Three different bed samples collected from Ghaggar, Patialki-Rao and the Kotla super-passage have been placed in a rectangular flume. Discharge values were varied from 0.0015 to 0.0186 m3/sec. Results are compared for observed scour-depth for upstream (U/S) and downstream (D/S) piers with and without protection. Arrangement with a triangular prism of 2.5 times the diameter of the circular pier in the upstream direction of the flow is very effective in reducing scour depth. Further, it is possible to reduce the scour depth with an average efficiency of 65% for Ghaggar, 56% for Patialaki-Rao and 64% for the Kotla super-passage with respect to the circular pier. The comparison of observed values of scour-depth with computed values of Lacey's scour-depth was underestimated with a maximum of ±70%. Hence, a new site-specific relationship between scour depth, discharge intensity and silt factor has been proposed. Validation of the new proposed relationship with observed data is in a good agreement ±20%.

Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to maintain balance, the learned controllers have full freedom of where to place the feet, resulting in highly robust gaits. In the real world however, the environment will often impose constraints on the feasible footstep locations, typically identified by perception systems. Unfortunately, most demonstrated RL controllers on bipedal robots do not allow for specifying and responding to such constraints. This missing control interface greatly limits the real-world application of current RL controllers. In this paper, we aim to maintain the robust and dynamic nature of learned gaits while also respecting footstep constraints imposed externally. We develop an RL formulation for training dynamic gait controllers that can respond to specified touchdown locations. We then successfully demonstrate simulation and sim-to-real performance on the bipedal robot Cassie. In addition, we use supervised learning to induce a transition model for accurately predicting the next touchdown locations that the controller can achieve given the robot's proprioceptive observations. This model paves the way for integrating the learned controller into a full-order robot locomotion planner that robustly satisfies both balance and environmental constraints., Accepted at ICRA 2022. Video at https://www.youtube.com/watch?v=-zim1QQgA2s

This paper explores the positive and negative social impact of business relationships in the Ghanian gold mining industry. We adopted an in-depth longitudinal case study approach to explore the responsible and irresponsible behaviour of dominant stakeholders in Ghana’s mining sector. Exploiting unique primary data collected from various stakeholders allowed us to identify and map the evolution of CSR behaviour through the theory of planned behaviour over three distinct time periods since Ghana’s independence of 1957. Findings from our study suggest that the state and multinational enterprises as key stakeholders in the network of business relationship played a critical role in paving the way for the indigenous people to participate more fully in the mining business. We argue that local participation in the industry’s activities has direct social impact, but there is further need to explore the dynamics underpinning a network of relationship.

This paper explores the development of an ambidextrous context in a rapidly growing emerging market multinational (EMNE), thus unbundling cultural and structural complexities. We use the micro-foundational lens of ambidexterity to explore and identify different processes, structures and mechanisms that underpin the development of ambidextrous practices in the EMNE. We adopt a longitudinal case study design to trace the evolution of the EMNE, which during the initial phases of its existence focused on supplying industrial enzymes and refined its technical base. In subsequent years, it exploited its technical base to emerge as a full-fledged biopharmaceutical EMNE and adopted strategic partnerships with international companies to explore new knowledge. Our novel and rich research context also provides us with insights on how this EMNE exploited its technological knowledge, whilst utilizing strategic alliances to simultaneously engage in exploratory activities. Through the micro-foundational lens of ambidexterity, we uncover the critical role played by its leadership in addressing paradoxical tensions for simultaneously managing exploitation and exploration in an international strategic alliance context.

Green innovation could become a valuable firm resource for establishing competitive advantage while simultaneously contributing towards sustainable development; in other words, green innovation has the potential to address the dilemma between consuming available resources and preserving them for the future. However, there is a dearth of studies systematically examining the present structure and future scope of research on green innovation as a firm resource. Seeking to explain the sustainable development dilemma of green innovations through the theoretical perspective of the resource-based view of the firm, we address this gap with a comprehensive bibliometric analysis of 951 relevant articles. The key contributors to the extant literature are recognised with bibliographic coupling, citation analysis and co-authorship analysis. A co-citation analysis identifies four major thematic areas of research: green supply chain management, green product design, corporate environmental responsibilities and social sustainability. Further, a dynamic co-citation analysis tracks the progression of these thematic areas. Content analysis of the thematic areas provides insights into the status of the research domain. This study also contributes to the extant literature by identifying prestigious articles on green innovation as a firm resource, analysing the co-occurrence of keywords and suggesting future research agendas. publishedVersion

The global health system has significantly evolved over the last 30 years, particularly since the UN Millennium Declaration in 2000. The transformation in global healthcare partnerships has been most visible in the area of neglected tropical diseases, where technological innovation is directly linked to social change. Numerous strategic partnerships between different actors, including pharmaceutical companies, global and national health institutions and philanthropic organizations and disease specific foundations populate the landscape of neglected tropical diseases and yet, we know little on relational and structural aspects underpinning the partnerships. Our research uses a rich longitudinal case study – a tripartite public-private partnership formed between a global health organization, a major pharmaceutical company and a research university to develop a new drug for the treatment of malaria in Sub-Saharan Africa. Development of new drugs is central to attain social change in a poverty stricken region. We adopt a micro-foundational perspective in analyzing strategic choices made by the partnership's Product Development Team (PDT) and unravel the dynamic interplay between power–trust relationship in such strategic business partnerships.

Mobile robots are being increasingly deployed in fields where human intervention is deemed risky. However, in doing so, one of the prime concern is to prevent complete battery depletion which may in turn lead to immobilization of the robot during the mission. Thus, we need to carefully manage the energy available to explore as much of the unknown environment as feasible whilst guaranteeing a safe return journey to home base. For this, we need to identify the key components that draw energy and quantify their individual energy requirements. However, this problem is difficult due to the fact that most of the robots have different motion models, and the energy consumption usually also varies from mission to mission. It is desirable to have a generic framework that takes into account different locomotion models and possible mission profiles. This paper presents a methodology to unify the energy consumption models for various robotic platforms thereby allowing us to estimate operational range in both offline and online fashions. The existing models consider a given mission profile and try to estimate its energy requirements whilst our model considers the energy as a given resource constraint and tries to optimize the mission to be accomplished within these constraints. The proposed unified energy consumption framework is verified by field experiments for micro UGV and multi-rotor UAV test-beds operating under myriad of environmental conditions. The online model estimates operational range with an average accuracy (measured with respect to true range across multiple field trials) of 93.87% while the offline model attains 82.97%.

Biodiesel is an alternative to conventional petro diesel fuel. It can be produced by vegetable oils and animal fats. In addition, it can also be produced by waste cooking oils. The main limitation of biodiesel production is that it can cause food shortage and can lead to heavy use of fertilizers and water which deplete the natural resources, soil and water. Using waste cooking oil as a raw material for biodiesel would overcome these limitations and would also avoid the problem of disposal of these waste oils. In this study, transesterification process is performed on waste cooking oil mustard oil , to produce biodiesel as a product. Following this, biodiesel is blended with normal diesel fuel to produce blends having biodiesel concentration of 6 , 12 and 18 , hereby referred as B6, B12 and B18. These blends are tested on performance and emissions parameters at different loads on a VCR diesel engine. B12 gave the best suitable outcomes on brake thermal efficiency, specific fuel consumption and mechanical efficiency while B18 gave better volumetric efficiency. NOx, unburnt hydrocarbons, CO and CO2 emissions were the most optimal in case of B12. Anshu Tiwari | Harshita Goyal | Mayank Bajpai | Akshat Garg | Aditya Kumar | Ashish Malik "Performance and Emissions Analysis of VCR Engine Using Waste Mustard Cooking Oil" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-4 , June 2018, URL: https://www.ijtsrd.com/papers/ijtsrd14229.pdf

The energy needs of the world have been increasing since the inception of the Industrial revolution. The major sources of energy throughout the world have been fossil fuels, namely coal, petroleum fuels and natural gas. These resources are limited and are depleting fast. The replenishment of these is not possible keeping in mind our enormous requirements of energy, as these are non renewable. Hence, there is a need of energy sources which are renewable, economic and do not pose a major threat to the environment. Biodiesel fuels have emerged as an option that is renewable and economic. These fuels are used as blends with diesel and can be used to power CI engines. There is a large quantity of used cooking oil that is produced from household, restaurants, etc which is disposed off with no option of reuse. This type of waste oil is available in large quantities and at an economic rate. Thus, if used to create biodiesel, these types of oils can solve two problems - it will give us an economic option of alternative energy resource that is easily available, and will help control environmental pollution that is caused by disposal of these waste oils on land and water resulting in destruction of flora and fauna. In this present review work, we have studied various works done in the field of biodiesel production from various sources and method by researchers around the world. This review work focuses primarily on two aspects study of biodiesel production by various processes with special focus on trans esterification process and study of performance emission characteristics of VCR engines using different blends of biodiesel with normal diesel. Anshu Tiwari | Harshita Goyal | Mayank Bajpai | Akshat Garg | Aditya Kumar | Ashish Malik "Biodiesel Production & Performance Analysis on CI Engines - A Review" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-4 , June 2018, URL: https://www.ijtsrd.com/papers/ijtsrd13041.pdf

Productivity improvement is an important issue in small scale industry. The profit earning of this industry largely depends on productivity improvement. This study shows the way of finding gap of production process and operations. By implementing work study and method study and established new effective process for particular operation, we have to able to increase productivity. Especially this study shows the improvement of productivity in assembly area of E rickshaw manufacturing industry. The line balancing is the key point to increase productivity to particular products. After line balancing and critical analysis the work content was reduced by 9 minutes. Our proposed method helps to increase productivity to 19.97 with reduction of work content and line balancing. Harshna Gupta | Gaurav Chaudhary | Krishna Mohan Singh | Devendra Kumar | Ashish Malik "Application of Industrial Engineering to increase the productivity of an E-Rickshaw factory" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-4 , June 2018, URL: https://www.ijtsrd.com/papers/ijtsrd12969.pdf

This paper provides a study of HRM practices for a new category of expatriates - “Yopatriates” - who we note as young, highly qualified and mobile, Generation Y (Gen Y) knowledge workers. In contrast to traditional expatriates, Yopatriates typify non-traditional forms of expatriation wherein they seek short-term international assignments to suit their individual (internal, rather than organisational or external) career orientations of learning and travel. We study this group using a case study analysis of a large Indian Multi National Corporation (MNC) delivering global information technology (IT) and business process offshoring (BPO) services. Our study presents the HRM practices adopted to manage both expatriates as well as Yopatriates at the case organisation being studied within an India setting. We further evaluate the extent to which internal HR practices of Yopatriates were characterised, by a desire to emulate or adopt what were regarded as global ‘HR best practices’. Our distinctive contribution lies in extending the literature by developing a distinctive theoretical category of non-traditional expatriates that (1) highlights a need for a different set of HRM practices; and (2) extends the theory of cultural adjustment in the context of Yopatriates. Evidence suggests that these practices were complementary and at the same time contradictory to ‘indigenous’ localised practices during the period of research and complied with two of the four arguments we make in our model.

The abstract, multifaceted and multidisciplinary nature of the concept of culture has for long led to scholars researching aspects of culture in organisations in India and Indian organisations globally, but in the current context more is needed. Further, India being a diverse, complex and economically re-emerging nation, the aspects of studying culture in organisations in the Indian context becomes more significant and timely. In this editorial piece, we argue that there is a need to acknowledge and appreciate pluralist ideas and conceptualisations of culture, as it will be a good starting point in understanding and demystifying this important and much-less understood concept. We begin by highlighting the importance of studying culture in organisations and provide a historical background of the social and economic changes that have influenced culture in an Indian context. Based on the four contributions in this special issue, we argue that by revisiting some of the existing (and popular) conceptualisation...