Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.

Organizational culture in cooperatives: an exploratory approach

In recent years, organizational culture has become one of the common themes of interest of scientific and academic research. Each organization has its own unique cultural identity. Based on the recognition that organizational culture is considered important to an organization’s results, and social economy organizations are concerned with improving managerial practices and results, our objective is to study organizational culture in cooperatives: identifying their organizational culture as a specific type of organization of the social economy, recognized as increasingly important economic agents; and in doing so, explore the usage of a widely known model, the Competing Values Framework (Quinn & Rohrbaugh 1983). Three cooperatives were studied. Their presidents were interviewed, and a questionnaire was applied to cooperative members to obtain demographic and organizational culture data. Differences between the cooperatives’ cultural profiles seem to be consistent with both the circumstances of Portuguese social economy organizations (SEOs), and to the organizations’ uniqueness regarding their trade, focuses, and history. International firm trends were compared with this study’s results, and also appear to be explained by the SEO’s management practices evolution standpoint: lack of structured way of working, and the need to improvise and innovate in order to get things done. The importance of our research is held in the fact that social economy, and the cooperative movement in particular, has a developing importance in the expansion of many economies, the lack of literature on culture in SEOs, and the exploratory usage of a well-known model of management literature in cooperatives.

An organizational culture approach to performance in information technology micro-firms

This study aims to analyze and compare micro-firms’ organizational culture related to organizational performance. A case study methodology was used based on four firms, competitors among themselves in the Information Technology business, focusing on the years between 2008-2013. Findings pointed out many similarities to larger firms, but some specificities of micro-firms were found and propositions were defined: clan culture predominance is related to best performing micro-firms; the configuration of several culture types seemed to be the most suitable for obtaining good organizational results, provided that they do not focus only on hierarchy and market types of culture; the market culture predominance perception by employees is associated with low job satisfaction; and, after a certain time in business, micro-firms, as do larger companies, seek to standardize and control processes. Recognizing that organizational culture is considered important to firms’ results, this study sheds some light on that important factor for micro-firms.

Aprendizagem dos números racionais não negativos com alunos do 3.º ano

Este estudo visa compreender as dificuldades que os alunos evidenciam na aprendizagem da noção de número racional não negativo. Ao longo da minha experiência como docente do 2.º ciclo, permitiu-me questionar por que razão os alunos de 5.º e 6.º ano apresentam dificuldades em compreender o conceito de fração nos seus diversos significados: número, partetodo, quociente, medida e operador multiplicativo. Foi no sentido de entender esta dificuldade na apropriação dos conhecimentos matemáticos sobre frações, que resolvi aplicar esta investigação a alunos do 1.º ciclo, nomeadamente a uma turma do 3.º ano, uma vez que é neste ano escolar que o estudo dos números racionais não negativos é aprofundado. A metodologia constou de um estudo de abordagem de carácter qualitativo, de natureza interpretativa. A recolha de dados inclui as produções escritas dos alunos e as gravações de áudio das intervenções verbais dos mesmos. A análise dos resultados realizou-se a partir das estratégias cognitivas que os alunos utilizaram para responderem às tarefas propostas. Os resultados deste estudo mostraram que a construção do sentido de número racional não é de fácil compreensão. É um conceito que requer uma abordagem multifacetada, apoiada com a manipulação de materiais estruturados ou não estruturados, para que os diferentes significados de fração fiquem bem consolidados nas estruturas cognitivas dos alunos.