Reliability maps and probabilistic guarantee of task motion for robotic manipulators

There are many applications for which reliable and safe robots are desired. For example, assistant robots for disabled or elderly people and surgical robots are required to be safe and reliable to prevent human injury and task failure. However, different levels of safety and reliability are required for different tasks so that understanding the reliability of robots is paramount. Currently, it is possible to guarantee the completion of a task when the robot is fault tolerant and the task remains in the fault-tolerant workspace (FTW). The traditional definition of FTW does not consider different reliabilities for the robotic manipulator's different joints. The aim of this paper is to extend the concept of a FTW to address the reliability of different joints. Such an extension can offer a wider FTW while maintaining the required level of reliability. This is achieved by associating a probability with every part of the workspace to extend the FTW. As a result, reliable fault-tolerant workspaces (RFTWs) are introduced by using the novel concept of conditional reliability maps. Such a RFTW can be used to improve the performance of assistant robots while providing the confidence that the robot remains reliable for completion of its assigned tasks. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan.

Institutional environment, innovation capacity and firm performance in Russia

Purpose – Following the demise of the Soviet Union in 1992, Russia undertook major institutional and market-oriented reforms to enhance the competitive advantage of domestic enterprises. Although Russia has experienced rapid growth over the last two decades, the extent to which institutions in Russia impact on firm innovation and performance remains poorly understood due to a lack of research on the subject. This paper seeks to contribute to the literature on the competitiveness of Russian firms by focussing specifically on the extent to which the state of the regulatory quality, rule of law, and corruption affect the innovation capacity and performance of firms in Russia.

Design/methodology/approach – The study uses structural equation modelling and data from a large-scale firm level survey (n=787) of firms in Russia undertaken by the World Bank in 2009. It investigates the direct and indirect perceptions of respondents of the effects the current institutional environment has on the innovation capacity and performance of their respective organisations.

Findings – The results show that regulatory quality, rule of law and corruption have strong direct and negative impacts on both the innovation capacity and performance of firms, and that innovation capacity strongly mediates the effects of institutions on firm performance. The results suggest that the current state of the regulatory quality, rule of law and corruption in Russia inhibit firm innovation and their resulting performance.

Research limitations/implications – The findings should be interpreted with caution to the extent that the study is limited to only three elements of the formal institutional environment and does not take into consideration the role of informal institutions. These two limitations present avenues for future research.

Originality/value – The study is one of the first to provide empirical evidence based on a large-scale survey of the extent to which formal institutions inhibit innovation and firm performance in Russia, and provides valuable guidance to business policy-makers in Russia on possible avenues for enhancing the overall competitiveness of Russian firms.

Quantitative experimental comparison of single-beam, sidescan, and multibeam benthic habitat maps

Map comparison is a relatively uncommon practice in acoustic seabed classification to date, contrary to the field of land remote sensing, where it has been developed extensively over recent decades. The aim here is to illustrate the benefits of map comparison in the underwater realm with a case study of three maps independently describing the seabed habitats of the Te Matuku Marine Reserve (Hauraki Gulf, New Zealand). The maps are obtained from a QTC View classification of a single-beam echosounder (SBES) dataset, manual segmentation of a sidescan sonar (SSS) mosaic, and automatic classification of a backscatter dataset from a multibeam echosounder (MBES). The maps are compared using pixel-to-pixel similarity measures derived from the literature in land remote sensing. All measures agree in presenting the MBES and SSS maps as the most similar, and the SBES and SSS maps as the least similar. The results are discussed with reference to the potential of MBES backscatter as an alternative to SSS mosaic for imagery segmentation and to the potential of joint SBES–SSS survey for improved habitat mapping. Other applications of map-similarity measures in acoustic classification of the seabed are suggested.

Analysing stillbirth data using dynamic self organizing maps

Even with the presence of modern obstetric care, stillbirth rate seems to stay stagnant or has even risen slightly in countries such as England and has become a significant public health concern [1]. In the light of current medical research, maternal risk factors such as diabetes and hypertensive disease were identified as possible risk factors and are taken into consideration in antenatal care. However, medical practitioners and researchers suspect possible relationships between trends in maternal demographics, antenatal care and pregnancy information of current stillbirth in consideration [2]. Although medical data and knowledge is available appropriate computing techniques to analyze the data may lead to identification of high risk groups. In this paper we use an unsupervised clustering technique called Growing Self organizing Map (GSOM) to analyse the stillbirth data and present patterns which can be important to medical researchers.