Mathematical modelling of linear motion error for Hexarot parallel manipulators

Hexarot is a robotic manipulator that belongs to the family of axis symmetric parallel mechanisms. The robot is able to move the robot platform or tool center point in six degrees of freedom (DOF). This paper presents the kinematics model of the robot including the inverse and forward kinematics, and its time derivatives. Then using the kinematics formulations, investigation of the nonlinear motion of the Hexarot robot for a desired linear motion path is performed. For this purpose, the concept of curvature of the robot path is used for measuring the nonlinearity of the actual motion of the robot. The nonlinear motion error of the robot is analyzed for the scenario where the platform moves on a linear path between two arbitrary points of the robot workspace. The effects of different parameters on the nonlinear motion error of the mechanism are demonstrated and strategies for motions with low error values are proposed.

Beyond ethics : a community platform to secure moral integrity

Stakeholders perceive the role of accountants to reflect trust, honesty, impartiality, fairness and transparency. The aim of this paper is to explore avenues to strengthen the moral integrity of professional bodies and their members. The resulting recommendations include a community or "milieu" approach.

Applying external solutions to organizational development : elearning as a platform for internal growth

Innovations in technology have facilitated eLearning process development, bringing significant impact into education. eLearning is not simply putting study materials online on the Web, nor is it a substitute for traditional classroom teaching (KPMG, 2002). Businesses worldwide have been using eLearning as a facilitator in organisational development through knowledge sharing, especially in the area of web based training and project management. eLearning has also become a large area of potential business for many organisations. In this study, we explore how eLearning has helped an organisation based in India – Tata Interactive Systems (part of TATA conglomerate), which provides eLearning solutions for businesses locally and globally. In this single case study, we explored how the organisation has not only utilised eLearning as an internal development process, but also successfully converted this learning into business opportunities for itself. To study the development process, we have applied the process theories of Van De Ven and Poole (1995).

The accounting profession: a religious and community platform for change

Following the failure of large corporations in both Australia and the United States, considerable dialogue has been generated on the integrity and role of accountants. This focus of this study was to examine the role of the professional accounting community, which shapes, and is shaped by the value, religion and culture of accounting members. In view of the impetus towards internationalization of accounting standards it is suggested the accounting profession re-examine its position as part of the international human community
and re-examine its core values.

Constructing wikis as a platform for online collaboration in an e-learning environment

Previous studies conclude that finding a collaborative tool to suit the e-Iearning environment adequately is quite a task. Consequently, research has been conducted for this very purpose, to trial the use of wikis as a platform to support collaboration in a way that students will embrace and adopt for regular use. The wiki is easily accessible, requires no software and allows its contributors to feel a sense of responsibility and ownership. However there are wiki related challenges that have yet to be researched in the online e-Iearning environment. Possible intrusions, no opinion control, user hostility, and unintentional deletions or editing all require further investigation. This paper will further research the wiki environment in the tertiary e-Iearning setting, as well as consider wiki moderation, member authentication, and interest sustainability to support this community focused collaborative tool. Relevant results from the current case study are explored whilst delivering meaningful data, thus providing an insight into how wikis are an appropriate platform to incorporate in the online collaborative environment.

Development of an internet supportive platform for online teaching and learning of construction planning and scheduling

Construction Planning and Scheduling is taught for the fIrst time ill Semester 2, 2004 in the School of Architecture and Building, Deakin University. During the unit development process and the implementation of teaching activities, several issues arose in relation to implementing computer-aided construction scheduling and unit delivery in a unitary environment. Although various types of construction planning and scheduling software have been developed and applied, none of them can be run inside an online teaching software package, which provides powerful functions in administration. This research aims to explore the strategies to connect a project planning and scheduling software package and an online ~aching and learning software package by a Web-based support platform so that both the lecturer and students can draw up and communicate a construction plan or schedule with tables and fIgures. The key techniques of this supportive platfonn are idt;nlifies and they include a web-based graphically user-interfaced, dynamic and distributed multimedia data acquisition mechanism, which accepts users' drawings and retrieval information from canvas and stores the multimedia data ona server for further usage. This paper demonstrates the techniques and principals needed to construct such a multimedia data acquisition tool. This. research will fill the gap.in the literature in respect to an online pedagogical solution to an existing problem.

OzBot TM - Haptic augmentation of a teleoperated robotic platform for search and rescue operations

A continued increase in computing power, sensor capability, software functionality, immersive interfaces and hardware modularity has given robot designers seemingly endless potential in the area of mobile robotics.  While some mobile robotic system designers are focusing on expensive, full-featured platforms, developers are realising the advantages of emerging technology in providing small, low-cost mobile reconnaissance vehicles as expendable teleoperated robotic systems.  The OzBot^TM mobile reconnaissance platform presents one such system.  The design objectives of the OzBot^TM platform focus on the development of inexpensive, lightweight carry-case sized robots for search and rescue operations, law enforcement scenarios and hazardous environment inspection.  The incorporation of Haptic augmentation provides the teleoperator with improved task immersion for an outdoor search and rescue scenario.  Achieved in cooperation with law enforcement agencies within Australia, this paper discusses the performance of the first four revisions of the OzBot^TM platform.

A haptically enabled low-cost reconnaissance platform for law enforcement

Traditionally, the control system of a modern teleoperated mobile robot consists of one or more two-dimensional joysticks placed on a control interface. While this simplistic interface allows an operator to remotely drive the platform, feedback is limited to visual information supplied by on-board cameras. Significant advances in the field of haptics have the potential to meaningfully enhance situational awareness of a remote robot. The focus of this research is the augmentation of Deakin University's OzBot trade MkIV mobile platform to include haptic control methodologies. Utilising the platform's inertial measurement unit, a remote operator has the ability to gain knowledge of the vehicle's operating performance and terrain while supplying a finer level of control to the drive motors. Our development of a generic multi-platform ActiveX allows the easy implementation of haptic force feedback to many computer based robot controllers. Furthermore, development of communication protocols has progressed with Joint Architecture for Unmanned Systems (JAUS) compliance in mind. The haptic force control algorithms are presented along with results highlighting the benefits of haptic operator feedback on the MklV OzBot trade chassis.

A platform for dynamic organization of agents in agent-based systems

In most agent-based systems, different middle agents are employed to increase their flexibility. However, there are still three issues remain unsolved. In centralized architecture with single middle agent, the middle agent itself is a bottleneck and suffers from single point failure; middle agents in distributed architecture lack capability of dynamic organization of agents; The reliability is not strong because of the single point failure and lack of effective architecture. We introduce a platform with ring architectural model to solve all above problems. In the platform, multiple middle agents are dynamically supported for solving the first problem. For solving the second problem, middle agents dynamically manage the registration and cancellation of service provider agents and application teams, each of which includes a set of closely interacting requester agents to complete an independent task. Redundancy middle agent technique is proposed for solving the third problem. All middle agents are of the feature of proliferation and self-cancellation according to the sensory inputs from their environment. For organizing the middle agents effectively, a ring architectural model is proposed. We demonstrate the applicability of the platform by its application and present experimental evidence that the platform is flexible and robust.

Design of a low cost underwater robotic research platform

To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels is not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must also be able to move in 3 dimensions. Finally it must be able to navigate and avoid obstacles. To purchase such a platform can be very expensive. However, for shallow water, a suitable platform can be built from mostly off the shelf items at little cost. This paper describes the design of one such underwater robot including various sensors and communications systems that allow for swarm robotics.