The efficiency of autonomous systems that tackle tasks such as home cleaning, agriculture harvesting, and mineral mining depends heavily on the adopted area coverage strategy. Extensive navigation strategies have been studied and developed, but few focus on scenarios with reconfigurable robot agents. This paper proposes a navigation strategy that accomplishes complete path planning for a Tetris-inspired hinge-based self-reconfigurable robot (hTetro), which consists of two main phases. In the first phase, polyomino form-based tilesets are generated to cover the predefined area based on the tiling theory, which generates a series of unsequenced waypoints that guarantee complete coverage of the entire workspace. Each waypoint specifies the position of the robot and the robot morphology on the map. In the second phase, an energy consumption evaluation model is constructed in order to determine a valid strategy to generate the sequence of the waypoints. The cost value between waypoints is formulated under the consideration of the hTetro robot platform’s kinematic design, where we calculate the minimum sum of displacement of the four blocks in the hTetro robot. With the cost function determined, the waypoint sequencing problem is then formulated as a travelling salesman problem (TSP). In this paper, a genetic algorithm (GA) is proposed as a strong candidate to solve the TSP. The GA produces a viable navigation sequence for the hTetro robot to follow and to accomplish complete coverage tasks. We performed an analysis across several complete coverage algorithms including zigzag, spiral, and greedy search to demonstrate that TSP with GA is a valid and considerably consistent waypoint sequencing strategy that can be implemented in real-world hTetro robot navigations. The scalability of the proposed framework allows the algorithm to produce reliable results while navigating within larger workspaces in the real world, and the flexibility of the framework ensures easy implementation of the algorithm on other polynomial-based shape shifting robots.
PurposeRemote work (RW) literature is a megatrend in HRM literature, and the COVID-19 pandemic has highlighted the importance of RW as a concept and an organisational practice. Given the large number of papers being published on remote work, there is a need for a critical review of the extant literature using bibliometric analysis. This paper examines the literature on remote working to identify the factors crucial for managing a remote workforce. This study uses the complex adaptive systems theory as a foundation to build a framework that organisations can use to manage their remote workforce, focusing on three outcomes: employee engagement, collaboration and organisational agility.Design/methodology/approachBibliometric analysis was conducted on the research published in Scopus journal in the area of remote work, followed by critical literature analysis.FindingsThe bibliometric analysis identified five clusters that reflect five organisational factors which the management can align to achieve the desired outcomes of engagement, collaboration and agility: technology orientation, leadership, HRM practices, external processes and organisational culture. The present findings have important implications for managing the remote workforce.Originality/valueThe five factors were mapped to propose a conceptual model on engaging individual employees, fostering team collaboration and building organisational agility while working remotely. We also propose an application model for using technology to achieve the outcomes of engagement, collaboration and agility in the organisation. Practitioners could use this framework to focus on the factors that can create a conducive environment to improve work efficiency in a remote workforce.
As autonomous tiling devices begin to perform floor cleaning, agriculture harvesting, surface painting tasks, with minimal or no human intervention, a new challenge arises: these devices also need to be energy efficient and be constantly aware of the energy expenditure during deployments. Typical approaches to this end are often limited to fixed morphology robots with little or no consideration for reconfiguring class of robots. The main contribution of the paper is an energy estimation scheme that allows estimating the energy consumption when a tetromino inspired reconfigurable floor tiling robot, hTetro moves from one configuration to another for completing the area covering task. To this end, the proposed model applying the Newton-Raphson algorithm in combination with Pulse width modulation (PWM)-H bridge to characterize the energy cost associated with locomotion gaits across all valid morphologies and identify optimal area coverage strategy among available options is presented. We validate our proposed approach using an 8’ × 8’ square testbed where there exist 12 possible solutions for complete area coverage however with varying levels of energy cost. Then, we implemented our approach to our hTetro platform and conducted experiments in a real-life environment. Experimental results demonstrate the application of our model in identifying the optimal area coverage strategy that has the least associated energy cost.
Intelligent systems are enhancing city environments and improving their overall performance in all possible aspects. Innovations in the field of information and communication technologies (ICT) and the proliferation of big data, internet-of-things (IoT), and cloud (BIC) infrastructures revolutionize the existing agile city ecosystems while effectively addressing customers and citizens needs. In this paper, we address the technology-driven applications that are capable of influencing the existing city infrastructures during their transformation towards smart cities with contactless technologies. We present applications, design principles, technology standards, and cost-effective techniques that leverage BIC for contactless applications and discuss user interfaces deployed in smart city environments. We further discuss state-of-the-art sensing methods and smart applications that support cities with smart contactless features. Finally, a case study is reported on how BIC can assist in efficiently handling and managing emergency situations such as the COVID-19 pandemic.
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